#include <math.h>#include <assert.h>#include <string.h>#include <stdio.h>#include <stdint.h>#include "apriltag.h"#include "common/image_u8x3.h"#include "common/zarray.h"#include "common/zhash.h"#include "common/unionfind.h"#include "common/timeprofile.h"#include "common/zmaxheap.h"#include "common/postscript_utils.h"#include "common/math_util.h"
Include dependency graph for apriltag_quad_thresh.c:
Go to the source code of this file.
Classes | |
| struct | line_fit_pt |
| struct | pt |
| struct | quad_task |
| struct | remove_vertex |
| struct | segment |
| struct | uint64_zarray_entry |
| struct | unionfind_task |
Macros | |
| #define | ASSOC 2 |
| #define | DO_CONN(dx, dy) |
| #define | DO_UNIONFIND(dx, dy) if (im->buf[y*s + dy*s + x + dx] == v) unionfind_connect(uf, y*w + x, y*w + dy*w + x + dx); |
| #define | M_PI 3.141592653589793238462643383279502884196 |
| #define | MAYBE_SWAP(arr, apos, bpos) |
| #define | MERGE(apos, bpos) |
Functions | |
| zarray_t * | apriltag_quad_thresh (apriltag_detector_t *td, image_u8_t *im) |
| static void | do_quad_task (void *p) |
| static void | do_unionfind_line (unionfind_t *uf, image_u8_t *im, int h, int w, int s, int y) |
| static void | do_unionfind_task (void *p) |
| int | err_compare_descending (const void *_a, const void *_b) |
| void | fit_line (struct line_fit_pt *lfps, int sz, int i0, int i1, double *lineparm, double *err, double *mse) |
| int | fit_quad (apriltag_detector_t *td, image_u8_t *im, zarray_t *cluster, struct quad *quad) |
| int | pt_compare_theta (const void *_a, const void *_b) |
| static void | ptsort (struct pt *pts, int sz) |
| int | quad_segment_agg (apriltag_detector_t *td, zarray_t *cluster, struct line_fit_pt *lfps, int indices[4]) |
| int | quad_segment_maxima (apriltag_detector_t *td, zarray_t *cluster, struct line_fit_pt *lfps, int indices[4]) |
| image_u8_t * | threshold (apriltag_detector_t *td, image_u8_t *im) |
| image_u8_t * | threshold_bayer (apriltag_detector_t *td, image_u8_t *im) |
| static uint32_t | u64hash_2 (uint64_t x) |
Macro Definition Documentation
| #define ASSOC 2 |
| #define DO_CONN | ( | dx, | |
| dy | |||
| ) |
Value:
if (1) { \
uint8_t v1 = threshim->buf[y*ts + dy*ts + x + dx]; \
\
if (v0 + v1 == 255) { \
uint64_t rep1 = unionfind_get_representative(uf, y*w + dy*w + x + dx); \
uint64_t clusterid; \
if (rep0 < rep1) \
clusterid = (rep1 << 32) + rep0; \
else \
clusterid = (rep0 << 32) + rep1; \
\
/* XXX lousy hash function */ \
uint32_t clustermap_bucket = u64hash_2(clusterid) % nclustermap; \
struct uint64_zarray_entry *entry = clustermap[clustermap_bucket]; \
while (entry && entry->id != clusterid) { \
entry = entry->next; \
} \
\
if (!entry) { \
entry->id = clusterid; \
entry->next = clustermap[clustermap_bucket]; \
clustermap[clustermap_bucket] = entry; \
} \
\
zarray_add(entry->cluster, &p); \
} \
}
static uint32_t unionfind_get_representative(unionfind_t *uf, uint32_t id)
Definition: unionfind.h:95
Definition: apriltag_quad_thresh.c:69
Definition: apriltag_quad_thresh.c:57
| #define DO_UNIONFIND | ( | dx, | |
| dy | |||
| ) | if (im->buf[y*s + dy*s + x + dx] == v) unionfind_connect(uf, y*w + x, y*w + dy*w + x + dx); |
Definition at line 1093 of file apriltag_quad_thresh.c.
| #define M_PI 3.141592653589793238462643383279502884196 |
Definition at line 66 of file apriltag_quad_thresh.c.
| #define MAYBE_SWAP | ( | arr, | |
| apos, | |||
| bpos | |||
| ) |
Value:
if (arr[apos].theta > arr[bpos].theta) { \
tmp = arr[apos]; arr[apos] = arr[bpos]; arr[bpos] = tmp; \
};
| #define MERGE | ( | apos, | |
| bpos | |||
| ) |
Value:
if (as[apos].theta < bs[bpos].theta) \
pts[outpos++] = as[apos++]; \
else \
pts[outpos++] = bs[bpos++];
Function Documentation
| zarray_t* apriltag_quad_thresh | ( | apriltag_detector_t * | td, |
| image_u8_t * | im | ||
| ) |
Definition at line 1510 of file apriltag_quad_thresh.c.
|
static |
Definition at line 1128 of file apriltag_quad_thresh.c.
|
static |
Definition at line 1095 of file apriltag_quad_thresh.c.
|
static |
Definition at line 1119 of file apriltag_quad_thresh.c.
| int err_compare_descending | ( | const void * | _a, |
| const void * | _b | ||
| ) |
Definition at line 366 of file apriltag_quad_thresh.c.
| void fit_line | ( | struct line_fit_pt * | lfps, |
| int | sz, | ||
| int | i0, | ||
| int | i1, | ||
| double * | lineparm, | ||
| double * | err, | ||
| double * | mse | ||
| ) |
Definition at line 232 of file apriltag_quad_thresh.c.
| int fit_quad | ( | apriltag_detector_t * | td, |
| image_u8_t * | im, | ||
| zarray_t * | cluster, | ||
| struct quad * | quad | ||
| ) |
Definition at line 677 of file apriltag_quad_thresh.c.
| int pt_compare_theta | ( | const void * | _a, |
| const void * | _b | ||
| ) |
Definition at line 358 of file apriltag_quad_thresh.c.
|
inlinestatic |
Definition at line 120 of file apriltag_quad_thresh.c.
| int quad_segment_agg | ( | apriltag_detector_t * | td, |
| zarray_t * | cluster, | ||
| struct line_fit_pt * | lfps, | ||
| int | indices[4] | ||
| ) |
Definition at line 566 of file apriltag_quad_thresh.c.
| int quad_segment_maxima | ( | apriltag_detector_t * | td, |
| zarray_t * | cluster, | ||
| struct line_fit_pt * | lfps, | ||
| int | indices[4] | ||
| ) |
Definition at line 390 of file apriltag_quad_thresh.c.
| image_u8_t* threshold | ( | apriltag_detector_t * | td, |
| image_u8_t * | im | ||
| ) |
Definition at line 1167 of file apriltag_quad_thresh.c.
| image_u8_t* threshold_bayer | ( | apriltag_detector_t * | td, |
| image_u8_t * | im | ||
| ) |
Definition at line 1394 of file apriltag_quad_thresh.c.
|
inlinestatic |
Definition at line 52 of file apriltag_quad_thresh.c.