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 typedef enum corner_status {
  19   CORNER_UNUSED,
  20   CORNER_PROJECTED,
  21   CORNER_EXACT,
  22   CORNER_SETTLED,
  23 } corner_status_t;
  24
  25 typedef enum edges_state {
  26   EDGES_FIND_NOISE,
  27   EDGES_FIND_LINES,
  28   EDGES_FIND_CORNERS,
  29   EDGES_WAIT_FOR_PLAY,
  30
  31   EDGES_NEXT_STATE,
  32 } edges_state_t;
  33
  34 #define USE_FLOAT_COORDS 1
  35
  36 #if USE_FLOAT_COORDS
  37 typedef float coord_t;
  38 typedef float coord_sum_t;
  39 #define QUANTISE_DELTA(d)((d) / LINE_PERIOD)
  40
  41 #else
  42 /* the mesh is stored in a fixed point notation.*/
  43 #define SPARROW_FIXED_POINT 9
  44
  45 typedef int coord_t;
  46 typedef gint64 coord_sum_t;
  47 #define QUANTISE_DELTA(d)(((d) + LINE_PERIOD / 2) / LINE_PERIOD)
  48
  49 #endif
  50
  51 typedef struct sparrow_estimator_s {
  52   int x1;
  53   int y1;
  54   int x2;
  55   int y2;
  56   int x3;
  57   int y3;
  58   //int mul; /* estimate: x1,y1 + mul * diff */
  59 } sparrow_estimator_t;
  60
  61 typedef struct sparrow_corner_s {
  62   coord_t x;
  63   coord_t y;
  64   /*dyr -> dy to next point right
  65    dxd ->dx to next point down */
  66   coord_t dxr;
  67   coord_t dyr;
  68   coord_t dxd;
  69   coord_t dyd;
  70   corner_status_t status;
  71 } sparrow_corner_t;
  72
  73 typedef struct sparrow_voter_s {
  74   coord_t x;
  75   coord_t y;
  76   guint32 signal;
  77 } sparrow_voter_t;
  78
  79 typedef struct sparrow_point_s {
  80   coord_t x;
  81   coord_t y;
  82 } sparrow_point_t;
  83
  84 typedef struct sparrow_cluster_s {
  85   int n;
  86   sparrow_voter_t voters[8];
  87 } sparrow_cluster_t;
  88
  89
  90 typedef union sparrow_signal_s {
  91   guint16 v_signal;
  92   guint16 h_signal;
  93 } sparrow_signal_t;
  94
  95
  96 typedef struct sparrow_intersect_s {
  97   guint16 lines[2];
  98   guint16 signal[2];
  99 } sparrow_intersect_t;
 100
 101 typedef struct sparrow_line_s {
 102   gint offset;
 103   sparrow_axis_t dir;
 104   gint index;
 105 } sparrow_line_t;
 106
 107 /*condensed version of <struct sparrow_find_lines_s> for saving: contains no
 108   pointers or other unnecessary things that might vary in size across
 109   architectures. */
 110 typedef struct sparrow_fl_condensed {
 111   gint32 n_vlines;
 112   gint32 n_hlines;
 113 } sparrow_fl_condensed_t;
 114
 115 typedef struct sparrow_find_lines_s {
 116   sparrow_line_t *h_lines;
 117   sparrow_line_t *v_lines;
 118   sparrow_line_t **shuffled_lines;
 119   int current;
 120   int n_lines;
 121   int n_vlines;
 122   int n_hlines;
 123   gint shift1;
 124   gint shift2;
 125   sparrow_intersect_t *map;
 126   sparrow_corner_t *mesh_mem;
 127   sparrow_corner_t *mesh;
 128   sparrow_corner_t *mesh_next;
 129   sparrow_cluster_t *clusters;
 130   double *dither;
 131   IplImage *debug;
 132   IplImage *threshold;
 133   IplImage *working;
 134   IplImage *input;
 135   edges_state_t state;
 136 } sparrow_find_lines_t;
 137
 138
 139 #define DEBUG_FIND_LINES(fl)GST_DEBUG(             \
 140     "fl:\n"                                        \
 141   "  sparrow_line_t *h_lines: %p\n"                \
 142   "  sparrow_line_t *v_lines: %p\n"                \
 143   "  sparrow_line_t **shuffled_lines: %p\n"        \
 144   "  int current: %d\n"                            \
 145   "  int n_lines: %d\n"                            \
 146   "  int n_vlines: %d\n"                           \
 147   "  int n_hlines: %d\n"                           \
 148   "  gint shift1: %d\n"                            \
 149   "  gint shift2: %d\n"                            \
 150   "  sparrow_intersect_t *map: %p\n"               \
 151   "  sparrow_corner_t *mesh: %p\n"                 \
 152   "  sparrow_cluster_t *clusters: %p\n"            \
 153   "  double *dither: %p \n"                        \
 154   "  IplImage *debug: %p\n"                        \
 155   "  IplImage *threshold: %p\n"                    \
 156   "  IplImage *working: %p\n"                      \
 157   "  IplImage *input: %p\n"                        \
 158   "  edges_state_t state: %d\n"                    \
 159   ,                                                \
 160   (fl)->h_lines,                                   \
 161   (fl)->v_lines,                                   \
 162   (fl)->shuffled_lines,                            \
 163   (fl)->current,                                   \
 164   (fl)->n_lines,                                   \
 165   (fl)->n_vlines,                                  \
 166   (fl)->n_hlines,                                  \
 167   (fl)->shift1,                                    \
 168   (fl)->shift2,                                    \
 169   (fl)->map,                                       \
 170   (fl)->mesh,                                      \
 171   (fl)->clusters,                                  \
 172   (fl)->dither,                                    \
 173   (fl)->debug,                                    \
 174   (fl)->threshold,                                \
 175   (fl)->working,                                  \
 176   (fl)->input,                                    \
 177   (fl)->state                                     \
 178 )
 179 //#undef debug_find_lines
 180 //#define debug_find_lines(x) /* */
 181
 182
 183 #endif /*have this .h*/