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 /*XXX should dither */
  19 #define QUANTISE_DELTA(d)(((d) + LINE_PERIOD / 2) / LINE_PERIOD)
  20
  21 typedef enum corner_status {
  22   CORNER_UNUSED,
  23   CORNER_PROJECTED,
  24   CORNER_EXACT,
  25   CORNER_SETTLED,
  26 } corner_status_t;
  27
  28 typedef enum edges_state {
  29   EDGES_FIND_NOISE,
  30   EDGES_FIND_LINES,
  31   EDGES_FIND_CORNERS,
  32   EDGES_WAIT_FOR_PLAY,
  33
  34   EDGES_NEXT_STATE,
  35 } edges_state_t;
  36
  37 #define USE_FLOAT_COORDS 1
  38
  39 #if USE_FLOAT_COORDS
  40 typedef float coord_t;
  41 #else
  42 typedef int coord_t;
  43 #endif
  44
  45 typedef struct sparrow_estimator_s {
  46   int x1;
  47   int y1;
  48   int x2;
  49   int y2;
  50   int x3;
  51   int y3;
  52   //int mul; /* estimate: x1,y1 + mul * diff */
  53 } sparrow_estimator_t;
  54
  55 typedef struct sparrow_corner_s {
  56   coord_t x;
  57   coord_t y;
  58   /*dyr -> dy to next point right
  59    dxd ->dx to next point down */
  60   coord_t dxr;
  61   coord_t dyr;
  62   coord_t dxd;
  63   coord_t dyd;
  64   corner_status_t status;
  65 } sparrow_corner_t;
  66
  67 typedef struct sparrow_voter_s {
  68   coord_t x;
  69   coord_t y;
  70   guint32 signal;
  71 } sparrow_voter_t;
  72
  73 typedef struct sparrow_cluster_s {
  74   int n;
  75   sparrow_voter_t voters[8];
  76 } sparrow_cluster_t;
  77
  78
  79 typedef union sparrow_signal_s {
  80   guint16 v_signal;
  81   guint16 h_signal;
  82 } sparrow_signal_t;
  83
  84
  85 typedef struct sparrow_intersect_s {
  86   guint16 lines[2];
  87   guint16 signal[2];
  88 } sparrow_intersect_t;
  89
  90 typedef struct sparrow_line_s {
  91   gint offset;
  92   sparrow_axis_t dir;
  93   gint index;
  94 } sparrow_line_t;
  95
  96 /*condensed version of <struct sparrow_find_lines_s> for saving: contains no
  97   pointers or other unnecessary things that might vary in size across
  98   architectures. */
  99 typedef struct sparrow_fl_condensed {
 100   gint32 n_vlines;
 101   gint32 n_hlines;
 102 } sparrow_fl_condensed_t;
 103
 104 typedef struct sparrow_find_lines_s {
 105   sparrow_line_t *h_lines;
 106   sparrow_line_t *v_lines;
 107   sparrow_line_t **shuffled_lines;
 108   int current;
 109   int n_lines;
 110   int n_vlines;
 111   int n_hlines;
 112   gint shift1;
 113   gint shift2;
 114   sparrow_intersect_t *map;
 115   sparrow_corner_t *mesh;
 116   sparrow_cluster_t *clusters;
 117   IplImage *debug;
 118   IplImage *threshold;
 119   IplImage *working;
 120   IplImage *input;
 121   edges_state_t state;
 122 } sparrow_find_lines_t;
 123
 124
 125 #define DEBUG_FIND_LINES(fl)GST_DEBUG(          \
 126   "fl:\n"                                       \
 127   "  sparrow_line_t *h_lines: %p\n"             \
 128   "  sparrow_line_t *v_lines: %p\n"             \
 129   "  sparrow_line_t **shuffled_lines: %p\n"     \
 130   "  int current: %d\n"                         \
 131   "  int n_lines: %d\n"                         \
 132   "  int n_vlines: %d\n"                        \
 133   "  int n_hlines: %d\n"                        \
 134   "  gint shift1: %d\n"                         \
 135   "  gint shift2: %d\n"                         \
 136   "  sparrow_intersect_t *map: %p\n"            \
 137   "  sparrow_corner_t *mesh: %p\n"              \
 138   "  sparrow_cluster_t *clusters: %p\n"         \
 139   "  IplImage *debug: %p\n"                     \
 140   "  IplImage *threshold: %p\n"                 \
 141   "  IplImage *working: %p\n"                   \
 142   "  IplImage *input: %p\n"                     \
 143   "  edges_state_t state: %d\n"                 \
 144   ,                                             \
 145   (fl)->h_lines,                                  \
 146   (fl)->v_lines,                                  \
 147   (fl)->shuffled_lines,                           \
 148   (fl)->current,                                  \
 149   (fl)->n_lines,                                  \
 150   (fl)->n_vlines,                                 \
 151   (fl)->n_hlines,                                 \
 152   (fl)->shift1,                                   \
 153   (fl)->shift2,                                   \
 154   (fl)->map,                                      \
 155   (fl)->mesh,                                     \
 156   (fl)->clusters,                                 \
 157   (fl)->debug,                                    \
 158   (fl)->threshold,                                \
 159   (fl)->working,                                  \
 160   (fl)->input,                                    \
 161   (fl)->state                                     \
 162 )
 163 //#undef debug_find_lines
 164 //#define debug_find_lines(x) /* */
 165
 166
 167 #endif /*have this .h*/