edges.h

   1 #ifndef __SPARROW_EDGES_H__
   2 #define __SPARROW_EDGES_H__
   3
   4 /* CAMERA_ADJUST_TIME to  wair for iris to adjust after find screen flash */
   5 #define CAMERA_ADJUST_TIME 10
   6 #define SAFETY_LAG 3
   7 #define SIG_WEIGHT 2
   8
   9 /* for discarding outliers */
  10 #define OUTLIER_RADIUS 7
  11 #define OUTLIER_THRESHOLD (OUTLIER_RADIUS * OUTLIER_RADIUS)
  12
  13 #define BAD_PIXEL 0xffff
  14
  15 #define FL_DUMPFILE "/tmp/edges.dump"
  16
  17 #define COLOUR_QUANT  1
  18 #define COLOUR_MASK  (0xff >> COLOUR_QUANT)
  19
  20 /*if squared error between observed error and predicted error exceeds this,
  21   ignore the observation */
  22 #define CORNER_EXACT_THRESHOLD 16
  23
  24 /*a corner based on fewer than this number of projects cannot be considered
  25   settled */
  26 #define MIN_CORNER_ESTIMATES 5
  27
  28 /* nice big word. acos(1.0 - MAX_NONCOLLINEARITY) = angle of deviation.  This
  29    is used when lining up known points to estimte the position of lost ones.
  30    0.005: 5.7 degrees, 0.01: 8.1, 0.02: 11.5, 0.04: 16.3, 0.08: 23.1
  31    1 pixel deviation in 32 -> ~ 1/33 == 0.03 (if I understand correctly)
  32 */
  33 #define MAX_NONCOLLINEARITY 0.02
  34
  35 typedef enum corner_status {
  36   CORNER_UNUSED,
  37   CORNER_PROJECTED,
  38   CORNER_EXACT,
  39   CORNER_SETTLED,
  40 } corner_status_t;
  41
  42 typedef enum edges_state {
  43   EDGES_FIND_NOISE,
  44   EDGES_WAIT_FOR_LINES_LOCK,
  45   EDGES_FIND_LINES,
  46   EDGES_FIND_CORNERS,
  47   EDGES_WAIT_FOR_PLAY,
  48
  49   EDGES_NEXT_STATE,
  50 } edges_state_t;
  51
  52 #define USE_FLOAT_COORDS 1
  53
  54 #if USE_FLOAT_COORDS
  55 typedef float coord_t;
  56 typedef float coord_sum_t;
  57 #define QUANTISE_DELTA(d)((d) / LINE_PERIOD)
  58
  59 #else
  60 /* the mesh is stored in a fixed point notation.*/
  61 #define SPARROW_FIXED_POINT 9
  62
  63 typedef int coord_t;
  64 typedef gint64 coord_sum_t;
  65 #define QUANTISE_DELTA(d)(((d) + LINE_PERIOD / 2) / LINE_PERIOD)
  66
  67 #endif
  68
  69 typedef struct sparrow_estimator_s {
  70   int x1;
  71   int y1;
  72   int x2;
  73   int y2;
  74   int x3;
  75   int y3;
  76   //int mul; /* estimate: x1,y1 + mul * diff */
  77 } sparrow_estimator_t;
  78
  79 typedef struct sparrow_corner_s {
  80   coord_t x;
  81   coord_t y;
  82   /*dyr -> dy to next point right
  83    dxd ->dx to next point down */
  84   coord_t dxr;
  85   coord_t dyr;
  86   coord_t dxd;
  87   coord_t dyd;
  88   corner_status_t status;
  89 } sparrow_corner_t;
  90
  91 typedef struct sparrow_voter_s {
  92   coord_t x;
  93   coord_t y;
  94   guint32 signal;
  95 } sparrow_voter_t;
  96
  97 typedef struct sparrow_point_s {
  98   coord_t x;
  99   coord_t y;
 100 } sparrow_point_t;
 101
 102 typedef struct sparrow_cluster_s {
 103   int n;
 104   sparrow_voter_t voters[8];
 105 } sparrow_cluster_t;
 106
 107
 108 typedef union sparrow_signal_s {
 109   guint16 v_signal;
 110   guint16 h_signal;
 111 } sparrow_signal_t;
 112
 113
 114 typedef struct sparrow_intersect_s {
 115   guint16 lines[2];
 116   guint16 signal[2];
 117 } sparrow_intersect_t;
 118
 119 typedef struct sparrow_line_s {
 120   gint offset;
 121   sparrow_axis_t dir;
 122   gint index;
 123 } sparrow_line_t;
 124
 125 /*condensed version of <struct sparrow_find_lines_s> for saving: contains no
 126   pointers or other unnecessary things that might vary in size across
 127   architectures. */
 128 typedef struct sparrow_fl_condensed {
 129   gint32 n_vlines;
 130   gint32 n_hlines;
 131 } sparrow_fl_condensed_t;
 132
 133 typedef struct sparrow_find_lines_s {
 134   sparrow_line_t *h_lines;
 135   sparrow_line_t *v_lines;
 136   sparrow_line_t **shuffled_lines;
 137   int current;
 138   int n_lines;
 139   int n_vlines;
 140   int n_hlines;
 141   gint shift1;
 142   gint shift2;
 143   sparrow_intersect_t *map;
 144   sparrow_corner_t *mesh_mem;
 145   sparrow_corner_t *mesh;
 146   sparrow_corner_t *mesh_next;
 147   sparrow_cluster_t *clusters;
 148   double *dither;
 149   IplImage *debug;
 150   IplImage *threshold;
 151   IplImage *working;
 152   IplImage *input;
 153   edges_state_t state;
 154 } sparrow_find_lines_t;
 155
 156
 157 #define DEBUG_FIND_LINES(fl)GST_DEBUG(             \
 158     "fl:\n"                                        \
 159   "  sparrow_line_t *h_lines: %p\n"                \
 160   "  sparrow_line_t *v_lines: %p\n"                \
 161   "  sparrow_line_t **shuffled_lines: %p\n"        \
 162   "  int current: %d\n"                            \
 163   "  int n_lines: %d\n"                            \
 164   "  int n_vlines: %d\n"                           \
 165   "  int n_hlines: %d\n"                           \
 166   "  gint shift1: %d\n"                            \
 167   "  gint shift2: %d\n"                            \
 168   "  sparrow_intersect_t *map: %p\n"               \
 169   "  sparrow_corner_t *mesh: %p\n"                 \
 170   "  sparrow_cluster_t *clusters: %p\n"            \
 171   "  double *dither: %p \n"                        \
 172   "  IplImage *debug: %p\n"                        \
 173   "  IplImage *threshold: %p\n"                    \
 174   "  IplImage *working: %p\n"                      \
 175   "  IplImage *input: %p\n"                        \
 176   "  edges_state_t state: %d\n"                    \
 177   ,                                                \
 178   (fl)->h_lines,                                   \
 179   (fl)->v_lines,                                   \
 180   (fl)->shuffled_lines,                            \
 181   (fl)->current,                                   \
 182   (fl)->n_lines,                                   \
 183   (fl)->n_vlines,                                  \
 184   (fl)->n_hlines,                                  \
 185   (fl)->shift1,                                    \
 186   (fl)->shift2,                                    \
 187   (fl)->map,                                       \
 188   (fl)->mesh,                                      \
 189   (fl)->clusters,                                  \
 190   (fl)->dither,                                    \
 191   (fl)->debug,                                    \
 192   (fl)->threshold,                                \
 193   (fl)->working,                                  \
 194   (fl)->input,                                    \
 195   (fl)->state                                     \
 196 )
 197 //#undef debug_find_lines
 198 //#define debug_find_lines(x) /* */
 199
 200
 201 #endif /*have this .h*/