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_FIND_LINES,
  45   EDGES_FIND_CORNERS,
  46   EDGES_WAIT_FOR_PLAY,
  47
  48   EDGES_NEXT_STATE,
  49 } edges_state_t;
  50
  51 #define USE_FLOAT_COORDS 1
  52
  53 #if USE_FLOAT_COORDS
  54 typedef float coord_t;
  55 typedef float coord_sum_t;
  56 #define QUANTISE_DELTA(d)((d) / LINE_PERIOD)
  57
  58 #else
  59 /* the mesh is stored in a fixed point notation.*/
  60 #define SPARROW_FIXED_POINT 9
  61
  62 typedef int coord_t;
  63 typedef gint64 coord_sum_t;
  64 #define QUANTISE_DELTA(d)(((d) + LINE_PERIOD / 2) / LINE_PERIOD)
  65
  66 #endif
  67
  68 typedef struct sparrow_estimator_s {
  69   int x1;
  70   int y1;
  71   int x2;
  72   int y2;
  73   int x3;
  74   int y3;
  75   //int mul; /* estimate: x1,y1 + mul * diff */
  76 } sparrow_estimator_t;
  77
  78 typedef struct sparrow_corner_s {
  79   coord_t x;
  80   coord_t y;
  81   /*dyr -> dy to next point right
  82    dxd ->dx to next point down */
  83   coord_t dxr;
  84   coord_t dyr;
  85   coord_t dxd;
  86   coord_t dyd;
  87   corner_status_t status;
  88 } sparrow_corner_t;
  89
  90 typedef struct sparrow_voter_s {
  91   coord_t x;
  92   coord_t y;
  93   guint32 signal;
  94 } sparrow_voter_t;
  95
  96 typedef struct sparrow_point_s {
  97   coord_t x;
  98   coord_t y;
  99 } sparrow_point_t;
 100
 101 typedef struct sparrow_cluster_s {
 102   int n;
 103   sparrow_voter_t voters[8];
 104 } sparrow_cluster_t;
 105
 106
 107 typedef union sparrow_signal_s {
 108   guint16 v_signal;
 109   guint16 h_signal;
 110 } sparrow_signal_t;
 111
 112
 113 typedef struct sparrow_intersect_s {
 114   guint16 lines[2];
 115   guint16 signal[2];
 116 } sparrow_intersect_t;
 117
 118 typedef struct sparrow_line_s {
 119   gint offset;
 120   sparrow_axis_t dir;
 121   gint index;
 122 } sparrow_line_t;
 123
 124 /*condensed version of <struct sparrow_find_lines_s> for saving: contains no
 125   pointers or other unnecessary things that might vary in size across
 126   architectures. */
 127 typedef struct sparrow_fl_condensed {
 128   gint32 n_vlines;
 129   gint32 n_hlines;
 130 } sparrow_fl_condensed_t;
 131
 132 typedef struct sparrow_find_lines_s {
 133   sparrow_line_t *h_lines;
 134   sparrow_line_t *v_lines;
 135   sparrow_line_t **shuffled_lines;
 136   int current;
 137   int n_lines;
 138   int n_vlines;
 139   int n_hlines;
 140   gint shift1;
 141   gint shift2;
 142   gint unshift1;
 143   gint unshift2;
 144   sparrow_intersect_t *map;
 145   sparrow_corner_t *mesh_mem;
 146   sparrow_corner_t *mesh;
 147   sparrow_corner_t *mesh_next;
 148   sparrow_cluster_t *clusters;
 149   double *dither;
 150   IplImage *debug;
 151   IplImage *threshold;
 152   IplImage *working;
 153   IplImage *input;
 154   edges_state_t state;
 155 } sparrow_find_lines_t;
 156
 157
 158 #define DEBUG_FIND_LINES(fl)GST_DEBUG(             \
 159     "fl:\n"                                        \
 160   "  sparrow_line_t *h_lines: %p\n"                \
 161   "  sparrow_line_t *v_lines: %p\n"                \
 162   "  sparrow_line_t **shuffled_lines: %p\n"        \
 163   "  int current: %d\n"                            \
 164   "  int n_lines: %d\n"                            \
 165   "  int n_vlines: %d\n"                           \
 166   "  int n_hlines: %d\n"                           \
 167   "  gint shift1: %d\n"                            \
 168   "  gint shift2: %d\n"                            \
 169   "  gint unshift1: %d\n"                            \
 170   "  gint unshift2: %d\n"                            \
 171   "  sparrow_intersect_t *map: %p\n"               \
 172   "  sparrow_corner_t *mesh: %p\n"                 \
 173   "  sparrow_cluster_t *clusters: %p\n"            \
 174   "  double *dither: %p \n"                        \
 175   "  IplImage *debug: %p\n"                        \
 176   "  IplImage *threshold: %p\n"                    \
 177   "  IplImage *working: %p\n"                      \
 178   "  IplImage *input: %p\n"                        \
 179   "  edges_state_t state: %d\n"                    \
 180   ,                                                \
 181   (fl)->h_lines,                                   \
 182   (fl)->v_lines,                                   \
 183   (fl)->shuffled_lines,                            \
 184   (fl)->current,                                   \
 185   (fl)->n_lines,                                   \
 186   (fl)->n_vlines,                                  \
 187   (fl)->n_hlines,                                  \
 188   (fl)->shift1,                                    \
 189   (fl)->shift2,                                    \
 190   (fl)->unshift1,                                    \
 191   (fl)->unshift2,                                    \
 192   (fl)->map,                                       \
 193   (fl)->mesh,                                      \
 194   (fl)->clusters,                                  \
 195   (fl)->dither,                                    \
 196   (fl)->debug,                                    \
 197   (fl)->threshold,                                \
 198   (fl)->working,                                  \
 199   (fl)->input,                                    \
 200   (fl)->state                                     \
 201 )
 202 //#undef debug_find_lines
 203 //#define debug_find_lines(x) /* */
 204
 205
 206 #endif /*have this .h*/