Contents (original) (raw)

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• Introduction
  • Conventions and style
    * Function/name prefixes and case
    * ``Quick'', ``slow'' and ``in-place'' Gandalf routines
    * Variable argument list functions
    * Dynamic self-modification
    * Coordinate pair ordering
    * Pixel values
    * Image orientation
    * Error checking
• The Common Package
  • Miscellaneous definitions
    * Simple types
    * Types with specific bit sizes
    * Debugging tools
  • Linked lists
  • Bit arrays
  • Memory allocation
  • Array fill/copy
  • Complex numbers
  • Numerical routines
  • Comparison routines
  • Error handling
    * More on the error trace
  • Error tests and codes
• The Linear Algebra Package
  • Fixed size matrices and vectors
    * Fixed size vectors
    * Fixed size matrices
  • General size matrices and vectors
    * General size vectors
    * General size matrices
    * Single precision general size matrices & vectors
• The Image Package
  • Image formats and types
  • Simple image/pixel routines
    * Image creation/destruction
  • Image file I/O
    * Setting an image to a new format, type and dimensions
    * Accessing single pixels
    * Filling an image with a constant value
    * Converting a pixel to a given format/type
  • Binary images
  • Pointer images
  • Copying/converting the whole or part of an image
    * Accessing channels of an image
  • Displaying images
  • Image pyramids
  • Inverting an image
  • Image sequence I/O
• The Vision Package
  • Cameras
    * Building cameras
    * Projecting points and lines
    * Adding/removing camera distortion
    * Building the camera calibration matrix
    * Converting cameras between precisions
  • Computing the fundamental/essential matrix
  • Computing a homography between 2D scene and image
    * Computing a 2D homography from an array of feature matches
    * Computing a 2D affine homography
  • Computing a homography between 3D scene and image
  • Smoothing an image using a 1D convolution mask
  • Smoothing an image using a 2D convolution mask
  • Feature detection
    * Image feature coordinate frames
    * Edge detection
    * Displaying an edge map
    * The Canny edge detector
    * Corner detection
    * Displaying a corner map
    * The Harris corner detector
    * Line segment detection
    * Displaying a line map
    * The Gandalf line detector
  • Representing 3D rotations
    * Quaternion routines
    * General rotation routines
  • Representing 3D Euclidean transformations
  • Levenberg-Marquardt minimisation
    * Robust observations
    * Generalised observations
    * Levenberg-Marquardt software
  • Fast Hough Transform
    * The Fast Hough Transform (FHT)
    * Example: Plane Fitting
    * Speed Improvement to FHT Line Finder
• The Test Framework
  • Adding new tests
• Bibliography

2006-03-17