agast5_8.h

//
//    agast5 - AGAST, an adaptive and generic corner detector based on the
//              accelerated segment test for a 8 pixel mask
//
//    Copyright (C) 2010  Elmar Mair
//    All rights reserved.
//
//    Redistribution and use in source and binary forms, with or without
//    modification, are permitted provided that the following conditions are met:
//        * Redistributions of source code must retain the above copyright
//          notice, this list of conditions and the following disclaimer.
//        * Redistributions in binary form must reproduce the above copyright
//          notice, this list of conditions and the following disclaimer in the
//          documentation and/or other materials provided with the distribution.
//        * Neither the name of the <organization> nor the
//          names of its contributors may be used to endorse or promote products
//          derived from this software without specific prior written permission.
//
//    THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
//    ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
//    WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
//    DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
//    DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
//    (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
//    LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
//    ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
//    (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
//    SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

#ifndef AGAST5_8_H
#define AGAST5_8_H

#include <stdint.h>
#include "AstDetector.h"

struct CvPoint;

class AgastDetector5_8 : public AstDetector
{
	public:
		AgastDetector5_8():AstDetector(){;}
		AgastDetector5_8(int width, int height, int thr):AstDetector(width, height, thr){init_pattern();};
		~AgastDetector5_8(){}
		std::vector<struct CvPoint>& detect(const unsigned char* im);
		std::vector<struct CvPoint>& nms(const unsigned char* im);
		int get_borderWidth(){return borderWidth;}

	private:
		static const int borderWidth=1;
		int_fast16_t s_offset0;
		int_fast16_t s_offset1;
		int_fast16_t s_offset2;
		int_fast16_t s_offset3;
		int_fast16_t s_offset4;
		int_fast16_t s_offset5;
		int_fast16_t s_offset6;
		int_fast16_t s_offset7;

		int cornerScore(const unsigned char* p);
		void init_pattern()
		{
			s_offset0=(-1)+(0)*xsize;
			s_offset1=(-1)+(-1)*xsize;
			s_offset2=(0)+(-1)*xsize;
			s_offset3=(1)+(-1)*xsize;
			s_offset4=(1)+(0)*xsize;
			s_offset5=(1)+(1)*xsize;
			s_offset6=(0)+(1)*xsize;
			s_offset7=(-1)+(1)*xsize;
		}
};

#endif /* AGAST5_8_H */