edges.h

   1 #ifndef __SPARROW_EDGES_H__
   2 #define __SPARROW_EDGES_H__
   3
   4 #define SAFETY_LAG 3;
   5 #define SIG_WEIGHT 2
   6
   7 /* for discarding outliers */
   8 #define OUTLIER_RADIUS 7
   9 #define OUTLIER_THRESHOLD (OUTLIER_RADIUS * OUTLIER_RADIUS)
  10
  11 #define BAD_PIXEL 0xffff
  12
  13 #define FL_DUMPFILE "/tmp/edges.dump"
  14
  15 #define COLOUR_QUANT  1
  16 #define COLOUR_MASK  (0xff >> COLOUR_QUANT)
  17
  18 /*if squared error between observed error and predicted error exceeds this,
  19   ignore the observation */
  20 #define CORNER_EXACT_THRESHOLD 16
  21
  22 /*a corner based on fewer than this number of projects cannot be considered
  23   settled */
  24 #define MIN_CORNER_ESTIMATES 5
  25
  26 /* nice big word. acos(1.0 - MAX_NONCOLLINEARITY) = angle of deviation.  This
  27    is used when lining up known points to estimte the position of lost ones.
  28    0.005: 5.7 degrees, 0.01: 8.1, 0.02: 11.5, 0.04: 16.3, 0.08: 23.1
  29    1 pixel deviation in 32 -> ~ 1/33 == 0.03 (if I understand correctly)
  30 */
  31 #define MAX_NONCOLLINEARITY 0.02
  32
  33 typedef enum corner_status {
  34   CORNER_UNUSED,
  35   CORNER_PROJECTED,
  36   CORNER_EXACT,
  37   CORNER_SETTLED,
  38 } corner_status_t;
  39
  40 typedef enum edges_state {
  41   EDGES_FIND_NOISE,
  42   EDGES_FIND_LINES,
  43   EDGES_FIND_CORNERS,
  44   EDGES_WAIT_FOR_PLAY,
  45
  46   EDGES_NEXT_STATE,
  47 } edges_state_t;
  48
  49 #define USE_FLOAT_COORDS 1
  50
  51 #if USE_FLOAT_COORDS
  52 typedef float coord_t;
  53 typedef float coord_sum_t;
  54 #define QUANTISE_DELTA(d)((d) / LINE_PERIOD)
  55
  56 #else
  57 /* the mesh is stored in a fixed point notation.*/
  58 #define SPARROW_FIXED_POINT 9
  59
  60 typedef int coord_t;
  61 typedef gint64 coord_sum_t;
  62 #define QUANTISE_DELTA(d)(((d) + LINE_PERIOD / 2) / LINE_PERIOD)
  63
  64 #endif
  65
  66 typedef struct sparrow_estimator_s {
  67   int x1;
  68   int y1;
  69   int x2;
  70   int y2;
  71   int x3;
  72   int y3;
  73   //int mul; /* estimate: x1,y1 + mul * diff */
  74 } sparrow_estimator_t;
  75
  76 typedef struct sparrow_corner_s {
  77   coord_t x;
  78   coord_t y;
  79   /*dyr -> dy to next point right
  80    dxd ->dx to next point down */
  81   coord_t dxr;
  82   coord_t dyr;
  83   coord_t dxd;
  84   coord_t dyd;
  85   corner_status_t status;
  86 } sparrow_corner_t;
  87
  88 typedef struct sparrow_voter_s {
  89   coord_t x;
  90   coord_t y;
  91   guint32 signal;
  92 } sparrow_voter_t;
  93
  94 typedef struct sparrow_point_s {
  95   coord_t x;
  96   coord_t y;
  97 } sparrow_point_t;
  98
  99 typedef struct sparrow_cluster_s {
 100   int n;
 101   sparrow_voter_t voters[8];
 102 } sparrow_cluster_t;
 103
 104
 105 typedef union sparrow_signal_s {
 106   guint16 v_signal;
 107   guint16 h_signal;
 108 } sparrow_signal_t;
 109
 110
 111 typedef struct sparrow_intersect_s {
 112   guint16 lines[2];
 113   guint16 signal[2];
 114 } sparrow_intersect_t;
 115
 116 typedef struct sparrow_line_s {
 117   gint offset;
 118   sparrow_axis_t dir;
 119   gint index;
 120 } sparrow_line_t;
 121
 122 /*condensed version of <struct sparrow_find_lines_s> for saving: contains no
 123   pointers or other unnecessary things that might vary in size across
 124   architectures. */
 125 typedef struct sparrow_fl_condensed {
 126   gint32 n_vlines;
 127   gint32 n_hlines;
 128 } sparrow_fl_condensed_t;
 129
 130 typedef struct sparrow_find_lines_s {
 131   sparrow_line_t *h_lines;
 132   sparrow_line_t *v_lines;
 133   sparrow_line_t **shuffled_lines;
 134   int current;
 135   int n_lines;
 136   int n_vlines;
 137   int n_hlines;
 138   gint shift1;
 139   gint shift2;
 140   sparrow_intersect_t *map;
 141   sparrow_corner_t *mesh_mem;
 142   sparrow_corner_t *mesh;
 143   sparrow_corner_t *mesh_next;
 144   sparrow_cluster_t *clusters;
 145   double *dither;
 146   IplImage *debug;
 147   IplImage *threshold;
 148   IplImage *working;
 149   IplImage *input;
 150   edges_state_t state;
 151 } sparrow_find_lines_t;
 152
 153
 154 #define DEBUG_FIND_LINES(fl)GST_DEBUG(             \
 155     "fl:\n"                                        \
 156   "  sparrow_line_t *h_lines: %p\n"                \
 157   "  sparrow_line_t *v_lines: %p\n"                \
 158   "  sparrow_line_t **shuffled_lines: %p\n"        \
 159   "  int current: %d\n"                            \
 160   "  int n_lines: %d\n"                            \
 161   "  int n_vlines: %d\n"                           \
 162   "  int n_hlines: %d\n"                           \
 163   "  gint shift1: %d\n"                            \
 164   "  gint shift2: %d\n"                            \
 165   "  sparrow_intersect_t *map: %p\n"               \
 166   "  sparrow_corner_t *mesh: %p\n"                 \
 167   "  sparrow_cluster_t *clusters: %p\n"            \
 168   "  double *dither: %p \n"                        \
 169   "  IplImage *debug: %p\n"                        \
 170   "  IplImage *threshold: %p\n"                    \
 171   "  IplImage *working: %p\n"                      \
 172   "  IplImage *input: %p\n"                        \
 173   "  edges_state_t state: %d\n"                    \
 174   ,                                                \
 175   (fl)->h_lines,                                   \
 176   (fl)->v_lines,                                   \
 177   (fl)->shuffled_lines,                            \
 178   (fl)->current,                                   \
 179   (fl)->n_lines,                                   \
 180   (fl)->n_vlines,                                  \
 181   (fl)->n_hlines,                                  \
 182   (fl)->shift1,                                    \
 183   (fl)->shift2,                                    \
 184   (fl)->map,                                       \
 185   (fl)->mesh,                                      \
 186   (fl)->clusters,                                  \
 187   (fl)->dither,                                    \
 188   (fl)->debug,                                    \
 189   (fl)->threshold,                                \
 190   (fl)->working,                                  \
 191   (fl)->input,                                    \
 192   (fl)->state                                     \
 193 )
 194 //#undef debug_find_lines
 195 //#define debug_find_lines(x) /* */
 196
 197
 198 #endif /*have this .h*/