textons.h File Reference

Takes an image and represents the texture and colors in the image with a texton histogram. More...

#include <stdint.h>

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Functions
void	DictionaryTrainingYUV (uint8_t *frame, uint16_t width, uint16_t height)
	Function that performs one pass for dictionary training. More...
void	DistributionExtraction (uint8_t *frame, uint16_t width, uint16_t height)
	Function that extracts a texton histogram from an image. More...
void	save_texton_dictionary (void)
	Save the texton dictionary. More...
void	load_texton_dictionary (void)
	Load a texton dictionary. More...
void	textons_init (void)
	Initialize. More...
void	textons_stop (void)

Variables
float *	texton_distribution
uint8_t	load_dictionary
uint8_t	alpha_uint
uint8_t	n_textons
uint8_t	patch_size
uint32_t	n_learning_samples
uint32_t	n_samples_image
uint8_t	FULL_SAMPLING
uint32_t	border_width
uint32_t	border_height
uint8_t	dictionary_number
uint8_t	dictionary_ready
float	alpha
float ****	dictionary
uint32_t	learned_samples
uint8_t	dictionary_initialized

Detailed Description

Takes an image and represents the texture and colors in the image with a texton histogram.

A texton is a cluster centroid in a space populated by image patches. First, this code learns or loads a texton dictionary. Then, for each incoming image, patches are sampled from the image, compared to textons in the dictionary, and the closest texton is identified, augmenting the corresponding bin in the texton histogram.

Definition in file textons.h.

Function Documentation

DictionaryTrainingYUV()

void DictionaryTrainingYUV	(	uint8_t *	frame,
		uint16_t	width,
		uint16_t	height
	)

Function that performs one pass for dictionary training.

It extracts samples from an image, finds the closest texton and moves it towards the sample.

Parameters

[in]	frame*	The YUV image data
[in]	width	The width of the image
[in]	height	The height of the image

Definition at line 166 of file textons.c.

References alpha, alpha_uint, image_t::buf, dictionary, dictionary_initialized, frame, learned_samples, n_samples_image, n_textons, patch_size, s, and image_t::w.

Referenced by texton_func().

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DistributionExtraction()

void DistributionExtraction	(	uint8_t *	frame,
		uint16_t	width,
		uint16_t	height
	)

Function that extracts a texton histogram from an image.

Parameters

[in]	frame*	The YUV image data
[in]	width	The width of the image
[in]	height	The height of the image

Definition at line 311 of file textons.c.

References border_height, border_width, image_t::buf, dictionary, frame, FULL_SAMPLING, n_samples_image, n_textons, patch_size, and texton_distribution.

Referenced by texton_func().

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load_texton_dictionary()

void load_texton_dictionary

(

void

)

Load a texton dictionary.

Definition at line 471 of file textons.c.

References dictionary, dictionary_initialized, dictionary_logger, dictionary_number, DICTIONARY_PATH, dictionary_ready, learned_samples, load_dictionary, n_textons, and patch_size.

Referenced by texton_func().

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save_texton_dictionary()

void save_texton_dictionary

(

void

)

Save the texton dictionary.

Definition at line 441 of file textons.c.

References dictionary, dictionary_logger, dictionary_number, DICTIONARY_PATH, n_textons, and patch_size.

Referenced by texton_func().

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textons_init()

void textons_init

(

void

)

Initialize.

Definition at line 501 of file textons.c.

References dictionary, dictionary_initialized, dictionary_ready, learned_samples, n_textons, patch_size, texton_distribution, texton_func(), and image_t::w.

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textons_stop()

void textons_stop

(

void

)

Definition at line 522 of file textons.c.

References dictionary, and texton_distribution.

Variable Documentation

alpha

float alpha

extern

Definition at line 107 of file textons.c.

Referenced by ahrs_fc_propagate(), ahrs_mlkf_update_accel(), baro_cb(), compute_1e_filter_lp(), compute_ground_speed(), DictionaryTrainingYUV(), gvf_ellipse_info(), gvf_ellipse_wp(), gvf_ellipse_XY(), gvf_line_info(), gvf_parametric_2D_trefoil_wp(), gvf_parametric_2D_trefoil_XY(), gvf_parametric_3D_ellipse_wp(), gvf_parametric_3D_ellipse_wp_delta(), gvf_parametric_3D_ellipse_XYZ(), gvf_parametric_3D_lissajous_wp_center(), gvf_parametric_3D_lissajous_XYZ(), gvf_segment_loop_XY1_XY2(), gvf_sin_info(), gvf_sin_wp1_wp2(), gvf_sin_wp_alpha(), gvf_sin_XY_alpha(), indi_apply_compensator_filters(), ins_float_invariant_update_baro(), mtostk_apply_polynomial_temp(), nav_cube_setup(), out_of_segment_area(), process_new_point_rosette(), propagate_ref(), snav_init(), texton_func(), update_target_point(), and wls_alloc().

alpha_uint

uint8_t alpha_uint

extern

Definition at line 95 of file textons.c.

Referenced by DictionaryTrainingYUV().

border_height

uint32_t border_height

extern

Definition at line 102 of file textons.c.

Referenced by DistributionExtraction().

border_width

uint32_t border_width

extern

Definition at line 101 of file textons.c.

Referenced by DistributionExtraction().

dictionary

float** ** dictionary

extern

Definition at line 37 of file textons.c.

Referenced by DictionaryTrainingYUV(), DistributionExtraction(), load_texton_dictionary(), save_texton_dictionary(), textons_init(), and textons_stop().

dictionary_initialized

uint8_t dictionary_initialized

extern

Definition at line 39 of file textons.c.

Referenced by DictionaryTrainingYUV(), load_texton_dictionary(), and textons_init().

dictionary_number

uint8_t dictionary_number

extern

Definition at line 103 of file textons.c.

Referenced by load_texton_dictionary(), and save_texton_dictionary().

dictionary_ready

uint8_t dictionary_ready

extern

Definition at line 106 of file textons.c.

Referenced by load_texton_dictionary(), texton_func(), and textons_init().

FULL_SAMPLING

uint8_t FULL_SAMPLING

extern

Definition at line 100 of file textons.c.

Referenced by DistributionExtraction().

learned_samples

uint32_t learned_samples

extern

Definition at line 38 of file textons.c.

Referenced by DictionaryTrainingYUV(), load_texton_dictionary(), texton_func(), and textons_init().

load_dictionary

uint8_t load_dictionary

extern

Definition at line 94 of file textons.c.

Referenced by load_texton_dictionary(), and texton_func().

n_learning_samples

uint32_t n_learning_samples

extern

Definition at line 98 of file textons.c.

Referenced by texton_func().

n_samples_image

uint32_t n_samples_image

extern

Definition at line 99 of file textons.c.

Referenced by DictionaryTrainingYUV(), and DistributionExtraction().

n_textons

uint8_t n_textons

extern

Definition at line 96 of file textons.c.

Referenced by DictionaryTrainingYUV(), DistributionExtraction(), load_texton_dictionary(), save_texton_dictionary(), and textons_init().

patch_size

uint8_t patch_size

extern

Definition at line 97 of file textons.c.

Referenced by DictionaryTrainingYUV(), DistributionExtraction(), load_texton_dictionary(), opticFlowLK(), opticFlowLK_flat(), save_texton_dictionary(), texton_func(), and textons_init().

texton_distribution

float* texton_distribution

extern

Definition at line 40 of file textons.c.

Referenced by DistributionExtraction(), textons_init(), and textons_stop().