/// <summary>
/// does the orientation of this corner intersect with another corner?
/// </summary>
/// <param name="other_corner">the other corner feature</param>
/// <param name="ix">x coordinate of the intersection point</param>
/// <param name="iy">y coordinate of the intersection point</param>
/// <returns>true if an intersection exists</returns>
public bool intersects(FASTcorner other_corner,
ref float ix, ref float iy)
{
bool result = sluggish.utilities.geometry.intersection(x,y,x+direction_x,y+direction_y,
other_corner.x, other_corner.y, other_corner.x+other_corner.direction_x, other_corner.y+other_corner.direction_y,
ref ix, ref iy);
return(result);
}
/// <summary>
/// does the orientation of this corner intersect with another corner?
/// </summary>
/// <param name="other_corner">the other corner feature</param>
/// <param name="ix">x coordinate of the intersection point</param>
/// <param name="iy">y coordinate of the intersection point</param>
/// <returns>true if an intersection exists</returns>
public bool intersects(FASTcorner other_corner,
ref float ix, ref float iy)
{
bool result = sluggish.utilities.geometry.intersection(x, y, x + direction_x, y + direction_y,
other_corner.x, other_corner.y, other_corner.x + other_corner.direction_x, other_corner.y + other_corner.direction_y,
ref ix, ref iy);
return(result);
}
public void Add(FASTcorner neighbour)
{
if (neighbours == null)
{
neighbours = new ArrayList();
}
neighbours.Add(neighbour);
}
/// <summary>
/// returns true if the points given are on a line
/// </summary>
/// <param name="img"></param>
/// <param name="img_width"></param>
/// <param name="img_height"></param>
/// <param name="p1"></param>
/// <param name="p2"></param>
/// <returns></returns>
public static bool isLine(Byte[] img, int img_width, int img_height, int bytes_per_pixel,
FASTcorner p1, FASTcorner p2, int line_threshold)
{
bool line = true;
int diff_x = 0, diff_y = 0, sample_number = 0;
const int max_samples = 100;
const int radius = 10;
int dx = p2.x - p1.x;
int dy = p2.y - p1.y;
while ((sample_number < max_samples) && (line))
{
line = false;
int x = p1.x + (dx * sample_number / max_samples);
int y = p1.y + (dy * sample_number / max_samples);
if ((x > radius) && (x < img_width - radius) && (y > radius) && (y < img_height - radius))
{
int n = ((y * img_width) + x) * bytes_per_pixel;
int r = radius * bytes_per_pixel;
diff_x = (img[n - r] + img[n - r + bytes_per_pixel]) -
(img[n + r] + img[n + r - bytes_per_pixel]);
if (diff_x < 0)
{
diff_x = -diff_x;
}
if (diff_x < line_threshold)
{
r = radius * img_width * bytes_per_pixel;
diff_y = (img[n - r] + img[n - r + bytes_per_pixel]) -
(img[n + r] + img[n + r - bytes_per_pixel]);
if (diff_y < 0)
{
diff_y = -diff_y;
}
}
if ((diff_x > line_threshold) || (diff_y > line_threshold))
{
line = true;
}
}
else
{
line = true;
}
sample_number++;
}
return(line);
}
private FASTcorner[] local_nonmax(FASTcorner[] corners, int radius_x, int radius_y)
{
FASTcorner[] corners2 = null;
if (corners != null)
{
for (int i = 0; i < corners.Length - 1; i++)
{
FASTcorner c1 = corners[i];
if (c1 != null)
{
for (int j = i + 1; j < corners.Length; j++)
{
if (i != j)
{
FASTcorner c2 = corners[j];
if (c2 != null)
{
int dx = c1.x - c2.x;
if ((dx > -radius_x) && (dx < radius_x))
{
int dy = c1.y - c2.y;
if ((dy > -radius_y) && (dy < radius_y))
{
if (c2.score < c1.score)
{
corners[j] = null;
}
else
{
corners[i] = null;
j = corners.Length;
}
}
}
}
}
}
}
}
int count = 0;
for (int i = 0; i < corners.Length; i++)
if (corners[i] != null) count++;
corners2 = new FASTcorner[count];
int n = 0;
for (int i = 0; i < corners.Length; i++)
if (corners[i] != null)
{
corners2[n] = corners[i];
n++;
}
}
return (corners2);
}
/// <summary>
/// update the directionality of this corner
/// </summary>
/// <param name="corners">array of detected corner features</param>
/// <param name="radius">neighbourhood radius</param>
public void updateDirection(FASTcorner[] corners, int radius)
{
float tot_x = 0, tot_y = 0;
int hits = 0;
neighbours = null;
for (int i = 0; i < corners.Length; i += 5)
{
FASTcorner corner = corners[i];
if (corner != this)
{
int dx = corner.x - x;
if (dx > -radius)
{
if (dx < radius)
{
int dy = corner.y - y;
if (dy > -radius)
{
if (dy < radius)
{
tot_x += dx;
tot_y += dy;
hits++;
Add(corner);
}
}
}
}
}
}
if (hits > 0)
{
direction_x = tot_x / hits;
direction_y = tot_y / hits;
direction_magnitude = (float)Math.Sqrt((direction_x * direction_x) + (direction_y * direction_y));
}
else
{
direction_x = 0;
direction_y = 0;
direction_magnitude = 0;
}
}
/// <summary>
/// update the directionality of this corner
/// </summary>
/// <param name="corners">array of detected corner features</param>
/// <param name="radius">neighbourhood radius</param>
public void updateDirection(FASTcorner[] corners, int radius)
{
float tot_x = 0, tot_y = 0;
int hits = 0;
neighbours = null;
for (int i = 0; i < corners.Length; i+=5)
{
FASTcorner corner = corners[i];
if (corner != this)
{
int dx = corner.x - x;
if (dx > -radius)
{
if (dx < radius)
{
int dy = corner.y - y;
if (dy > -radius)
{
if (dy < radius)
{
tot_x += dx;
tot_y += dy;
hits++;
Add(corner);
}
}
}
}
}
}
if (hits > 0)
{
direction_x = tot_x / hits;
direction_y = tot_y / hits;
direction_magnitude = (float)Math.Sqrt((direction_x*direction_x)+(direction_y*direction_y));
}
else
{
direction_x = 0;
direction_y = 0;
direction_magnitude = 0;
}
}
/// <summary>
/// returns true if the points given are on a line
/// </summary>
/// <param name="img"></param>
/// <param name="img_width"></param>
/// <param name="img_height"></param>
/// <param name="p1"></param>
/// <param name="p2"></param>
/// <returns></returns>
public static bool isLine(Byte[] img, int img_width, int img_height, int bytes_per_pixel,
FASTcorner p1, FASTcorner p2, int line_threshold)
{
bool line = true;
int diff_x = 0, diff_y = 0, sample_number = 0;
const int max_samples = 100;
const int radius = 10;
int dx = p2.x - p1.x;
int dy = p2.y - p1.y;
while ((sample_number < max_samples) && (line))
{
line = false;
int x = p1.x + (dx * sample_number / max_samples);
int y = p1.y + (dy * sample_number / max_samples);
if ((x > radius) && (x < img_width - radius) && (y > radius) && (y < img_height - radius))
{
int n = ((y * img_width) + x) * bytes_per_pixel;
int r = radius * bytes_per_pixel;
diff_x = (img[n - r] + img[n - r + bytes_per_pixel]) -
(img[n + r] + img[n + r - bytes_per_pixel]);
if (diff_x < 0) diff_x = -diff_x;
if (diff_x < line_threshold)
{
r = radius * img_width * bytes_per_pixel;
diff_y = (img[n - r] + img[n - r + bytes_per_pixel]) -
(img[n + r] + img[n + r - bytes_per_pixel]);
if (diff_y < 0) diff_y = -diff_y;
}
if ((diff_x > line_threshold) || (diff_y > line_threshold))
line = true;
}
else line = true;
sample_number++;
}
return (line);
}
public int matching_score(FASTcorner other)
{
int score = -1;
for (int x = 0; x < constellation_size * 2; x++)
{
for (int y = 0; y < constellation_size * 2; y++)
{
if ((constellation[x, y] > 0) || (other.constellation[x, y] > 0))
{
if (score == -1)
{
score = 0;
}
score += Math.Abs(constellation[x, y] - other.constellation[x, y]);
}
}
}
return(score);
}
/// <summary>
/// builds a constellation for this corner
/// </summary>
/// <param name="other_corner">array of corner features</param>
/// <param name="max_x_diff">max search radius for x axis</param>
/// <param name="max_y_diff">max search radius for y axis</param>
public void update(FASTcorner[] other_corner, int max_x_diff, int max_y_diff)
{
constellation = new int[(constellation_size * 2) + 1, (constellation_size * 2) + 1];
for (int i = 0; i < other_corner.Length; i++)
{
FASTcorner other = other_corner[i];
if ((other != this) && (other != null))
{
int dx = other.x - x;
if ((dx > -max_x_diff) && (dx < max_x_diff))
{
int dy = other.y - y;
if ((dy > -max_y_diff) && (dy < max_y_diff))
{
int cx = constellation_size + (dx * constellation_size / max_x_diff);
int cy = constellation_size + (dy * constellation_size / max_y_diff);
constellation[cx, cy]++;
}
}
}
}
}
/// <summary>
/// detect FAST corners
// It is assumed that the image supplied is mono (one byte per pixel)
/// Note that non-maximal supression should be carried out after running this function
/// </summary>
/// <param name="img">image - one byte per pixel</param>
/// <param name="xsize"></param>
/// <param name="ysize"></param>
/// <param name="barrier">detection threshold</param>
/// <returns>array of corner features</returns>
public static unsafe FASTcorner[] fast_corner_detect_9(Byte[] img, int xsize, int ysize, int barrier)
{
int boundary = 3, y, cb, c_b;
Byte* line_max;
Byte* line_min;
int rsize = 512, total = 0;
FASTcorner[] ret = new FASTcorner[rsize];
Byte* cache_0;
Byte* cache_1;
Byte* cache_2;
int[] mpixel = new int[16];
fixed (int* pixel = mpixel)
{
fixed (Byte* im = img)
{
pixel[0] = 0 + 3 * xsize;
pixel[1] = 1 + 3 * xsize;
pixel[2] = 2 + 2 * xsize;
pixel[3] = 3 + 1 * xsize;
pixel[4] = 3 + 0 * xsize;
pixel[5] = 3 + -1 * xsize;
pixel[6] = 2 + -2 * xsize;
pixel[7] = 1 + -3 * xsize;
pixel[8] = 0 + -3 * xsize;
pixel[9] = -1 + -3 * xsize;
pixel[10] = -2 + -2 * xsize;
pixel[11] = -3 + -1 * xsize;
pixel[12] = -3 + 0 * xsize;
pixel[13] = -3 + 1 * xsize;
pixel[14] = -2 + 2 * xsize;
pixel[15] = -1 + 3 * xsize;
for (y = boundary; y < ysize - boundary; y++)
{
cache_0 = im + boundary + y*xsize;
line_min = cache_0 - boundary;
line_max = im + xsize - boundary + y * xsize;
cache_1 = cache_0 + pixel[5];
cache_2 = cache_0 + pixel[14];
for(; cache_0 < line_max;cache_0++, cache_1++, cache_2++)
{
cb = *cache_0 + barrier;
c_b = *cache_0 - barrier;
if(*cache_1 > cb)
if(*cache_2 > cb)
if(*(cache_0+3) > cb)
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else if(*(cache_0 + pixel[1]) < c_b)
continue;
else
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[15]) < c_b)
continue;
else
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else if(*(cache_0 + pixel[1]) < c_b)
continue;
else
if(*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
continue;
else
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[7]) > cb)
goto success;
else if(*(cache_0 + pixel[7]) < c_b)
continue;
else
if(*(cache_0+-3) > cb)
goto success;
else
continue;
else if(*(cache_0 + pixel[8]) < c_b)
continue;
else
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[13]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_1+-6) > cb)
continue;
else if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else if(*(cache_0 + pixel[1]) < c_b)
continue;
else
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_1+-6) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
continue;
else
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_1+-6) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[1]) < c_b)
continue;
else
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
continue;
else
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else if(*(cache_0 + pixel[9]) < c_b)
continue;
else
if(*(cache_2+4) > cb)
goto success;
else
continue;
else if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[7]) > cb || *(cache_0 + pixel[7]) < c_b)
continue;
else
goto success;
else
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
continue;
else
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else
continue;
else if(*(cache_2+4) < c_b)
continue;
else
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[6]) < c_b)
continue;
else
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
continue;
else
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else
continue;
else if(*(cache_0 + pixel[6]) < c_b)
continue;
else
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0 + pixel[13]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[10]) < c_b)
continue;
else
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0+3) < c_b)
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[6]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+-3) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else if(*(cache_0 + pixel[8]) < c_b)
continue;
else
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[6]) < c_b)
continue;
else
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else if(*(cache_0 + pixel[8]) < c_b)
continue;
else
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
continue;
else
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[10]) < c_b)
continue;
else
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
continue;
else
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else if(*(cache_0 + pixel[1]) < c_b)
continue;
else
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[10]) < c_b)
continue;
else
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0 + pixel[13]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*cache_2 < c_b)
if(*(cache_0+3) > cb)
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
continue;
else
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[3]) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[3]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[6]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[8]) < c_b)
continue;
else
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_2+4) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
continue;
else
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0 + pixel[15]) < c_b)
if(*(cache_0+-3) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_2+4) < c_b)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[10]) > cb)
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[15]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0 + pixel[15]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0+-3) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
continue;
else
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
continue;
else
if(*(cache_0+-3) > cb)
if(*(cache_1+-6) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[15]) > cb)
continue;
else if(*(cache_0 + pixel[15]) < c_b)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[10]) > cb)
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[9]) > cb)
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[8]) > cb)
continue;
else if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
if(*(cache_0 + pixel[1]) < c_b)
goto success;
else
continue;
else
if(*(cache_2+4) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[3]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[10]) > cb)
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[9]) > cb)
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[1]) > cb)
continue;
else if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[15]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[15]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_2+4) < c_b)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[15]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0+-3) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0+3) < c_b)
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[13]) > cb)
goto success;
else
continue;
else if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[13]) < c_b)
goto success;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
goto success;
else
if(*(cache_0 + pixel[6]) > cb || *(cache_0 + pixel[6]) < c_b)
continue;
else
if(*(cache_2+4) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_0+-3) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[15]) > cb)
continue;
else if(*(cache_0 + pixel[15]) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[0]) > cb)
continue;
else if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_2+4) > cb)
continue;
else if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[1]) > cb)
continue;
else if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[15]) < c_b)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[1]) > cb)
continue;
else if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0+-3) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[1]) > cb)
continue;
else if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_2+4) < c_b)
goto success;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[15]) > cb)
continue;
else if(*(cache_0 + pixel[15]) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[15]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[7]) > cb)
continue;
else if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[15]) > cb)
continue;
else if(*(cache_0 + pixel[15]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0+3) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else if(*(cache_0 + pixel[9]) < c_b)
continue;
else
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else if(*(cache_0 + pixel[8]) < c_b)
continue;
else
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
if(*(cache_1+-6) > cb)
goto success;
else
continue;
else
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0+3) < c_b)
continue;
else
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0+3) > cb)
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[15]) < c_b)
continue;
else
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[0]) > cb)
goto success;
else if(*(cache_0 + pixel[0]) < c_b)
continue;
else
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[6]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0+3) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else if(*(cache_0 + pixel[8]) < c_b)
continue;
else
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0+3) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_2+4) > cb)
goto success;
else
continue;
else if(*(cache_0 + pixel[15]) < c_b)
continue;
else
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_2+4) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[13]) < c_b)
continue;
else
if(*(cache_0+3) > cb)
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
if(*(cache_0+3) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*cache_1 < c_b)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*cache_2 > cb)
goto success;
else
continue;
else if(*(cache_0 + pixel[1]) < c_b)
continue;
else
if(*(cache_0 + pixel[7]) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*cache_2 > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*cache_2 > cb)
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[13]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_0+-3) > cb)
if(*cache_2 > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[9]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0+-3) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[10]) > cb)
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0+3) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[3]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*cache_2 > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else if(*(cache_0 + pixel[1]) < c_b)
continue;
else
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0+-3) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*cache_2 > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[1]) < c_b)
continue;
else
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*cache_2 > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[7]) < c_b)
continue;
else
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[13]) > cb)
goto success;
else
continue;
else
continue;
else
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0+-3) > cb)
if(*(cache_0+3) > cb)
goto success;
else
continue;
else if(*(cache_0+-3) < c_b)
if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0+-3) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+3) < c_b)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0+3) > cb)
continue;
else if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[10]) > cb)
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[1]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[13]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+-3) < c_b)
if(*(cache_0+3) > cb)
continue;
else if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_2+4) > cb)
if(*(cache_0+3) > cb)
if(*(cache_0+-3) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[3]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[10]) > cb)
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[3]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[15]) < c_b)
if(*(cache_0+3) > cb)
if(*(cache_0+-3) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[7]) > cb)
continue;
else if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*cache_2 > cb)
if(*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_2+4) < c_b)
if(*cache_2 < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[1]) < c_b)
continue;
else
goto success;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0 + pixel[7]) > cb)
if(*cache_2 < c_b)
goto success;
else
continue;
else if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[1]) > cb)
continue;
else if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[0]) > cb)
continue;
else if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*cache_2 < c_b)
if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[1]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+-3) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[8]) > cb)
continue;
else if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[9]) > cb)
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[7]) > cb)
continue;
else if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
if(*(cache_0 + pixel[13]) < c_b)
goto success;
else
continue;
else
if(*(cache_2+4) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[7]) > cb || *(cache_0 + pixel[7]) < c_b)
continue;
else
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_2+4) > cb)
continue;
else if(*(cache_2+4) < c_b)
if(*cache_2 < c_b)
if(*(cache_0 + pixel[3]) > cb)
continue;
else if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0 + pixel[0]) > cb)
continue;
else if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[1]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[1]) > cb)
continue;
else if(*(cache_0 + pixel[1]) < c_b)
goto success;
else
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[0]) > cb)
continue;
else if(*(cache_0 + pixel[0]) < c_b)
if(*cache_2 < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0+-3) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[1]) > cb || *(cache_0 + pixel[1]) < c_b)
continue;
else
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_2+4) < c_b)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[10]) > cb)
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[7]) > cb)
continue;
else if(*(cache_0 + pixel[7]) < c_b)
if(*cache_2 > cb || *cache_2 < c_b)
goto success;
else
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[1]) > cb)
continue;
else if(*(cache_0 + pixel[1]) < c_b)
if(*cache_2 < c_b)
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
if(*cache_2 < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[3]) < c_b)
goto success;
else
continue;
else
if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[10]) > cb)
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*cache_2 < c_b)
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*cache_2 > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[8]) < c_b)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[13]) > cb)
continue;
else if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+3) < c_b)
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_2+4) > cb)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0+3) > cb)
continue;
else if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[0]) > cb)
continue;
else if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[1]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[9]) > cb)
continue;
else if(*(cache_0 + pixel[9]) < c_b)
goto success;
else
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[9]) > cb)
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_1+-6) < c_b)
if(*(cache_0+3) > cb)
continue;
else if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0+3) < c_b)
goto success;
else
continue;
else if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+-3) > cb)
if(*cache_2 > cb)
if(*(cache_0 + pixel[7]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[6]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else if(*(cache_0 + pixel[8]) < c_b)
continue;
else
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
continue;
else
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[10]) < c_b)
continue;
else
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[6]) < c_b)
continue;
else
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[8]) > cb)
goto success;
else if(*(cache_0 + pixel[8]) < c_b)
continue;
else
if(*(cache_0 + pixel[1]) > cb)
goto success;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
continue;
else
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[10]) < c_b)
continue;
else
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[13]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_1+-6) < c_b)
continue;
else
if(*(cache_0+3) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[13]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_2+4) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[3]) < c_b)
continue;
else
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_1+-6) < c_b)
if(*(cache_0+3) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[3]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+3) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
continue;
else
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_1+-6) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[0]) > cb)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else if(*(cache_0 + pixel[1]) < c_b)
continue;
else
if(*(cache_0 + pixel[8]) > cb)
goto success;
else
continue;
else
continue;
else if(*(cache_1+-6) < c_b)
continue;
else
if(*(cache_0+3) > cb)
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[3]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_1+-6) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[1]) < c_b)
continue;
else
if(*(cache_0 + pixel[8]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0+3) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0+3) < c_b)
continue;
else
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[3]) > cb)
goto success;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[3]) > cb)
if(*(cache_1+-6) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[15]) > cb)
if(*(cache_0 + pixel[1]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_1+-6) < c_b)
if(*(cache_0+3) > cb)
goto success;
else
continue;
else
if(*(cache_0+3) > cb)
if(*(cache_0 + pixel[13]) > cb)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_2+4) > cb)
if(*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0+-3) < c_b)
if(*(cache_0 + pixel[15]) > cb)
if(*cache_2 < c_b)
if(*(cache_0 + pixel[6]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if(*(cache_0 + pixel[15]) < c_b)
if(*(cache_0 + pixel[10]) > cb)
if(*(cache_0+3) > cb)
continue;
else if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[3]) < c_b)
goto success;
else
continue;
else
continue;
else if(*(cache_0 + pixel[10]) < c_b)
if(*cache_2 < c_b)
if(*(cache_0 + pixel[9]) > cb)
if(*(cache_2+4) < c_b)
goto success;
else
continue;
else if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_1+-6) > cb)
continue;
else if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[1]) > cb)
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[0]) > cb)
continue;
else if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
if(*(cache_0 + pixel[7]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[7]) > cb)
continue;
else if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
continue;
else
if(*(cache_0 + pixel[0]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[3]) < c_b)
goto success;
else
continue;
else
continue;
else
if(*(cache_2+4) < c_b)
if(*(cache_1+-6) > cb)
continue;
else if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+3) < c_b)
if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[3]) < c_b)
if(*(cache_1+-6) > cb)
continue;
else if(*(cache_1+-6) < c_b)
if(*(cache_2+4) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*cache_2 < c_b)
if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0+3) < c_b)
if(*(cache_2+4) < c_b)
if(*cache_2 < c_b)
if(*(cache_0 + pixel[1]) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(*(cache_0 + pixel[6]) < c_b)
if(*cache_2 < c_b)
if(*(cache_0 + pixel[7]) < c_b)
if(*(cache_1+-6) < c_b)
if(*(cache_0 + pixel[13]) < c_b)
if(*(cache_0 + pixel[10]) < c_b)
if(*(cache_0 + pixel[9]) < c_b)
if(*(cache_0 + pixel[8]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
success:
if (total >= rsize)
{
rsize *= 2;
#if DOTNET_V1_1
ret = (FASTcorner[])ArrayResize(ret, rsize);
#else
Array.Resize(ref ret, rsize);
#endif
}
int xx = (int)(cache_0 - line_min);
int yy = y;
ret[total] = new FASTcorner(xx, yy);
total++;
}
}
// resize the array so that we don't need to explicityly pass back the total
// number of corners found
#if DOTNET_V1_1
ret = (FASTcorner[])ArrayResize(ret, total);
#else
Array.Resize(ref ret, total);
#endif
return ret;
}
}
}
/// <summary>
/// builds a constellation for this corner
/// </summary>
/// <param name="other_corner">array of corner features</param>
/// <param name="max_x_diff">max search radius for x axis</param>
/// <param name="max_y_diff">max search radius for y axis</param>
public void update(FASTcorner[] other_corner, int max_x_diff, int max_y_diff)
{
constellation = new int[(constellation_size * 2) + 1, (constellation_size * 2) + 1];
for (int i = 0; i < other_corner.Length; i++)
{
FASTcorner other = other_corner[i];
if ((other != this) && (other != null))
{
int dx = other.x - x;
if ((dx > -max_x_diff) && (dx < max_x_diff))
{
int dy = other.y - y;
if ((dy > -max_y_diff) && (dy < max_y_diff))
{
int cx = constellation_size + (dx * constellation_size / max_x_diff);
int cy = constellation_size + (dy * constellation_size / max_y_diff);
constellation[cx, cy]++;
}
}
}
}
}
public int matching_score(FASTcorner other)
{
int score = -1;
for (int x = 0; x < constellation_size * 2; x++)
{
for (int y = 0; y < constellation_size * 2; y++)
{
if ((constellation[x, y] > 0) || (other.constellation[x, y] > 0))
{
if (score == -1) score = 0;
score += Math.Abs(constellation[x, y] - other.constellation[x, y]);
}
}
}
return (score);
}
public void Add(FASTcorner neighbour)
{
if (neighbours == null)
neighbours = new ArrayList();
neighbours.Add(neighbour);
}
private FASTcorner[] local_nonmax(FASTcorner[] corners, int radius_x, int radius_y)
{
FASTcorner[] corners2 = null;
if (corners != null)
{
for (int i = 0; i < corners.Length - 1; i++)
{
FASTcorner c1 = corners[i];
if (c1 != null)
{
for (int j = i + 1; j < corners.Length; j++)
{
if (i != j)
{
FASTcorner c2 = corners[j];
if (c2 != null)
{
int dx = c1.x - c2.x;
if ((dx > -radius_x) && (dx < radius_x))
{
int dy = c1.y - c2.y;
if ((dy > -radius_y) && (dy < radius_y))
{
if (c2.score < c1.score)
{
corners[j] = null;
}
else
{
corners[i] = null;
j = corners.Length;
}
}
}
}
}
}
}
}
int count = 0;
for (int i = 0; i < corners.Length; i++)
{
if (corners[i] != null)
{
count++;
}
}
corners2 = new FASTcorner[count];
int n = 0;
for (int i = 0; i < corners.Length; i++)
{
if (corners[i] != null)
{
corners2[n] = corners[i];
n++;
}
}
}
return(corners2);
}
/// <summary>
/// update the neighbours for each corner feature
/// </summary>
/// <param name="corners">array of corner features</param>
/// <param name="neighbour_radius">neighbourhood radius</param>
public static void updateNeighbours(FASTcorner[] corners, int neighbour_radius)
{
for (int i = 0; i < corners.Length; i++)
corners[i].updateDirection(corners, neighbour_radius);
}
/// <summary>
/// show the detected corner features in the given image
/// </summary>
/// <param name="corners">array containing detected corners</param>
/// <param name="background">background image to be used</param>
/// <param name="bmp">image to be returned</param>
/// <param name="image_width">width of the image</param>
/// <param name="image_height">height of the image</param>
public static void Show(FASTcorner[] corners,
byte[] background,
byte[] bmp, int image_width, int image_height,
int bytes_per_pixel)
{
// copy the background
for (int i = 0; i < image_width * image_height * bytes_per_pixel; i++)
bmp[i] = background[i];
for (int i = 0; i < corners.Length; i++)
{
FASTcorner corner = corners[i];
int n = ((corner.y * image_width) + corner.x) * bytes_per_pixel;
// update the image
if (bytes_per_pixel < 3)
{
bmp[n] = (byte)255;
}
else
{
for (int col = 0; col < bytes_per_pixel; col++)
{
if (col != 1)
bmp[n + col] = 0;
else
bmp[n + col] = (byte)255;
}
}
}
}
public FASTline(FASTcorner point1, FASTcorner point2)
{
this.point1 = point1;
this.point2 = point2;
}
/// <summary>
/// Detect lines in the given mono image using the given corner features
/// </summary>
public static FASTline[] fast_lines(Byte[] img, int xsize, int ysize,
FASTcorner[] corners, int line_threshold, int min_length)
{
int min_length_y = min_length * ysize / xsize;
int no_of_lines = 0;
FASTline[] lines = new FASTline[corners.Length * corners.Length];
for (int i = 0; i < corners.Length - 1; i++)
{
FASTcorner corner1 = corners[i];
for (int j = i + 1; j < corners.Length; j++)
{
FASTcorner corner2 = corners[j];
int dx = corner2.x - corner1.x;
if (dx < 0) dx = -dx;
int dy = corner2.y - corner1.y;
if (dy < 0) dy = -dy;
if ((dx > min_length) || (dy > min_length_y))
{
if (FASTline.isLine(img, xsize, ysize, 1, corner1, corner2, line_threshold))
{
lines[no_of_lines] = new FASTline(corner1, corner2);
no_of_lines++;
}
}
}
}
if (no_of_lines > 0)
#if DOTNET_V1_1
lines = (FASTline[])ArrayResize(lines, no_of_lines);
#else
Array.Resize(ref lines, no_of_lines);
#endif
else
lines = null;
return (lines);
}
/// <summary>
/// update corner properties
/// </summary>
/// <param name="corners"></param>
/// <param name="xradius"></param>
/// <param name="yradius"></param>
public static void fast_update(FASTcorner[] corners, int xradius, int yradius)
{
if (corners != null)
for (int i = 0; i < corners.Length; i++)
if (corners[i] != null)
corners[i].update(corners, xradius, yradius);
}
/// <summary>
/// perform non-maximal supression
/// </summary>
/// <param name="img">image - one byte per pixel</param>
/// <param name="xsize">width of the image</param>
/// <param name="ysize">height of the image</param>
/// <param name="corners">returned corner features</param>
/// <param name="barrier">detection threshold</param>
/// <returns></returns>
public static unsafe FASTcorner[] fast_nonmax(Byte[] img, int xsize, int ysize, FASTcorner[] corners, int barrier, float calibration_offset_x, float calibration_offset_y)
{
bool found;
fixed (Byte* im = img)
{
int numcorners = corners.Length;
// Create a list of integer pointer offstes, corresponding to the
// direction offsets in dir[]
int[] mpointer_dir = new int[16];
int[] row_start = new int[ysize];
int[] scores = new int[numcorners];
FASTcorner[] nonmax_corners = new FASTcorner[numcorners];
int num_nonmax = 0;
int prev_row = -1;
int i, j;
int point_above = 0;
int point_below = 0;
fixed (int* pointer_dir = mpointer_dir)
{
pointer_dir[0] = 0 + 3 * xsize;
pointer_dir[1] = 1 + 3 * xsize;
pointer_dir[2] = 2 + 2 * xsize;
pointer_dir[3] = 3 + 1 * xsize;
pointer_dir[4] = 3 + 0 * xsize;
pointer_dir[5] = 3 + -1 * xsize;
pointer_dir[6] = 2 + -2 * xsize;
pointer_dir[7] = 1 + -3 * xsize;
pointer_dir[8] = 0 + -3 * xsize;
pointer_dir[9] = -1 + -3 * xsize;
pointer_dir[10] = -2 + -2 * xsize;
pointer_dir[11] = -3 + -1 * xsize;
pointer_dir[12] = -3 + 0 * xsize;
pointer_dir[13] = -3 + 1 * xsize;
pointer_dir[14] = -2 + 2 * xsize;
pointer_dir[15] = -1 + 3 * xsize;
if (numcorners < 5)
return null;
// xsize ysize numcorners corners
// Compute the score for each detected corner, and find where each row begins
// (the corners are output in raster scan order). A beginning of -1 signifies
// that there are no corners on that row.
for (i = 0; i < ysize; i++)
row_start[i] = -1;
for (i = 0; i < numcorners; i++)
{
if (corners[i].y != prev_row)
{
row_start[corners[i].y] = i;
prev_row = corners[i].y;
}
scores[i] = corner_score(im + corners[i].x + corners[i].y * xsize, pointer_dir, barrier);
}
// Point above points (roughly) to the pixel above the one of interest, if there
// is a feature there.
int ctr;
for (i = 1; i < numcorners - 1; i++)
{
int score = scores[i];
FASTcorner pos = corners[i];
// Check left
if (corners[i - 1].x == pos.x - 1 && corners[i - 1].y == pos.y && scores[i - 1] > score)
continue;
// Check right
if (corners[i + 1].x == pos.x + 1 && corners[i + 1].y == pos.y && scores[i - 1] > score)
continue;
// Check above
if (pos.y > 0 && pos.y < ysize - 1 && row_start[pos.y - 1] > -1)
{
if (corners[point_above].y < pos.y - 1)
point_above = row_start[pos.y - 1];
// Make point above point to the first of the pixels above the current point,
// if it exists.
ctr = 0;
for (; corners[point_above].y < pos.y && corners[point_above].x < pos.x - 1; point_above++)
{
ctr++;
if (ctr > 100) break;
}
for (j = point_above; corners[j].y < pos.y && corners[j].x <= pos.x + 1; j++)
{
int x = corners[j].x;
if ((x == pos.x - 1 || x == pos.x || x == pos.x + 1) && scores[j] > score)
{
goto cont;
}
}
}
// Check below
if (pos.y > 0 && pos.y < ysize - 2 && row_start[pos.y + 1] > -1) // Nothing below
{
if (corners[point_below].y < pos.y + 1)
point_below = row_start[pos.y + 1];
// Make point below point to one of the pixels below the current point, if it
// exists.
ctr = 0;
if (point_below < corners.Length)
{
for (; corners[point_below].y == pos.y + 1 && corners[point_below].x < pos.x - 1; point_below++)
{
ctr++;
if (ctr > 100) break;
if (point_below >= corners.Length - 1) break;
}
found = false;
j = point_below;
while ((!found) && (j < corners.Length))
{
if (corners[j].y == pos.y + 1 && corners[j].x <= pos.x + 1) found = true;
int x = corners[j].x;
if ((x == pos.x - 1 || x == pos.x || x == pos.x + 1) && scores[j] > score)
{
goto cont;
}
if (j >= corners.Length) found = true;
j++;
}
}
}
int xx = (int)(corners[i].x + calibration_offset_x);
int yy = (int)(corners[i].y + calibration_offset_y);
if ((xx > -1) && (xx < xsize) && (yy > -1) && (yy < ysize))
{
nonmax_corners[num_nonmax] = new FASTcorner(xx, yy);
nonmax_corners[num_nonmax].score = score;
num_nonmax++;
}
cont:
;
}
#if DOTNET_V1_1
nonmax_corners = (FASTcorner[])ArrayResize(nonmax_corners, num_nonmax);
#else
Array.Resize(ref nonmax_corners, num_nonmax);
#endif
return nonmax_corners;
}
}
}
/// <summary>
/// show the orientations of features
/// </summary>
/// <param name="corners">array containing detected corners</param>
/// <param name="background">background image to be used</param>
/// <param name="bmp">image to be returned</param>
/// <param name="image_width">width of the image</param>
/// <param name="image_height">height of the image</param>
/// <param name="min_neighbours">minimum number of features within the neighbourhood</param>
/// <param name="min_direction_magnitude">minimum direction magnitude</param>
public static void ShowOrientations(FASTcorner[] corners,
byte[] background,
byte[] bmp, int image_width, int image_height,
int bytes_per_pixel,
int min_neighbours, int min_direction_magnitude)
{
// copy the background
for (int i = 0; i < image_width * image_height * bytes_per_pixel; i++)
bmp[i] = background[i];
for (int i = 0; i < corners.Length; i++)
{
FASTcorner corner = corners[i];
if (corner.neighbours != null)
{
if (corner.neighbours.Count > min_neighbours)
{
if (corner.direction_magnitude > min_direction_magnitude)
{
if (bytes_per_pixel == 3)
{
sluggish.utilities.drawing.drawLine(bmp, image_width, image_height,
(int)corner.x, (int)corner.y,
(int)(corner.x + corner.direction_x), (int)(corner.y + corner.direction_y),
0, 255, 0, 0, false);
}
}
}
}
}
}
public FASTline(FASTcorner point1, FASTcorner point2)
{
this.point1 = point1;
this.point2 = point2;
}
