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edge_feature.h File Reference

#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>

Go to the source code of this file.

Compounds

struct  Gan_EdgeFeature
 2D edge feature structure More...

struct  Gan_EdgeFeatureMap
 Definition of 2D edge feature map structure. More...

struct  Gan_EdgeString
 Structure defining a connected string of edge features. More...


Typedefs

typedef Gan_EdgeFeature Gan_EdgeFeature
 2D edge feature structure

typedef Gan_EdgeString Gan_EdgeString
 Structure defining a connected string of edge features.

typedef Gan_EdgeFeatureMap Gan_EdgeFeatureMap
 Definition of 2D edge feature map structure.


Functions

Gan_EdgeFeatureMapgan_edge_feature_map_form (Gan_EdgeFeatureMap *emap, unsigned max_nedges, unsigned max_strings)
 Forms an edge feature map structure.

void gan_edge_feature_map_free (Gan_EdgeFeatureMap *emap)
 Frees an edge feature map structure.

Gan_Bool gan_edge_feature_map_clear (Gan_EdgeFeatureMap *emap, unsigned height, unsigned width, Gan_Matrix23_f *A, Gan_Camera *camera, Gan_LocalFeatureMapParams *lpms)
 Sets up and clears an edge feature map structure.

Gan_EdgeFeaturegan_edge_feature_add (Gan_EdgeFeatureMap *emap, unsigned r, unsigned c, float rf, float cf, float angle, float cov, int status, int index, float strength)
 Adds an edge to an edge feature map.

Gan_EdgeStringgan_edge_feature_string_add (Gan_EdgeFeatureMap *emap, Gan_EdgeFeature *edge)
 Adds an edge string to an edge feature map.

Gan_Bool gan_edge_feature_string_set_status (Gan_EdgeString *string, int status)
 Sets the status of all edges in the string.

Gan_Bool gan_edge_feature_map_postprocess (Gan_EdgeFeatureMap *emap)
 Postprocess feature map.

Gan_EdgeFeatureMapgan_edge_feature_map_alloc (unsigned max_nedges, unsigned max_nstrings)
 Macro: Allocates a edge feature map structure.


Detailed Description

Module: Image edge point definition and functions

Part of: Gandalf Library

Revision: Last edited: Author:

Copyright: (c) 2000 Imagineer Software Limited


Function Documentation

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
 

Adds an edge to an edge feature map.

Parameters:
emap An edge feature map
r The row location of the edge in the feature map window
c The column location of the edge in the feature map window
rf The floating edge row location of the edge
cf The floating edge column location of the edge
angle The orientation of the edge "normal"
cov The covariance of the edge position in the normal direction
status The status of the edge feature (user-defined)
index The index of the edge feature (user-defined)
strength The strength of the edge feature
Adds an edge to an edge feature map with given coordinates, both in integer and floating edge formats, which should both be in the coordinate frame of the feature window, with (0,0) at the top-left corner. This routine transforms the floating edge coordinates appropriately given the affine transformation defined by the feature map structure emap, removes any non-linear distortion specified by the camera part of the feature map structure, and writes all the information into a new feature edge structure, a pointer to which is returned.

The strength should be in units linear with the image intensity, if that is applicable.

Returns:
Non-NULL pointer to the new feature structure, or NULL on failure.

Gan_Bool gan_edge_feature_map_clear Gan_EdgeFeatureMap   emap,
unsigned    height,
unsigned    width,
Gan_Matrix23_f   A,
Gan_Camera   camera,
Gan_LocalFeatureMapParams   lpms
 

Sets up and clears an edge feature map structure.

Parameters:
emap An edge feature map
height The height of the feature map region
width The width of the feature map region
A Affine transformation from window to edge coords or NULL
camera A pointer to the camera calibration or NULL
lpms Local feature map parameters or NULL
Sets attributes of an edge feature map prior to filling the feature map with edges. The lpms argument, if not NULL, is passed to gan_local_feature_map_form() to build a local blocked feature map for the edge features.

Returns:
GAN_TRUE on success, GAN_FALSE on failure.

Gan_EdgeFeatureMap* gan_edge_feature_map_form Gan_EdgeFeatureMap   emap,
unsigned    max_nedges,
unsigned    max_nstrings
 

Forms an edge feature map structure.

Parameters:
emap an edge feature map
max_nedges The number of edges initially to allocate for
max_nstrings The number of strings initially to allocate for
Fills a structure to hold edge features, and sets it to be empty.

Returns:
non-NULL the formed feature map emap, or NULL on failure.
See also:
gan_edge_feature_map_alloc(), gan_edge_feature_map_free().

void gan_edge_feature_map_free Gan_EdgeFeatureMap   emap
 

Frees an edge feature map structure.

Parameters:
emap an edge feature map
Frees a previously formed/allocated structure that holds edge features.

Returns:
No value.
See also:
gan_edge_feature_map_form(), gan_edge_feature_map_alloc().

Gan_Bool gan_edge_feature_map_postprocess Gan_EdgeFeatureMap   emap
 

Postprocess feature map.

Parameters:
emap an edge feature map
Postprocess feature map, building index array into local feature map. Call this function after building local feature counts with gan_edge_feature_add() using a UINT_MAX index argument, so that the index array for the local features will be built.

Returns:
GAN_TRUE on success, GAN_FALSE on failure.
See also:
gan_edge_feature_add().

Gan_EdgeString* gan_edge_feature_string_add Gan_EdgeFeatureMap   emap,
Gan_EdgeFeature   edge
 

Adds an edge string to an edge feature map.

Parameters:
emap an edge feature map
edge The first edge in the edge string
Adds a new edge string to an edge feature map, starting with the given edge.

Returns:
Non-NULL pointer to the new feature string structure, or NULL on failure.

Gan_Bool gan_edge_feature_string_set_status Gan_EdgeString   string,
int    status
 

Sets the status of all edges in the string.

Parameters:
string an edge feature string
status A status value
Sets the status of all edges in the string to the given status value.

Returns:
GAN_TRUE on success, GAN_FALSE on failure.


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