Contents

• Introduction
  • Conventions and style
    • Function/name prefixes and case
    • ``Quick'', ``slow'' and ``in-place'' Gandalf routines
    • Variable argument list functions
    • Dynamic self-modification
    • Coordinate pair ordering
    • Pixel values
    • Image orientation
    • Error checking
  
  
• The Common Package
  • Miscellaneous definitions
    • Simple types
    • Types with specific bit sizes
    • Debugging tools
  • Linked lists
  • Bit arrays
  • Memory allocation
  • Array fill/copy
  • Complex numbers
  • Numerical routines
  • Comparison routines
  • Error handling
    • More on the error trace
  • Error tests and codes
  
  
• The Linear Algebra Package
  • Fixed size matrices and vectors
    • Fixed size vectors
    • Fixed size matrices
  • General size matrices and vectors
    • General size vectors
    • General size matrices
    • Single precision general size matrices & vectors
  
  
• The Image Package
  • Image formats and types
  • Simple image/pixel routines
    • Image creation/destruction
  • Image file I/O
    • Setting an image to a new format, type and dimensions
    • Accessing single pixels
    • Filling an image with a constant value
    • Converting a pixel to a given format/type
  • Binary images
  • Pointer images
  • Copying/converting the whole or part of an image
    • Accessing channels of an image
  • Displaying images
  • Image pyramids
  • Inverting an image
  • Image sequence I/O
  
  
• The Vision Package
  • Cameras
    • Building cameras
    • Projecting points and lines
    • Adding/removing camera distortion
    • Building the camera calibration matrix
    • Converting cameras between precisions
  • Computing the fundamental/essential matrix
  • Computing a homography between 2D scene and image
    • Computing a 2D homography from an array of feature matches
    • Computing a 2D affine homography
  • Computing a homography between 3D scene and image
  • Smoothing an image using a 1D convolution mask
  • Smoothing an image using a 2D convolution mask
  • Feature detection
    • Image feature coordinate frames
    • Edge detection
    • Displaying an edge map
    • The Canny edge detector
    • Corner detection
    • Displaying a corner map
    • The Harris corner detector
    • Line segment detection
    • Displaying a line map
    • The Gandalf line detector
  • Representing 3D rotations
    • Quaternion routines
    • General rotation routines
  • Representing 3D Euclidean transformations
  • Levenberg-Marquardt minimisation
    • Robust observations
    • Generalised observations
    • Levenberg-Marquardt software
  • Fast Hough Transform
    • The Fast Hough Transform (FHT)
    • Example: Plane Fitting
    • Speed Improvement to FHT Line Finder
  
  
• The Test Framework
  • Adding new tests
  
  
• Bibliography