00001 00006 #ifndef SEED_H_ 00007 #define SEED_H_ 00008 00009 #include "unscented_kalman_filter.h" 00010 #include "linalg.h" 00011 00012 #include <vnl/vnl_matrix.h> 00013 00022 struct SeedPointInfo { 00024 State state; 00026 vnl_matrix<double> covariance; 00028 vec_t point; 00030 vec_t start_dir; 00032 double fa; 00034 double fa2; 00036 double trace; 00038 double trace2; 00039 } ; 00040 00042 void PrintSeedInfo(const std::vector<SeedPointInfo>& seed_infos) ; 00043 00044 #endif