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