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38 lines
833 B
38 lines
833 B
#ifndef EXTRACTOR_H
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#define EXTRACTOR_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#define ORBD_KEYPOINTS 3000
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#define ORBD_DESCRIPTOR_LENGTH 32
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#define ORBD_HEIGHT 874
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#define ORBD_WIDTH 1164
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#define ORBD_FOCAL 910
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// matches OrbFeatures from log.capnp
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struct orb_features {
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// align this
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uint16_t n_corners;
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uint16_t xy[ORBD_KEYPOINTS][2];
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uint8_t octave[ORBD_KEYPOINTS];
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uint8_t des[ORBD_KEYPOINTS][ORBD_DESCRIPTOR_LENGTH];
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int16_t matches[ORBD_KEYPOINTS];
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};
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// forward declare this
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struct pyramid;
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// manage the pyramids in extractor.c
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void init_gpyrs();
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int extract_and_match_gpyrs(const uint8_t *img, struct orb_features *);
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int extract_and_match(const uint8_t *img, struct pyramid *pyrs, struct pyramid *prev_pyrs, struct orb_features *);
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#ifdef __cplusplus
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}
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#endif
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#endif // EXTRACTOR_H
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