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agast7_12s_nms.cc
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//
// agast7s - AGAST, an adaptive and generic corner detector based on the
// accelerated segment test for a 12 pixel mask in square format
//
// 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.
#include <stdint.h>
#include <stdlib.h>
#include "cvWrapper.h"
#include "agast7_12s.h"
using namespace std;
//using also bisection as proposed by Edward Rosten in FAST,
//but it is based on the OAST
int AgastDetector7_12s::cornerScore(const unsigned char* p)
{
int bmin = b;
int bmax = 255;
int b_test = (bmax + bmin)/2;
register int_fast16_t offset0=s_offset0;
register int_fast16_t offset1=s_offset1;
register int_fast16_t offset2=s_offset2;
register int_fast16_t offset3=s_offset3;
register int_fast16_t offset4=s_offset4;
register int_fast16_t offset5=s_offset5;
register int_fast16_t offset6=s_offset6;
register int_fast16_t offset7=s_offset7;
register int_fast16_t offset8=s_offset8;
register int_fast16_t offset9=s_offset9;
register int_fast16_t offset10=s_offset10;
register int_fast16_t offset11=s_offset11;
while(1)
{
register const int cb = *p + b_test;
register const int c_b = *p - b_test;
if(p[offset0] > cb)
if(p[offset5] > cb)
if(p[offset2] < c_b)
if(p[offset7] > cb)
if(p[offset9] < c_b)
goto is_not_a_corner;
else
if(p[offset9] > cb)
if(p[offset1] < c_b)
if(p[offset6] < c_b)
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset8] > cb)
if(p[offset4] > cb)
if(p[offset3] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] < c_b)
if(p[offset8] > cb)
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset8] > cb)
if(p[offset4] > cb)
if(p[offset3] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset8] > cb)
if(p[offset4] > cb)
if(p[offset3] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset2] > cb)
if(p[offset7] < c_b)
if(p[offset9] < c_b)
if(p[offset1] < c_b)
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset9] > cb)
if(p[offset1] < c_b)
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] < c_b)
if(p[offset11] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset11] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset1] < c_b)
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset9] < c_b)
if(p[offset7] > cb)
if(p[offset1] < c_b)
if(p[offset6] < c_b)
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset8] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset8] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset1] < c_b)
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset7] > cb)
if(p[offset9] > cb)
if(p[offset1] < c_b)
if(p[offset6] < c_b)
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset8] > cb)
if(p[offset4] > cb)
if(p[offset3] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] < c_b)
if(p[offset11] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset11] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset8] > cb)
if(p[offset4] > cb)
if(p[offset3] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset1] < c_b)
if(p[offset6] < c_b)
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset8] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset8] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset9] > cb)
if(p[offset1] < c_b)
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] < c_b)
if(p[offset11] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset11] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset1] < c_b)
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset7] > cb)
if(p[offset9] < c_b)
goto is_not_a_corner;
else
if(p[offset9] > cb)
if(p[offset1] < c_b)
if(p[offset6] < c_b)
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset8] > cb)
if(p[offset4] > cb)
if(p[offset3] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] < c_b)
if(p[offset8] > cb)
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset8] > cb)
if(p[offset4] > cb)
if(p[offset3] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] > cb)
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
goto is_not_a_corner;
else
if(p[offset6] > cb)
if(p[offset8] > cb)
if(p[offset4] > cb)
if(p[offset3] > cb)
goto is_a_corner;
else
if(p[offset10] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset5] < c_b)
if(p[offset9] < c_b)
if(p[offset7] > cb)
if(p[offset2] < c_b)
goto is_not_a_corner;
else
if(p[offset2] > cb)
if(p[offset1] < c_b)
goto is_not_a_corner;
else
if(p[offset1] > cb)
if(p[offset6] > cb)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset3] > cb)
if(p[offset4] > cb)
if(p[offset10] > cb)
if(p[offset11] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset7] < c_b)
if(p[offset2] < c_b)
if(p[offset1] > cb)
if(p[offset6] > cb)
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset8] < c_b)
if(p[offset4] < c_b)
if(p[offset3] < c_b)
goto is_a_corner;
else
if(p[offset10] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] < c_b)
if(p[offset11] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset1] < c_b)
if(p[offset6] > cb)
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset4] < c_b)
if(p[offset3] < c_b)
goto is_a_corner;
else
if(p[offset8] < c_b)
if(p[offset10] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset8] < c_b)
if(p[offset10] < c_b)
if(p[offset11] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset6] > cb)
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset8] < c_b)
if(p[offset4] < c_b)
if(p[offset3] < c_b)
goto is_a_corner;
else
if(p[offset10] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] < c_b)
if(p[offset11] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if(p[offset2] > cb)
if(p[offset1] < c_b)
if(p[offset6] > cb)
goto is_not_a_corner;
else
if(p[offset6] < c_b)
if(p[offset8] < c_b)
if(p[offset4] < c_b)
if(p[offset3] < c_b)
goto is_a_corner;
else
if(p[offset10] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
if(p[offset10] < c_b)