Пример #1
0
xy* fast11_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 = fast11_detect(im, xsize, ysize, stride, b, &num_corners);
	scores = fast11_score(im, stride, corners, num_corners, b);
	nonmax = nonmax_suppression(corners, scores, num_corners, ret_num_corners);

	free(corners);
	free(scores);

	return nonmax;
}
Пример #2
0
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);
 
}