59 lines
1.2 KiB
C
59 lines
1.2 KiB
C
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#include "veloslam/gridcell.h"
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#include "veloslam/gridcluster.h"
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#include "veloslam/svm.h"
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float absf(float a);
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struct IntersectionFeature
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{
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float angle;
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float slashLength;
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int slashEndColumn;
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int slashEndRow;
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};
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class IntersectionDetection
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{
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public:
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IntersectionDetection();
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~IntersectionDetection();
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int GetPointData();
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int CalcRadAndTheta();
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int CalPointCellPos(double x,double y,double z ,int * column,int * row);
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int CalCellMinDis();
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int TransferToCellArray();
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int CalcAllCellFeature();
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int CalcCellFeature(cell& cellobj, cellFeature& f);
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int CalWideSlashEdge_For_RoadShape(float Angle,int startColumID,int startRowID,float maxLength,float wide);
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int DetectIntersection();
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private:
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int cellSize;
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int columnNum;
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int cellNum;
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int MinRad;
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int MaxRad;
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vector <Point> allPoints_AfterRegstn;
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cellArray cellArray_AfterRegstn;
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cellFeatureArray cellFeatureArray_AfterRegstn;
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float slashWide;
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float slashMaxLength;
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float slashAngleDefinition;
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vector <float> minCellDisList;
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vector <IntersectionFeature> intersectionFeature;
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/* clusterArray clusterArrayAfterRegstn;
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clusterFeatureArray clusterFeatureArray_AfterRegstn;
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*/
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};
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