void run_cpu(guchar *image, int width, int height, int channels)
{
char *img = (char *)malloc(width * height * sizeof(char));
memcpy(img, image, (size_t)(width * height * sizeof(char)));
//average_blur(width, height, img);
char *x_component = (char *)malloc(width * height * sizeof(char));
char *y_component = (char *)malloc(width * height * sizeof(char));
float *xx_grad = (float *)malloc(width * height * sizeof(float));
float *xy_grad = (float *)malloc(width * height * sizeof(float));
float *yy_grad = (float *)malloc(width * height * sizeof(float));
float *harris = (float *)malloc(width * height * sizeof(float));
memcpy(x_component, image, (size_t)(width * height * sizeof(char)));
memcpy(y_component, image, (size_t)(width * height * sizeof(char)));
compute_xgrad(width, height, x_component, img);
compute_ygrad(width, height, y_component, img);
gradient_matrix(width, height, x_component, y_component, xx_grad, xy_grad, yy_grad);
average_blur(width, height, xx_grad);
average_blur(width, height, xy_grad);
average_blur(width, height, yy_grad);
harris_corner(width, height, harris, xx_grad, xy_grad, yy_grad);
nonmax_suppression(width, height, harris);
threshold(width, height, image, harris);
}
xy* fast9_detect_nonmax(const byte* im, int xsize, int ysize, int stride, int b, int* ret_num_corners)
{
xy* corners;
int num_corners;
int* scores;
xy* nonmax;
corners = fast9_detect(im, xsize, ysize, stride, b, &num_corners);
printf("Original number of corners found %d\n",num_corners);
printf("Found %d corners\n",num_corners);
FILE *fid = fopen("detected_all.txt","w");
fprintf(fid,"# Detected points for original FAST-9\n");
fprintf(fid,"%d\n",num_corners);
for( int i = 0; i < num_corners; i++ ) {
fprintf(fid,"%d %d\n",corners[i].x,corners[i].y);
}
fclose(fid);
scores = fast9_score(im, stride, corners, num_corners, b);
nonmax = nonmax_suppression(corners, scores, num_corners, ret_num_corners);
free(corners);
free(scores);
return nonmax;
}
vec2i* fast12_detect_nonmax(const byte* im, int xsize, int ysize, int stride, int b, int* ret_num_corners, FastStorage &storage)
{
vec2i* corners;
int num_corners;
int* scores;
vec2i* nonmax;
corners = ::ml::fast12::fast12_detect(im, xsize, ysize, stride, b, &num_corners, storage);
scores = ::ml::fast12::fast12_score(im, stride, corners, num_corners, b, storage);
nonmax = nonmax_suppression(corners, scores, num_corners, ret_num_corners, storage);
return nonmax;
}
vec2i* fast9_detect_nonmax(const byte* im, int xsize, int ysize, int stride, int b, int* ret_num_corners)
{
vec2i* corners;
int num_corners;
int* scores;
vec2i* nonmax;
corners = ::ml::fast9::fast9_detect(im, xsize, ysize, stride, b, &num_corners);
scores = ::ml::fast9::fast9_score(im, stride, corners, num_corners, b);
nonmax = nonmax_suppression(corners, scores, num_corners, ret_num_corners);
free(corners);
free(scores);
return nonmax;
}
xy* fast12_detect_nonmax(const byte* im, int xsize, int ysize, int stride, int b, int* ret_num_corners)
{
xy* corners;
int num_corners;
int* scores;
xy* nonmax;
corners = fast12_detect(im, xsize, ysize, stride, b, &num_corners);
scores = fast12_score(im, stride, corners, num_corners, b);
nonmax = nonmax_suppression(corners, scores, num_corners, ret_num_corners);
free(corners);
free(scores);
return nonmax;
}
////////////////////////////////////////////////////////////////////////////////
//! Run the multiresolution filter on the CPU
////////////////////////////////////////////////////////////////////////////////
void run_cpu(guchar *image, int width, int height, int channels)
{
guchar *img = (guchar *)malloc(width * height * sizeof(guchar));
memcpy(img, image, (size_t)(width * height * sizeof(guchar)));
average_blur(width, height, img);
char *x_component = (char *)malloc(width * height * sizeof(char));
char *y_component = (char *)malloc(width * height * sizeof(char));
double *xx_grad = (double *)malloc(width * height * sizeof(double));
double *xy_grad = (double *)malloc(width * height * sizeof(double));
double *yy_grad = (double *)malloc(width * height * sizeof(double));
double *harris = (double *)malloc(width * height * sizeof(double));
memcpy(x_component, img, (size_t)(width * height * sizeof(char)));
memcpy(y_component, img, (size_t)(width * height * sizeof(char)));
compute_xgrad(width, height, x_component, img);
compute_ygrad(width, height, y_component, img);
//gradient_magnitude(width, height, x_component, y_component, image);
gradient_matrix(width, height, x_component, y_component, xx_grad, xy_grad, yy_grad);
harris_corner(width, height, harris, xx_grad, xy_grad, yy_grad);
nonmax_suppression(width, height, harris);
threshold(width, height, image, harris);
/* int i, j;
for(i = 0; i < height; i++)
{
for(j = 0; j < width; j++)
{
printf("%f ", harris[i * width + j]);
}
printf("\n");
}*/
}
void NxUtils::DetectCorners( float * Cotrners2D, const unsigned char * im, int xsize, int ysize, int stride, int b, int* ret_num_corners, bool nonmax_sup, NxFastCornerDetectionType Type )
{
//xy * ret = fast12_detect( im, xsize, ysize, stride, b, ret_num_corners);
//xy * ret = fast9_detect_nonmax( im, xsize, ysize, stride, b, ret_num_corners);
xy * corners = NULL;
xy * nonmax_corners = NULL;
int num_corners=0, num_nonmax=0;
int* scores=0;
if(Type == NxFast9)
corners = fast9_detect(im, xsize, ysize, stride, b, &num_corners );
else if(Type == NxFast10)
corners = fast10_detect(im, xsize, ysize, stride, b, &num_corners );
else if(Type == NxFast11)
corners = fast11_detect(im, xsize, ysize, stride, b, &num_corners );
else
corners = fast12_detect(im, xsize, ysize, stride, b, &num_corners );
//Compute scores
if(nonmax_sup)
{
if(Type == NxFast9)
scores = fast9_score(im, stride, corners, num_corners, b);
else if(Type == NxFast10)
scores = fast10_score(im, stride, corners, num_corners, b);
else if(Type == NxFast11)
scores = fast11_score(im, stride, corners, num_corners, b);
else
scores = fast12_score(im, stride, corners, num_corners, b);
}
*ret_num_corners = num_corners;
int y = 0;
int numCorners= *ret_num_corners;
for(int i = 0; i < numCorners; i++){
Cotrners2D[y] = corners[i].x;
Cotrners2D[y+1] = corners[i].y;
y += 2;
}
//*ret_corners = corners;
//Do nonmax suppression if need be
if(nonmax_sup)
{
nonmax_corners = nonmax_suppression(corners, scores, num_corners, & num_nonmax);
*ret_num_corners = num_nonmax;
int y = 0;
int numCorners= *ret_num_corners;
for(int i = 0; i < numCorners; i++){
Cotrners2D[y] = nonmax_corners[i].x;
Cotrners2D[y+1] = nonmax_corners[i].y;
y += 2;
}
free(corners);
}
free(scores);
}