1 | #include <math.h> |
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2 | #include <Detection/detection.hh> |
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3 | #include <param.hh> |
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4 | |
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5 | /** |
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6 | * areClose(Detection &, Detection &, Param &): |
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7 | * A Function to test whether object1 and object2 are |
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8 | * within the spatial and velocity thresholds specified |
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9 | * in the parameter set par. |
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10 | * Returns true if at least pixel of object1 is close to |
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11 | * at least one pixel of object2. |
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12 | */ |
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13 | |
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14 | bool areClose(Detection &obj1, Detection &obj2, Param &par) |
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15 | { |
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16 | |
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17 | // In each case, for two pixels to be close they need to satisfy *both* |
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18 | // thresholds, hence the && in the definition of "thisOneClose". |
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19 | // For an overall match between the objects, we only require one |
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20 | // matching pair of pixels, hence the || in the "close" definition. |
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21 | |
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22 | bool close = false; |
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23 | |
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24 | /* */ |
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25 | // Check to see if the objects are nearby. |
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26 | // .. Only do the pixel-by-pixel comparison if their pixel ranges overlap. |
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27 | |
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28 | bool *flagAdj = new bool; |
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29 | *flagAdj = par.getFlagAdjacent(); |
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30 | float *threshS = new float; |
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31 | *threshS = par.getThreshS(); |
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32 | float *threshV = new float; |
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33 | *threshV = par.getThreshV(); |
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34 | |
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35 | int *gap = new int; |
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36 | if(*flagAdj) *gap = 1; |
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37 | else *gap = int( ceilf(*threshS) ); |
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38 | long *min1 = new long; |
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39 | long *min2 = new long; |
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40 | long *max1 = new long; |
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41 | long *max2 = new long; |
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42 | *min1 = obj1.getXmin(); |
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43 | *min2 = obj2.getXmin(); |
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44 | *max1 = obj1.getXmax(); |
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45 | *max2 = obj2.getXmax(); |
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46 | // Test X ranges |
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47 | bool *areNear = new bool; |
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48 | *areNear = |
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49 | ((*min1-*min2+*gap)*(*min1-*max2-*gap) <= 0 ) || |
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50 | ((*max1-*min2+*gap)*(*max1-*max2-*gap) <= 0 ) || |
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51 | ((*min2-*min1+*gap)*(*min2-*max1-*gap) <= 0 ) || |
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52 | ((*max2-*min1+*gap)*(*max2-*max1-*gap) <= 0 ) ; |
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53 | |
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54 | // Test Y ranges |
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55 | *min1 = obj1.getYmin(); |
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56 | *min2 = obj2.getYmin(); |
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57 | *max1 = obj1.getYmax(); |
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58 | *max2 = obj2.getYmax(); |
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59 | *areNear = *areNear && |
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60 | ( ((*min1-*min2+*gap)*(*min1-*max2-*gap) <= 0 ) || |
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61 | ((*max1-*min2+*gap)*(*max1-*max2-*gap) <= 0 ) || |
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62 | ((*min2-*min1+*gap)*(*min2-*max1-*gap) <= 0 ) || |
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63 | ((*max2-*min1+*gap)*(*max2-*max1-*gap) <= 0 ) ); |
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64 | |
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65 | // Test Z ranges |
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66 | *min1 = obj1.getZmin(); |
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67 | *min2 = obj2.getZmin(); |
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68 | *max1 = obj1.getZmax(); |
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69 | *max2 = obj2.getZmax(); |
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70 | *areNear = *areNear && |
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71 | ( ((*min1-*min2+*threshV)*(*min1-*max2-*threshV) <= 0 ) || |
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72 | ((*max1-*min2+*threshV)*(*max1-*max2-*threshV) <= 0 ) || |
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73 | ((*min2-*min1+*threshV)*(*min2-*max1-*threshV) <= 0 ) || |
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74 | ((*max2-*min1+*threshV)*(*max2-*max1-*threshV) <= 0 ) ); |
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75 | |
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76 | delete gap; |
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77 | delete min1; |
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78 | delete min2; |
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79 | delete max1; |
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80 | delete max2; |
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81 | |
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82 | if(*areNear){ |
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83 | // pixel ranges overlap -- so do pixel-by-pixel comparison to make sure. |
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84 | // otherwise close=false, and so don't need to do anything before returning. |
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85 | |
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86 | float *first = new float[3]; //just store x,y,z positions of objects. |
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87 | float *second = new float[3]; |
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88 | int *counter = new int; |
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89 | int *countermax = new int; |
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90 | int *size2 = new int; |
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91 | *counter = 0; |
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92 | *countermax = obj1.getSize()*obj2.getSize(); |
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93 | *size2 = obj2.getSize(); |
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94 | |
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95 | while(!close && *counter<*countermax ){ |
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96 | // run this until we run out of pixels or we find a close pair. |
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97 | |
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98 | first[0] = obj1.getX(*counter/(*size2)); |
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99 | first[1] = obj1.getY(*counter/(*size2)); |
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100 | first[2] = obj1.getZ(*counter/(*size2)); |
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101 | second[0] = obj2.getX(*counter%(*size2)); |
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102 | second[1] = obj2.getY(*counter%(*size2)); |
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103 | second[2] = obj2.getZ(*counter%(*size2)); |
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104 | |
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105 | if(*flagAdj){ |
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106 | //This step just tests to see if there is a pair of *adjacent* pixels spatially, |
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107 | // and if the velocity pixels are within the threshold. |
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108 | close = close || |
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109 | ( (fabsf(first[0]-second[0]) <= 1.) //X vals adjacent? |
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110 | && (fabsf(first[1]-second[1]) <= 1.) //Y vals adjacent? |
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111 | && (fabsf(first[2]-second[2]) <= *threshV) //Z vals close? |
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112 | ); |
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113 | } |
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114 | else{ |
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115 | close = close || |
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116 | ( (hypot(first[0]-second[0],first[1]-second[1])<=*threshS) |
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117 | && (fabsf(first[2]-second[2]) <= *threshV ) |
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118 | ); |
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119 | } |
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120 | |
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121 | (*counter)++; |
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122 | } |
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123 | |
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124 | delete [] first; |
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125 | delete [] second; |
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126 | delete counter; |
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127 | delete countermax; |
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128 | delete size2; |
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129 | |
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130 | } |
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131 | |
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132 | delete areNear; |
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133 | delete flagAdj; |
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134 | delete threshS; |
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135 | delete threshV; |
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136 | |
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137 | return close; |
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138 | |
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139 | } |
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140 | |
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141 | /* |
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142 | //////// OLD STUFF //////////////////// |
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143 | |
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144 | for(int i=0; i<obj1.getSize(); i++){ |
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145 | Voxel *first = new Voxel; |
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146 | *first = obj1.getPixel(i); |
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147 | |
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148 | for(int j=0; j<obj2.getSize(); j++){ |
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149 | Voxel *second = new Voxel; |
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150 | *second = obj2.getPixel(j); |
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151 | |
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152 | if(par.getFlagAdjacent()){ |
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153 | //This step just tests to see if there is a pair of *adjacent* pixels. |
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154 | // thisOneClose = (abs(first->getX()-second->getX())<=1) && |
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155 | // (abs(first->getY()-second->getY())<=1) && |
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156 | // (abs(first->getZ()-second->getZ())<=1); |
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157 | //This step just tests to see if there is a pair of *adjacent* pixels spatially, |
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158 | // and if the velocity pixels are within the threshold. |
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159 | |
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160 | close = close || |
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161 | ( (abs(first->getX()-second->getX()) <= 1) //X vals adjacent? |
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162 | && (abs(first->getY()-second->getY()) <= 1) //Y vals adjacent? |
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163 | && (abs(first->getZ()-second->getZ()) <= par.getThreshV()) //Z vals close? |
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164 | ); |
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165 | } |
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166 | else{ |
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167 | // This tests to see if the pixels are within the spatial and velocity thresholds. |
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168 | // spatialSep = hypot( first->getX() - second->getX(), |
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169 | // first->getY() - second->getY()); |
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170 | |
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171 | // freqSep = abs( first->getZ() - second->getZ() ); |
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172 | |
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173 | // thisOneClose = ( spatialSep <= par.getThreshS() ) && |
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174 | // ( freqSep <= par.getThreshV() ); |
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175 | |
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176 | close = close || |
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177 | ( (hypot(first->getX()-second->getX(),first->getY()-second->getY())<=par.getThreshS()) |
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178 | && (abs(first->getZ()-second->getZ()) <= par.getThreshV() ) |
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179 | ); |
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180 | } |
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181 | |
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182 | // close = close || thisOneClose; |
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183 | |
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184 | delete second; |
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185 | } |
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186 | delete first; |
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187 | } |
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188 | |
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189 | */ |
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190 | |
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191 | |
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