protected List <FASTline> DetectLines(FASTcorner[] corners,
byte[] img, int image_width, int image_height)
{
List <FASTline> lines = new List <FASTline>();
int average_response = 0;
int hits = 0;
int min_line_length_pixels = image_width * minimum_line_length / 100;
int min_line_length_pixels_sqr = min_line_length_pixels * min_line_length_pixels;
for (int i = 0; i < corners.Length - 1; i++)
{
for (int j = i + 1; j < corners.Length; j++)
{
int dx = corners[i].x - corners[j].x;
int dy = corners[i].y - corners[j].y;
int length_sqr = dx * dx + dy * dy;
if (length_sqr > min_line_length_pixels_sqr)
{
// is this a line ?
int response = 0;
if (FASTline.isLine(img, image_width, image_height, corners[i], corners[j], line_detection_threshold, ref response))
{
FASTline line = new FASTline(corners[i], corners[j], response);
lines.Add(line);
average_response += response;
hits++;
}
}
}
}
if (hits > 0)
{
average_response /= hits;
int threshold = average_response * 150 / 100;
for (int i = lines.Count - 1; i >= 0; i--)
{
if (lines[i].response < threshold)
{
lines.RemoveAt(i);
}
}
//Console.WriteLine("average: " + average_response.ToString());
}
return(lines);
}
protected List<FASTline> DetectLines(FASTcorner[] corners,
byte[] img, int image_width, int image_height)
{
List<FASTline> lines = new List<FASTline>();
int average_response = 0;
int hits = 0;
int min_line_length_pixels = image_width * minimum_line_length / 100;
int min_line_length_pixels_sqr = min_line_length_pixels * min_line_length_pixels;
for (int i = 0; i < corners.Length-1; i++)
{
for (int j = i + 1; j < corners.Length; j++)
{
int dx = corners[i].x - corners[j].x;
int dy = corners[i].y - corners[j].y;
int length_sqr = dx*dx + dy*dy;
if (length_sqr > min_line_length_pixels_sqr)
{
// is this a line ?
int response = 0;
if (FASTline.isLine(img, image_width, image_height, corners[i], corners[j], line_detection_threshold, ref response))
{
FASTline line = new FASTline(corners[i], corners[j], response);
lines.Add(line);
average_response += response;
hits++;
}
}
}
}
if (hits > 0)
{
average_response /= hits;
int threshold = average_response * 150 / 100;
for (int i = lines.Count-1; i >= 0; i--)
{
if (lines[i].response < threshold)
lines.RemoveAt(i);
}
//Console.WriteLine("average: " + average_response.ToString());
}
return(lines);
}
