/
fast_rosten.c
3661 lines (3640 loc) · 124 KB
/
fast_rosten.c
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/*
Copyright (c) 2006, 2008 Edward Rosten
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 University of Cambridge 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 THE COPYRIGHT OWNER OR
CONTRIBUTORS 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 <stdlib.h>
#include "fast_rosten.h"
static void fast_make_offsets(int32_t *pixel, uint16_t row_stride, uint8_t pixel_size);
/**
* Do a FAST9 corner detection
* @param[in] *img The image to do the corner detection on
* @param[in] threshold The threshold which we use for FAST9
* @param[in] min_dist The minimum distance in pixels between detections
* @param[out] *num_corner The amount of corners found
* @return The corners found
*/
struct point_t *fast9_detect(struct image_t *img, uint8_t threshold, uint16_t min_dist, uint32_t *num_corners)
{
uint32_t corner_cnt = 0;
uint16_t rsize = 512;
int pixel[16];
uint16_t x, y, i;
struct point_t *ret_corners = malloc(sizeof(struct point_t) * rsize);
// Set the pixel size
uint8_t pixel_size = 1;
if(img->type == IMAGE_YUV422)
pixel_size = 2;
// Calculate the pixel offsets
fast_make_offsets(pixel, img->w, pixel_size);
// Go trough all the pixels (minus the borders)
for (y = 3; y < img->h - 3; y++)
for (x = 3; x < img->w - 3; x++) {
// First check if we aren't in range vertical (TODO: fix less intensive way)
if(min_dist > 0) {
bool_t need_skip = FALSE;
// Go trough all the previous corners
for(i = 0; i < corner_cnt; i++) {
if(x-min_dist < ret_corners[i].x && ret_corners[i].x < x+min_dist
&& y-min_dist < ret_corners[i].y && ret_corners[i].y < y+min_dist) {
need_skip = TRUE;
break;
}
}
// Skip the box if we found a pixel nearby
if(need_skip) {
x += min_dist;
continue;
}
}
// Calculate the threshold values
const uint8_t *p = ((uint8_t *)img->buf) + y * img->w * pixel_size + x * pixel_size + pixel_size/2;
int16_t cb = *p + threshold;
int16_t c_b = *p - threshold;
// Do the checks if it is a corner
if (p[pixel[0]] > cb)
if (p[pixel[1]] > cb)
if (p[pixel[2]] > cb)
if (p[pixel[3]] > cb)
if (p[pixel[4]] > cb)
if (p[pixel[5]] > cb)
if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
{}
else if (p[pixel[15]] > cb)
{}
else {
continue;
}
else if (p[pixel[7]] < c_b)
if (p[pixel[14]] > cb)
if (p[pixel[15]] > cb)
{}
else {
continue;
}
else if (p[pixel[14]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[12]] < c_b)
if (p[pixel[13]] < c_b)
if (p[pixel[15]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[14]] > cb)
if (p[pixel[15]] > cb)
{}
else {
continue;
}
else {
continue;
}
else if (p[pixel[6]] < c_b)
if (p[pixel[15]] > cb)
if (p[pixel[13]] > cb)
if (p[pixel[14]] > cb)
{}
else {
continue;
}
else if (p[pixel[13]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[12]] < c_b)
if (p[pixel[14]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[12]] < c_b)
if (p[pixel[13]] < c_b)
if (p[pixel[14]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[13]] > cb)
if (p[pixel[14]] > cb)
if (p[pixel[15]] > cb)
{}
else {
continue;
}
else {
continue;
}
else if (p[pixel[13]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[12]] < c_b)
if (p[pixel[14]] < c_b)
if (p[pixel[15]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[5]] < c_b)
if (p[pixel[14]] > cb)
if (p[pixel[12]] > cb)
if (p[pixel[13]] > cb)
if (p[pixel[15]] > cb)
{}
else if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
if (p[pixel[10]] > cb)
if (p[pixel[11]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[12]] < c_b)
if (p[pixel[6]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[13]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[14]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[12]] < c_b)
if (p[pixel[13]] < c_b)
if (p[pixel[6]] < c_b)
{}
else if (p[pixel[15]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[6]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[12]] < c_b)
if (p[pixel[13]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[12]] > cb)
if (p[pixel[13]] > cb)
if (p[pixel[14]] > cb)
if (p[pixel[15]] > cb)
{}
else if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
if (p[pixel[10]] > cb)
if (p[pixel[11]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[12]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[13]] < c_b)
if (p[pixel[14]] < c_b)
if (p[pixel[6]] < c_b)
{}
else if (p[pixel[15]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[4]] < c_b)
if (p[pixel[13]] > cb)
if (p[pixel[11]] > cb)
if (p[pixel[12]] > cb)
if (p[pixel[14]] > cb)
if (p[pixel[15]] > cb)
{}
else if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
if (p[pixel[10]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[5]] > cb)
if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
if (p[pixel[10]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[11]] < c_b)
if (p[pixel[5]] < c_b)
if (p[pixel[6]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[12]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[13]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[12]] < c_b)
if (p[pixel[6]] < c_b)
if (p[pixel[5]] < c_b)
{}
else if (p[pixel[14]] < c_b)
{}
else {
continue;
}
else if (p[pixel[14]] < c_b)
if (p[pixel[15]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[5]] < c_b)
if (p[pixel[6]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[12]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[11]] > cb)
if (p[pixel[12]] > cb)
if (p[pixel[13]] > cb)
if (p[pixel[14]] > cb)
if (p[pixel[15]] > cb)
{}
else if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
if (p[pixel[10]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[5]] > cb)
if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
if (p[pixel[10]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[11]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[10]] < c_b)
if (p[pixel[12]] < c_b)
if (p[pixel[13]] < c_b)
if (p[pixel[6]] < c_b)
if (p[pixel[5]] < c_b)
{}
else if (p[pixel[14]] < c_b)
{}
else {
continue;
}
else if (p[pixel[14]] < c_b)
if (p[pixel[15]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[3]] < c_b)
if (p[pixel[10]] > cb)
if (p[pixel[11]] > cb)
if (p[pixel[12]] > cb)
if (p[pixel[13]] > cb)
if (p[pixel[14]] > cb)
if (p[pixel[15]] > cb)
{}
else if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[5]] > cb)
if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[4]] > cb)
if (p[pixel[5]] > cb)
if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[10]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[6]] < c_b)
if (p[pixel[5]] < c_b)
if (p[pixel[4]] < c_b)
{}
else if (p[pixel[12]] < c_b)
if (p[pixel[13]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else if (p[pixel[12]] < c_b)
if (p[pixel[13]] < c_b)
if (p[pixel[14]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[12]] < c_b)
if (p[pixel[13]] < c_b)
if (p[pixel[14]] < c_b)
if (p[pixel[15]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[10]] > cb)
if (p[pixel[11]] > cb)
if (p[pixel[12]] > cb)
if (p[pixel[13]] > cb)
if (p[pixel[14]] > cb)
if (p[pixel[15]] > cb)
{}
else if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[5]] > cb)
if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[4]] > cb)
if (p[pixel[5]] > cb)
if (p[pixel[6]] > cb)
if (p[pixel[7]] > cb)
if (p[pixel[8]] > cb)
if (p[pixel[9]] > cb)
{}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else {
continue;
}
else if (p[pixel[10]] < c_b)
if (p[pixel[7]] < c_b)
if (p[pixel[8]] < c_b)
if (p[pixel[9]] < c_b)
if (p[pixel[11]] < c_b)
if (p[pixel[12]] < c_b)
if (p[pixel[6]] < c_b)
if (p[pixel[5]] < c_b)
if (p[pixel[4]] < c_b)
{}
else if (p[pixel[13]] < c_b)
{}
else {
continue;
}
else if (p[pixel[13]] < c_b)
if (p[pixel[14]] < c_b)
{}
else {
continue;
}
else {
continue;
}
else if (p[pixel[13]] < c_b)
if (p[pixel[14]] < c_b)
if (p[pixel[15]] < c_b)
{}
else {
continue;