edge_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_EDGE_FEATURE_H
#define _GAN_EDGE_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/linalg/2x3matrixf.h>
#include <gandalf/linalg/2vectorf.h>

#ifdef __cplusplus
extern "C" {
#endif


typedef struct Gan_EdgeFeature
{
   unsigned short r, c;

   Gan_Vector2_f p;

   Gan_Vector2_f pu;

   float strength;


   float angle;

   float cov;

   int status;

   int index;

   struct Gan_EdgeFeature *next;

   struct Gan_EdgeFeature *prev;
} Gan_EdgeFeature;

typedef struct Gan_EdgeString
{
   Gan_EdgeFeature *first;

   Gan_EdgeFeature *last;

   unsigned length;
} Gan_EdgeString;

typedef struct Gan_EdgeFeatureMap
{
   unsigned nedges;

   Gan_EdgeFeature *edge;

   unsigned max_nedges;

   unsigned nstrings;

   Gan_EdgeString *string;

   unsigned max_nstrings;

   unsigned height, width;

   Gan_Bool A_set;

   Gan_Matrix23_f A, Ai;

   Gan_Camera_f camera;

   Gan_LocalFeatureMap local_fmap;

   Gan_Bool alloc;
} Gan_EdgeFeatureMap;

 Gan_EdgeFeatureMap *gan_edge_feature_map_form ( Gan_EdgeFeatureMap *emap,
                                                unsigned max_nedges,
                                                unsigned max_strings );
 void gan_edge_feature_map_free ( Gan_EdgeFeatureMap *emap );
 Gan_Bool gan_edge_feature_map_clear ( Gan_EdgeFeatureMap *emap,
                                      unsigned height, unsigned width,
                                      Gan_Matrix23_f *A, Gan_Camera *camera,
                                      Gan_LocalFeatureMapParams *lpms );
 Gan_EdgeFeature *gan_edge_feature_add ( Gan_EdgeFeatureMap *emap,
                                        unsigned r, unsigned c,
                                        float rf, float cf,
                                        float angle, float cov,
                                        int status, int index,
                                        float strength );
 Gan_EdgeString *gan_edge_feature_string_add ( Gan_EdgeFeatureMap *emap,
                                              Gan_EdgeFeature *edge );
 Gan_Bool gan_edge_feature_string_set_status ( Gan_EdgeString *string,
                                              int status );
 Gan_Bool gan_edge_feature_map_postprocess ( Gan_EdgeFeatureMap *emap );


 Gan_EdgeFeatureMap *gan_edge_feature_map_alloc ( unsigned max_nedges,
                                                 unsigned max_nstrings );

#ifdef __cplusplus
}
#endif

#endif /* #ifndef _GAN_EDGE_FEATURE_H */

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