#include "ObjectHypothesis.h"
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <Math/Math3d.h>
#include <cmath>
#include <string>

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Namespaces
	COLPTools

Functions
void	CalculateEdgeImageFromImageAndDisparity (CByteImage pImageGray, CByteImage pDisparity, CByteImage *pEdgeImage)

void	CalculateForegroundRatioOfHypothesis (const CObjectHypothesis pHypothesis, const CByteImage pForegroundImage, const CCalibration *calibration, float &fForegroundRatio, int &nNumForegroundPixels)

bool	CheckIfPointIsAlreadyInHypothesis (const Vec3d vPoint, const CObjectHypothesis *pHypothesis)

void	ClusterXMeans (const std::vector< CHypothesisPoint * > &aPoints, const int nMinNumClusters, const int nMaxNumClusters, const float fBICFactor, std::vector< std::vector< CHypothesisPoint * >> &aaPointClusters)

void	ClusterXMeans (const std::vector< Vec3d > &aPoints, const int nMinNumClusters, const int nMaxNumClusters, const float fBICFactor, std::vector< std::vector< Vec3d >> &aaPointClusters, std::vector< std::vector< int >> &aaOldIndices)

pcl::PointCloud< pcl::PointXYZRGBA >::Ptr	ConfirmedPointsToPCL (const CObjectHypothesis *pHypothesis)

void	ConvertRGB2HSV (const unsigned char r, const unsigned char g, const unsigned char b, unsigned char &h, unsigned char &s, unsigned char &v)

int	CountForegroundPixelsInRectangle (const Vec2d vMiddleMin, const Vec2d vMinMiddle, const Vec2d vMaxMiddle, const Vec2d vMiddleMax, const CByteImage *pForegroundImage)

void	CreateHueAndSaturationHistogram (const CObjectHypothesis *pHypothesis, std::vector< float > &aHueHistogram, std::vector< float > &aSaturationHistogram)

void	CreateHueAndSaturationHistogramInWindow (const CByteImage *pHSVImage, const int nMinX, const int nMinY, const int nMaxX, const int nMaxY, std::vector< float > &aHueHistogram, std::vector< float > &aSaturationHistogram)

void	CreateObjectSegmentationMask (const CObjectHypothesis pHypothesis, const CCalibration calibration, CByteImage *&pForegroundImage)

void	CreateSegmentationProbabilityMap (const CObjectHypothesis pHypothesis, const CCalibration calibration, CByteImage *&pProbabilityImage)

void	DrawCross (CByteImage *pColorImage, int x, int y, int r, int g, int b)

void	DrawCross (CByteImage *pGreyImage, int x, int y, int nBrightness)

void	DrawFatCross (CByteImage *pColorImage, int x, int y, int r, int g, int b)

void	DrawHypothesis (CObjectHypothesis pHypothesis, const CCalibration calibration, CByteImage *pImage, const int nNumFusedHypotheses)

void	FillHolesGray (const CByteImage pInputImage, CByteImage pOutputImage, const int nRadius)

void	FillHolesRGB (const CByteImage pInputImage, CByteImage pOutputImage, const int nRadius)

void	FilterForegroundPoints (const std::vector< CHypothesisPoint * > &aAllPoints, const CByteImage pForegroundImage, const CCalibration calibration, std::vector< CHypothesisPoint * > &aForegroundPoints)

void	GetEnclosingRectangle (const Vec2d *pPoints, const int nNumPoints, const bool bUseSecondMaxPoints, Vec2d &p1, Vec2d &p2, Vec2d &p3, Vec2d &p4, bool &bRotated)

float	GetHistogramDistanceL1 (const std::vector< float > &aHistogram1, const std::vector< float > &aHistogram2)

float	GetHistogramDistanceL2 (const std::vector< float > &aHistogram1, const std::vector< float > &aHistogram2)

float	GetHistogramDistanceX2 (const std::vector< float > &aHistogram1, const std::vector< float > &aHistogram2)

float	GetHypothesesIntersectionRatio (const CObjectHypothesis pHypothesis1, const CObjectHypothesis pHypothesis2, const CCalibration *calibration)

void	GetMeanAndVariance (const std::vector< CHypothesisPoint * > &pHypothesisPoints, Vec3d &vMean, float &fVariance)

void	GetMeanAndVariance (const std::vector< Vec3d > &aPoints, Vec3d &vMean, float &fVariance)

void	InterpolateRotation (const Mat3d m1, const Mat3d m2, const float fWeight, Mat3d &mResult)

void	InterpolateTransformation (const Mat3d m1, const Vec3d v1, const Mat3d m2, const Vec3d v2, const float fWeight, Mat3d &mResult, Vec3d &vResult)

void	NormalizeHistogram (std::vector< float > &aHistogram)

bool	PointIsInForeground (const CHypothesisPoint pPoint, const CByteImage pForegroundImage, const CCalibration *calibration)

bool	PointIsInForeground (const Vec3d vPoint, const CByteImage pForegroundImage, const CCalibration calibration)

void	RemoveOutliers (std::vector< CHypothesisPoint * > &aPoints, const float fStdDevFactor)

void	RemoveOutliers (std::vector< Vec3d > &aPoints, const float fStdDevFactor, std::vector< int > *pOldIndices)

void	SetNumberInFileName (std::string &sFileName, int nNumber, int nNumDigits)

void	SmoothHistogram (std::vector< float > &aHistogram)

void	SortByPositionZ (std::vector< CHypothesisPoint * > &aHypothesisPoints)

void	SortByPositionZ (std::vector< CHypothesisPoint * > &aHypothesisPoints, const int nLeftLimit, const int nRightLimit)

Namespaces

Functions