corner_feature.h

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/* This library is free software; you can redistribute it and/or
   modify it under the terms of the GNU Lesser General Public
   License as published by the Free Software Foundation; either
   version 2.1 of the License, or (at your option) any later version.

   This library is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
   Lesser General Public License for more details.

   You should have received a copy of the GNU Lesser General Public
   License along with this library; if not, write to the Free Software
   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

#ifndef _GAN_CORNER_FEATURE_H
#define _GAN_CORNER_FEATURE_H

#include <gandalf/common/misc_defs.h>
#include <gandalf/vision/camera.h>
#include <gandalf/vision/cameraf.h>
#include <gandalf/vision/local_feature.h>
#include <gandalf/image/pixel.h>
#include <gandalf/linalg/2x3matrixf.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct Gan_CornerFeature
{
   unsigned short r, c;

   Gan_Vector2_f p;

   Gan_Vector2_f pu;

   float strength;

   Gan_SquMatrix22_f N;

   Gan_SquMatrix22_f Ni;

   int status;

   int index;
} Gan_CornerFeature;

typedef struct Gan_CornerFeatureMap
{
   unsigned ncorners;

   Gan_CornerFeature *corner;

   unsigned max_ncorners;

   unsigned height, width;

   Gan_Bool A_set;

   Gan_Matrix23_f A, Ai;

   Gan_Camera_f camera;

   Gan_LocalFeatureMap local_fmap;

   Gan_Bool alloc;
} Gan_CornerFeatureMap;

 Gan_CornerFeatureMap *gan_corner_feature_map_form ( Gan_CornerFeatureMap *cmap,
                                                    unsigned max_ncorners );
 void gan_corner_feature_map_free ( Gan_CornerFeatureMap *cmap );
 Gan_Bool gan_corner_feature_map_clear ( Gan_CornerFeatureMap *cmap,
                                        unsigned height, unsigned width,
                                        Gan_Matrix23_f *A, Gan_Camera *camera,
                                        Gan_LocalFeatureMapParams *lpms );
 Gan_CornerFeature *gan_corner_feature_add ( Gan_CornerFeatureMap *cmap,
                                            unsigned r, unsigned c,
                                            float rf, float cf,
                                            Gan_SquMatrix22_f *N,
                                            int status, int index,
                                            float strength );
 Gan_Bool gan_corner_feature_map_postprocess ( Gan_CornerFeatureMap *cmap );

 Gan_CornerFeatureMap *gan_corner_feature_map_alloc ( unsigned max_ncorners );

#ifdef __cplusplus
}
#endif

#endif /* #ifndef _GAN_CORNER_FEATURE_H */

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