xy* fast10_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 = fast10_detect(im, xsize, ysize, stride, b, &num_corners);
scores = fast10_score(im, stride, corners, num_corners, b);
nonmax = nonmax_suppression(corners, scores, num_corners, ret_num_corners);
free(corners);
free(scores);
return nonmax;
}
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);
}