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
  19 typedef enum corner_status {
  20   CORNER_UNUSED,
  21   CORNER_PROJECTED,
  22   CORNER_EXACT,
  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 typedef struct sparrow_corner_s {
  35   int in_x;
  36   int in_y;
  37   /*dyr -> dy to next point right
  38    dxd ->dx to next point down */
  39   int dxr;
  40   int dyr;
  41   int dxd;
  42   int dyd;
  43   corner_status_t status;
  44 } sparrow_corner_t;
  45
  46 typedef struct sparrow_voter_s {
  47   int x;
  48   int y;
  49   guint32 signal;
  50 } sparrow_voter_t;
  51
  52 typedef struct sparrow_cluster_s {
  53   int n;
  54   sparrow_voter_t voters[8];
  55 } sparrow_cluster_t;
  56
  57
  58 typedef union sparrow_signal_s {
  59   guint16 v_signal;
  60   guint16 h_signal;
  61 } sparrow_signal_t;
  62
  63
  64 typedef struct sparrow_intersect_s {
  65   guint16 lines[2];
  66   guint16 signal[2];
  67 } sparrow_intersect_t;
  68
  69 typedef struct sparrow_line_s {
  70   gint offset;
  71   sparrow_axis_t dir;
  72   gint index;
  73 } sparrow_line_t;
  74
  75 /*condensed version of <struct sparrow_find_lines_s> for saving: contains no
  76   pointers or other unnecessary things that might vary in size across
  77   architectures. */
  78 typedef struct sparrow_fl_condensed {
  79   gint32 n_vlines;
  80   gint32 n_hlines;
  81 } sparrow_fl_condensed_t;
  82
  83 typedef struct sparrow_find_lines_s {
  84   sparrow_line_t *h_lines;
  85   sparrow_line_t *v_lines;
  86   sparrow_line_t **shuffled_lines;
  87   int current;
  88   int n_lines;
  89   int n_vlines;
  90   int n_hlines;
  91   gint shift1;
  92   gint shift2;
  93   sparrow_intersect_t *map;
  94   sparrow_corner_t *mesh;
  95   sparrow_cluster_t *clusters;
  96   IplImage *debug;
  97   IplImage *threshold;
  98   IplImage *working;
  99   IplImage *input;
 100   edges_state_t state;
 101 } sparrow_find_lines_t;
 102
 103
 104 #define DEBUG_FIND_LINES(fl)GST_DEBUG(          \
 105   "fl:\n"                                       \
 106   "  sparrow_line_t *h_lines: %p\n"             \
 107   "  sparrow_line_t *v_lines: %p\n"             \
 108   "  sparrow_line_t **shuffled_lines: %p\n"     \
 109   "  int current: %d\n"                         \
 110   "  int n_lines: %d\n"                         \
 111   "  int n_vlines: %d\n"                        \
 112   "  int n_hlines: %d\n"                        \
 113   "  gint shift1: %d\n"                         \
 114   "  gint shift2: %d\n"                         \
 115   "  sparrow_intersect_t *map: %p\n"            \
 116   "  sparrow_corner_t *mesh: %p\n"              \
 117   "  sparrow_cluster_t *clusters: %p\n"         \
 118   "  IplImage *debug: %p\n"                     \
 119   "  IplImage *threshold: %p\n"                 \
 120   "  IplImage *working: %p\n"                   \
 121   "  IplImage *input: %p\n"                     \
 122   "  edges_state_t state: %d\n"                 \
 123   ,                                             \
 124   (fl)->h_lines,                                  \
 125   (fl)->v_lines,                                  \
 126   (fl)->shuffled_lines,                           \
 127   (fl)->current,                                  \
 128   (fl)->n_lines,                                  \
 129   (fl)->n_vlines,                                 \
 130   (fl)->n_hlines,                                 \
 131   (fl)->shift1,                                   \
 132   (fl)->shift2,                                   \
 133   (fl)->map,                                      \
 134   (fl)->mesh,                                     \
 135   (fl)->clusters,                                 \
 136   (fl)->debug,                                    \
 137   (fl)->threshold,                                \
 138   (fl)->working,                                  \
 139   (fl)->input,                                    \
 140   (fl)->state                                     \
 141 )
 142 //#undef debug_find_lines
 143 //#define debug_find_lines(x) /* */
 144
 145
 146 #endif /*have this .h*/