apriltag_quad_thresh.c File Reference

#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/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	blur_task
struct	cluster_hash
struct	cluster_task
struct	line_fit_pt
struct	minmax_task
struct	pt
struct	quad_task
struct	remove_vertex
struct	segment
struct	threshold_task
struct	uint64_zarray_entry
struct	unionfind_task

Macros
#define	_USE_MATH_DEFINES
#define	DO_CONN(dx, dy)
#define	DO_UNIONFIND2(dx, dy)   if (im->buf[(y + dy)*s + x + dx] == v) unionfind_connect(uf, y*w + x, (y + dy)*w + x + dx);
#define	MAYBE_SWAP(arr, apos, bpos)
#define	MERGE(apos, bpos)

Functions
zarray_t *	apriltag_quad_thresh (apriltag_detector_t *td, image_u8_t *im)
struct line_fit_pt *	compute_lfps (int sz, zarray_t *cluster, image_u8_t *im)
unionfind_t *	connected_components (apriltag_detector_t *td, image_u8_t *threshim, int w, int h, int ts)
void	do_blur_task (void *p)
static void	do_cluster_task (void *p)
zarray_t *	do_gradient_clusters (image_u8_t *threshim, int ts, int y0, int y1, int w, int nclustermap, unionfind_t *uf, zarray_t *clusters)
void	do_minmax_task (void *p)
static void	do_quad_task (void *p)
void	do_threshold_task (void *p)
static void	do_unionfind_first_line (unionfind_t *uf, image_u8_t *im, int w, int s)
static void	do_unionfind_line2 (unionfind_t *uf, image_u8_t *im, int w, int s, int y)
static void	do_unionfind_task2 (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 tag_width, bool normal_border, bool reversed_border)
zarray_t *	fit_quads (apriltag_detector_t *td, int w, int h, zarray_t *clusters, image_u8_t *im)
zarray_t *	gradient_clusters (apriltag_detector_t *td, image_u8_t *threshim, int w, int h, int ts, unionfind_t *uf)
zarray_t *	merge_clusters (zarray_t *c1, zarray_t *c2)
float	pt_compare_angle (struct pt *a, struct pt *b)
static void	ptsort (struct pt *pts, int sz)
int	quad_segment_agg (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

_USE_MATH_DEFINES

#define _USE_MATH_DEFINES

Definition at line 31 of file apriltag_quad_thresh.c.

DO_CONN

#define DO_CONN	(		dx,
			dy
	)

DO_UNIONFIND2

#define DO_UNIONFIND2	(		dx,
			dy
	)		if (im->buf[(y + dy)*s + x + dx] == v) unionfind_connect(uf, y*w + x, (y + dy)*w + x + dx);

Definition at line 982 of file apriltag_quad_thresh.c.

MAYBE_SWAP

#define MAYBE_SWAP	(		arr,
			apos,
			bpos
	)

Value:

    if (pt_compare_angle(&(arr[apos]), &(arr[bpos])) > 0) {                        \
        tmp = arr[apos]; arr[apos] = arr[bpos]; arr[bpos] = tmp;    \
    };

MERGE

#define MERGE	(		apos,
			bpos
	)

Value:

    if (pt_compare_angle(&(as[apos]), &(bs[bpos])) < 0)        \
        pts[outpos++] = as[apos++];             \
    else                                        \
        pts[outpos++] = bs[bpos++];

Function Documentation

apriltag_quad_thresh()

zarray_t* apriltag_quad_thresh	(	apriltag_detector_t *	td,
		image_u8_t *	im
	)

Definition at line 1848 of file apriltag_quad_thresh.c.

compute_lfps()

struct line_fit_pt* compute_lfps	(	int	sz,
		zarray_t *	cluster,
		image_u8_t *	im
	)

Compute statistics that allow line fit queries to be efficiently computed for any contiguous range of indices.

Definition at line 621 of file apriltag_quad_thresh.c.

connected_components()

unionfind_t* connected_components	(	apriltag_detector_t *	td,
		image_u8_t *	threshim,
		int	w,
		int	h,
		int	ts
	)

Definition at line 1498 of file apriltag_quad_thresh.c.

do_blur_task()

void do_blur_task

(

void *

p

)

Definition at line 1116 of file apriltag_quad_thresh.c.

do_cluster_task()

static void do_cluster_task ( void *  p )

static

Definition at line 1689 of file apriltag_quad_thresh.c.

do_gradient_clusters()

zarray_t* do_gradient_clusters	(	image_u8_t *	threshim,
		int	ts,
		int	y0,
		int	y1,
		int	w,
		int	nclustermap,
		unionfind_t *	uf,
		zarray_t *	clusters
	)

Definition at line 1545 of file apriltag_quad_thresh.c.

do_minmax_task()

void do_minmax_task

(

void *

p

)

Definition at line 1087 of file apriltag_quad_thresh.c.

do_quad_task()

static void do_quad_task ( void *  p )

static

Definition at line 1049 of file apriltag_quad_thresh.c.

do_threshold_task()

void do_threshold_task

(

void *

p

)

Definition at line 1150 of file apriltag_quad_thresh.c.

do_unionfind_first_line()

static void do_unionfind_first_line ( unionfind_t *  uf, image_u8_t *  im, int  w, int  s  )

static

Definition at line 984 of file apriltag_quad_thresh.c.

do_unionfind_line2()

static void do_unionfind_line2 ( unionfind_t *  uf, image_u8_t *  im, int  w, int  s, int  y  )

static

Definition at line 999 of file apriltag_quad_thresh.c.

do_unionfind_task2()

static void do_unionfind_task2 ( void *  p )

static

Definition at line 1040 of file apriltag_quad_thresh.c.

err_compare_descending()

int err_compare_descending	(	const void *	_a,
		const void *	_b
	)

Definition at line 299 of file apriltag_quad_thresh.c.

fit_line()

void fit_line	(	struct line_fit_pt *	lfps,
		int	sz,
		int	i0,
		int	i1,
		double *	lineparm,
		double *	err,
		double *	mse
	)

Definition at line 175 of file apriltag_quad_thresh.c.

fit_quad()

int fit_quad	(	apriltag_detector_t *	td,
		image_u8_t *	im,
		zarray_t *	cluster,
		struct quad *	quad,
		int	tag_width,
		bool	normal_border,
		bool	reversed_border
	)

Definition at line 758 of file apriltag_quad_thresh.c.

fit_quads()

zarray_t* fit_quads	(	apriltag_detector_t *	td,
		int	w,
		int	h,
		zarray_t *	clusters,
		image_u8_t *	im
	)

Definition at line 1798 of file apriltag_quad_thresh.c.

gradient_clusters()

zarray_t* gradient_clusters	(	apriltag_detector_t *	td,
		image_u8_t *	threshim,
		int	w,
		int	h,
		int	ts,
		unionfind_t *	uf
	)

Definition at line 1736 of file apriltag_quad_thresh.c.

merge_clusters()

zarray_t* merge_clusters	(	zarray_t *	c1,
		zarray_t *	c2
	)

Definition at line 1696 of file apriltag_quad_thresh.c.

pt_compare_angle()

float pt_compare_angle	(	struct pt *	a,
		struct pt *	b
	)

Definition at line 295 of file apriltag_quad_thresh.c.

ptsort()

static void ptsort ( struct pt *  pts, int  sz  )

inlinestatic

Definition at line 663 of file apriltag_quad_thresh.c.

quad_segment_agg()

int quad_segment_agg	(	zarray_t *	cluster,
		struct line_fit_pt *	lfps,
		int	indices[4]
	)

Definition at line 507 of file apriltag_quad_thresh.c.

quad_segment_maxima()

int quad_segment_maxima	(	apriltag_detector_t *	td,
		zarray_t *	cluster,
		struct line_fit_pt *	lfps,
		int	indices[4]
	)

Definition at line 323 of file apriltag_quad_thresh.c.

threshold()

image_u8_t* threshold	(	apriltag_detector_t *	td,
		image_u8_t *	im
	)

Definition at line 1203 of file apriltag_quad_thresh.c.

threshold_bayer()

image_u8_t* threshold_bayer	(	apriltag_detector_t *	td,
		image_u8_t *	im
	)

Definition at line 1382 of file apriltag_quad_thresh.c.

u64hash_2()

static uint32_t u64hash_2 ( uint64_t  x )

inlinestatic

Definition at line 54 of file apriltag_quad_thresh.c.