line_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_LINE_FEATURE_H
#define _GAN_LINE_FEATURE_H

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

#ifdef __cplusplus
extern "C" {
#endif

typedef struct Gan_LineFeature
{
   unsigned r1, c1, r2, c2;

   Gan_Vector2_f p1, p2;

   float strength;

   Gan_Vector3_f l;


   Gan_SquMatrix22_f N, Ni; 

   int status;
   int index;

   Gan_Vector2_f *point;

   unsigned npoints;
} Gan_LineFeature;

typedef struct Gan_LineFeatureMap
{
   unsigned nlines;

   Gan_LineFeature *line;

   unsigned max_nlines;

   unsigned height, width;

   Gan_Bool A_set;

   Gan_Matrix23_f A, Ai;

   Gan_LocalFeatureMap local_fmap;

   Gan_Vector2_f *point;

   unsigned npoints;

   unsigned max_npoints;

   Gan_Bool alloc;
} Gan_LineFeatureMap;

 Gan_LineFeatureMap *gan_line_feature_map_form ( Gan_LineFeatureMap *lmap,
                                                            unsigned max_nlines );
 Gan_LineFeatureMap *gan_line_feature_map_copy ( Gan_LineFeatureMap *lmap );
 void gan_line_feature_map_free ( Gan_LineFeatureMap *lmap );
 Gan_Bool gan_line_feature_map_clear ( Gan_LineFeatureMap *lmap,
                                      unsigned height, unsigned width,
                                      Gan_Matrix23_f *A,
                                      Gan_LocalFeatureMapParams *lpms );
 Gan_LineFeature *gan_line_feature_add ( Gan_LineFeatureMap *lmap,
                                        float y1, float x1,
                                        float y2, float x2,
                                        Gan_SquMatrix22_f *N,
                                        int status, int index,
                                        float strength,
                                        Gan_Vector2_f *point,
                                        unsigned npoints );
 Gan_Bool gan_line_feature_map_postprocess ( Gan_LineFeatureMap *lmap );

 Gan_LineFeatureMap *gan_line_feature_map_alloc ( unsigned max_nlines );

#ifdef __cplusplus
}
#endif

#endif /* #ifndef _GAN_LINE_FEATURE_H */

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