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