/// <summary>
/// returns true if the points given are on a line
/// </summary>
/// <param name="img_mono">mono image data (1 byte per pixel)</param>
/// <param name="img_width">width of the image</param>
/// <param name="img_height">height of the image</param>
/// <param name="p1">first corner</param>
/// <param name="p2">second corner</param>
/// <returns>true if this is a line</returns>
public static bool isLine(byte[] img_mono,
int img_width, int img_height,
FASTcorner p1, FASTcorner p2,
int line_threshold,
ref int response)
{
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;
int r = radius;
diff_x = (img_mono[n - r] + img_mono[n - r]) -
(img_mono[n + r] + img_mono[n + r]);
if (diff_x < 0)
{
diff_x = -diff_x;
}
if (diff_x < line_threshold)
{
r = radius * img_width;
diff_y = (img_mono[n - r] + img_mono[n - r]) -
(img_mono[n + r] + img_mono[n + r]);
if (diff_y < 0)
{
diff_y = -diff_y;
}
}
if ((diff_x > line_threshold) || (diff_y > line_threshold))
{
line = true;
response += diff_x + diff_y;
}
}
else
{
line = true;
}
sample_number++;
}
return(line);
}
/// <summary>
/// returns true if the points given are on a line
/// </summary>
/// <param name="img_mono">mono image data (1 byte per pixel)</param>
/// <param name="img_width">width of the image</param>
/// <param name="img_height">height of the image</param>
/// <param name="p1">first corner</param>
/// <param name="p2">second corner</param>
/// <returns>true if this is a line</returns>
public static bool isLine(byte[] img_mono,
int img_width, int img_height,
FASTcorner p1, FASTcorner p2,
int line_threshold,
ref int response)
{
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;
int r = radius;
diff_x = (img_mono[n - r] + img_mono[n - r]) -
(img_mono[n + r] + img_mono[n + r]);
if (diff_x < 0) diff_x = -diff_x;
if (diff_x < line_threshold)
{
r = radius * img_width;
diff_y = (img_mono[n - r] + img_mono[n - r]) -
(img_mono[n + r] + img_mono[n + r]);
if (diff_y < 0) diff_y = -diff_y;
}
if ((diff_x > line_threshold) || (diff_y > line_threshold))
{
line = true;
response += diff_x + diff_y;
}
}
else line = true;
sample_number++;
}
return (line);
}
protected void UpdateCornerDisparities(FASTcorner[] corners,
int search_radius_percent)
{
int[] disparity_histogram = new int[image_width];
int search_pixels = image_width * search_radius_percent / 100;
for (int i = 0; i < corners.Length; i++)
{
int min_dist = search_pixels;
min_dist *= min_dist;
int disparity = 0;
int max = 0;
for (int d = disparity_histogram.Length-1; d >= 0; d--)
disparity_histogram[d] = 0;
for (int j = 0; j < features.Count; j++)
{
int dx = (int)(features[j].x - corners[i].x);
int dy = (int)(features[j].y - corners[i].y);
int dist = dx*dx + dy*dy;
if (dist < min_dist)
{
int disp = (int)features[j].disparity;
disparity_histogram[disp]++;
if (disparity_histogram[disp] > max)
{
max = disparity_histogram[disp];
disparity = disp;
}
//min_dist = dist;
}
}
if (max > 1)
{
corners[i].disparity = disparity;
}
else
corners[i].disparity = -1;
}
features.Clear();
for (int i = 0; i < corners.Length; i++)
{
if (corners[i].disparity > 0)
features.Add(new StereoFeature(corners[i].x, corners[i].y, corners[i].disparity));
}
}
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);
}
/// <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[(int)corners[i].y] = i;
prev_row = (int)corners[i].y;
}
scores[i] = corner_score(im + (int)corners[i].x + (int)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:
;
}
Array.Resize(ref nonmax_corners, num_nonmax);
return nonmax_corners;
}
}
}
/// <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
Buffer.BlockCopy(background,0,bmp,0,image_width * image_height * bytes_per_pixel);
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;
}
}
}
}
/// <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_10(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[9];
cache_2 = cache_0 + pixel[3];
int ctr = 0;
for (; cache_0 < line_max; cache_0++, cache_1++, cache_2++)
{
ctr++;
if (ctr > 1000) break;
cb = *cache_0 + barrier;
c_b = *cache_0 - barrier;
if (*cache_1 > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*(cache_0 + 3) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + pixel[0]) > cb)
if (*cache_2 > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_1 + 2) > cb)
if (*(cache_0 + pixel[1]) > cb)
if (*(cache_1 + 1) > cb)
goto success;
else if (*(cache_1 + 1) < c_b)
continue;
else
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else if (*(cache_0 + pixel[1]) < c_b)
continue;
else
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_1 + 1) > cb)
if (*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if (*(cache_1 + 2) < c_b)
continue;
else
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_2 + -6) > 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_0 + pixel[5]) < c_b)
continue;
else
if (*(cache_0 + -3) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*cache_2 < c_b)
continue;
else
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_1 + 2) > cb)
goto success;
else if (*(cache_1 + 2) < c_b)
continue;
else
if (*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[0]) < c_b)
if (*(cache_0 + pixel[11]) > cb)
if (*cache_2 > cb)
if (*(cache_1 + 2) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_1 + 2) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_1 + 1) > cb)
if (*cache_2 > cb)
goto success;
else if (*cache_2 < c_b)
continue;
else
if (*(cache_2 + -6) > cb)
if (*(cache_0 + -3) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + pixel[1]) > cb)
goto success;
else
continue;
else
if (*(cache_0 + pixel[1]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*cache_2 > cb)
if (*(cache_1 + 1) > cb)
goto success;
else
continue;
else
continue;
else
continue;
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[14]) > cb)
if (*(cache_0 + pixel[0]) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[1]) > cb)
if (*(cache_0 + pixel[10]) > cb)
goto success;
else if (*(cache_0 + pixel[10]) < c_b)
continue;
else
if (*cache_2 > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[11]) < c_b)
continue;
else
if (*(cache_0 + pixel[5]) > cb)
if (*cache_2 > cb)
if (*(cache_2 + -6) > 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 + pixel[11]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[0]) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[15]) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[1]) > cb)
goto success;
else if (*(cache_0 + pixel[1]) < c_b)
continue;
else
if (*(cache_0 + pixel[6]) < c_b)
continue;
else
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[0]) < c_b)
continue;
else
if (*(cache_0 + pixel[6]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[15]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_0 + pixel[0]) > cb)
if (*(cache_0 + pixel[1]) > cb)
goto success;
else if (*(cache_0 + pixel[1]) < c_b)
continue;
else
if (*(cache_1 + 2) > cb)
if (*(cache_1 + 1) > cb)
goto success;
else
continue;
else
continue;
else if (*(cache_0 + pixel[0]) < c_b)
continue;
else
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_1 + 2) > 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[5]) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_1 + 2) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_1 + 1) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_1 + 2) > cb)
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_1 + 1) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_0 + pixel[15]) > cb)
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[11]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[15]) > cb)
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_1 + 2) > cb)
if (*(cache_2 + -6) > 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[1]) > cb)
if (*(cache_1 + 1) > cb)
if (*(cache_0 + -3) > cb)
goto success;
else
continue;
else
continue;
else if (*(cache_0 + pixel[1]) < c_b)
continue;
else
if (*(cache_1 + 2) > cb)
if (*(cache_0 + pixel[0]) > cb)
if (*(cache_0 + -3) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[0]) > cb)
if (*(cache_0 + -3) > cb)
if (*(cache_1 + 1) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[15]) > cb)
if (*(cache_1 + 2) > cb)
if (*(cache_2 + -6) > cb)
goto success;
else
continue;
else if (*(cache_1 + 2) < c_b)
continue;
else
if (*(cache_0 + pixel[1]) > cb)
if (*(cache_2 + -6) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*cache_2 > cb)
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + pixel[11]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if (*cache_2 < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + 3) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[10]) < c_b)
if (*cache_2 < c_b)
goto success;
else
continue;
else
if (*(cache_0 + 3) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
goto success;
else
continue;
else
continue;
else if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_2 + -6) > cb)
if (*(cache_1 + 2) < c_b)
if (*(cache_0 + 3) < c_b)
goto success;
else
continue;
else
continue;
else if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[15]) < c_b)
goto success;
else
continue;
else
continue;
else if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + pixel[15]) < c_b)
if (*cache_2 < c_b)
if (*(cache_0 + pixel[1]) < 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[15]) < c_b)
if (*cache_2 < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_1 + 2) < c_b)
if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + 3) < c_b)
if (*(cache_0 + -3) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + 3) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_1 + 1) > cb)
if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_1 + 2) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_0 + -3) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[15]) > cb)
if (*(cache_1 + 1) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[0]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_0 + pixel[1]) > cb)
goto success;
else if (*(cache_0 + pixel[1]) < c_b)
continue;
else
if (*(cache_1 + 2) > cb)
goto success;
else
continue;
else
continue;
else if (*(cache_2 + -6) < c_b)
continue;
else
if (*cache_2 > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[6]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[0]) < c_b)
continue;
else
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_1 + 2) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_2 + -6) > cb)
goto success;
else if (*(cache_2 + -6) < c_b)
continue;
else
if (*cache_2 > 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[14]) < c_b)
continue;
else
if (*(cache_0 + 3) > cb)
if (*cache_2 > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_1 + 2) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*cache_2 < c_b)
continue;
else
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[11]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_0 + 3) > cb)
if (*(cache_1 + 2) > cb)
if (*cache_2 > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_1 + 1) > cb)
if (*(cache_0 + pixel[11]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*cache_2 < c_b)
continue;
else
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + 3) < c_b)
continue;
else
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[0]) > cb || *(cache_0 + pixel[0]) < c_b)
continue;
else
goto success;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_1 + 2) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_1 + 1) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_2 + -6) > cb)
goto success;
else if (*(cache_2 + -6) < c_b)
continue;
else
if (*cache_2 > 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[14]) < c_b)
if (*(cache_0 + 3) > cb)
if (*cache_2 > cb)
goto success;
else if (*cache_2 < c_b)
continue;
else
if (*(cache_2 + -6) > cb)
goto success;
else
continue;
else
continue;
else
if (*(cache_0 + 3) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_1 + 1) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_0 + pixel[11]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if (*(cache_2 + -6) < c_b)
continue;
else
if (*cache_2 > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_1 + 1) > cb)
if (*(cache_0 + pixel[11]) > cb)
goto success;
else
continue;
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[1]) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + 3) > cb)
if (*(cache_0 + pixel[15]) > cb)
if (*cache_2 > cb)
if (*(cache_0 + pixel[0]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[2]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_1 + 2) > cb)
if (*cache_2 > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*(cache_0 + 3) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_1 + 2) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*cache_2 > cb)
if (*(cache_0 + 3) > cb)
if (*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + 3) > cb)
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*cache_2 > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[5]) > cb)
goto success;
else
continue;
else
continue;
else if (*(cache_0 + 3) < c_b)
if (*(cache_0 + pixel[2]) > cb)
continue;
else if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + -3) > cb)
continue;
else if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
goto success;
else
continue;
else
goto success;
else
continue;
else
if (*(cache_0 + -3) < c_b)
if (*(cache_2 + -6) > cb)
if (*cache_2 < c_b)
if (*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else if (*(cache_2 + -6) < c_b)
goto success;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[10]) > cb)
if (*cache_2 > cb)
goto success;
else
continue;
else
continue;
else if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_1 + 2) < c_b)
goto success;
else
continue;
else
continue;
else if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_1 + 2) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_1 + 2) < c_b)
goto success;
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_2 + -6) > cb)
continue;
else if (*(cache_2 + -6) < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*cache_2 < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_1 + 1) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + -3) > cb)
if (*(cache_0 + 3) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*cache_2 > cb)
if (*(cache_0 + pixel[15]) > cb)
goto success;
else
continue;
else
continue;
else if (*(cache_0 + pixel[5]) < c_b)
continue;
else
if (*(cache_1 + 2) > cb || *(cache_1 + 2) < c_b)
continue;
else
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + 3) < c_b)
continue;
else
if (*(cache_0 + pixel[10]) > cb)
if (*cache_2 > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[2]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[1]) < c_b)
if (*(cache_0 + 3) > cb)
if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_1 + 1) > cb)
goto success;
else if (*(cache_1 + 1) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[15]) > cb)
continue;
else if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_0 + pixel[0]) > cb)
continue;
else if (*(cache_0 + pixel[0]) < c_b)
goto success;
else
if (*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
if (*(cache_0 + pixel[5]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[10]) < 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 + 3) < c_b)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + pixel[2]) > cb || *(cache_0 + pixel[2]) < c_b)
continue;
else
if (*(cache_1 + 1) < c_b)
if (*(cache_1 + 2) > cb || *(cache_1 + 2) < c_b)
continue;
else
goto success;
else
continue;
else if (*(cache_0 + pixel[6]) < c_b)
if (*cache_2 > cb)
continue;
else if (*cache_2 < c_b)
if (*(cache_0 + pixel[5]) > cb)
continue;
else if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_0 + pixel[0]) > cb)
continue;
else if (*(cache_0 + pixel[0]) < c_b)
if (*(cache_0 + pixel[2]) > cb)
continue;
else if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_1 + 2) > cb)
continue;
else if (*(cache_1 + 2) < c_b)
if (*(cache_1 + 1) > cb)
continue;
else if (*(cache_1 + 1) < c_b)
goto success;
else
if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[15]) < c_b)
goto success;
else
continue;
else
continue;
else
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[15]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_0 + pixel[2]) > cb)
continue;
else if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_1 + 1) < c_b)
goto success;
else
continue;
else
if (*(cache_0 + -3) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_2 + -6) < 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[11]) < c_b)
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_1 + 1) < c_b)
if (*(cache_0 + pixel[5]) > cb)
continue;
else if (*(cache_0 + pixel[5]) < c_b)
goto success;
else
if (*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[11]) > cb)
continue;
else if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + pixel[2]) > cb)
continue;
else if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[0]) < c_b)
if (*(cache_0 + pixel[10]) > cb)
continue;
else if (*(cache_0 + pixel[10]) < c_b)
goto success;
else
if (*cache_2 < c_b)
goto success;
else
continue;
else
continue;
else
if (*(cache_1 + 1) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_0 + pixel[0]) < 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 + pixel[14]) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_1 + 1) > cb)
continue;
else if (*(cache_1 + 1) < c_b)
if (*(cache_0 + pixel[15]) > cb)
continue;
else if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_0 + pixel[0]) > cb)
continue;
else if (*(cache_0 + pixel[0]) < c_b)
goto success;
else
if (*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[15]) < 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
continue;
else
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + pixel[15]) > cb)
if (*cache_2 > cb)
continue;
else if (*cache_2 < c_b)
if (*(cache_0 + pixel[2]) > cb)
continue;
else if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + 3) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + 3) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_1 + 2) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_2 + -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[2]) > cb || *(cache_0 + pixel[2]) < c_b)
continue;
else
if (*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_0 + -3) > cb)
continue;
else if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[14]) > cb)
continue;
else if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + pixel[0]) < c_b)
if (*(cache_1 + 1) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_2 + -6) > cb)
continue;
else if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_1 + 1) < c_b)
goto success;
else
continue;
else
continue;
else
if (*cache_2 < c_b)
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_0 + 3) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[0]) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_2 + -6) < c_b)
if (*(cache_1 + 1) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + 3) < c_b)
if (*(cache_2 + -6) > cb)
continue;
else if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else
if (*cache_2 < c_b)
if (*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*cache_2 < c_b)
if (*(cache_0 + 3) < c_b)
if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_1 + 1) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + 3) > cb)
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + 3) < c_b)
if (*cache_2 > cb)
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + -3) < c_b)
goto success;
else
continue;
else
continue;
else if (*cache_2 < c_b)
if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + pixel[2]) > cb)
continue;
else if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_1 + 1) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + -3) < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_1 + 1) < 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_2 + -6) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + -3) < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_1 + 1) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_0 + -3) < c_b)
if (*(cache_1 + 2) < c_b)
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*cache_2 > cb)
if (*(cache_0 + pixel[15]) > cb)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + 3) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*(cache_0 + pixel[0]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[1]) > cb)
goto success;
else
continue;
else if (*(cache_0 + pixel[14]) < c_b)
continue;
else
if (*(cache_1 + 1) > cb)
goto success;
else
continue;
else if (*(cache_0 + pixel[5]) < c_b)
continue;
else
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + -3) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_2 + -6) < c_b)
if (*(cache_1 + 1) > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*(cache_0 + pixel[5]) > cb)
goto success;
else
continue;
else
continue;
else if (*(cache_1 + 1) < c_b)
continue;
else
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_1 + 2) > cb)
goto success;
else
continue;
else
continue;
else
if (*(cache_1 + 2) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[2]) > 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_0 + pixel[14]) < c_b)
if (*(cache_1 + 1) > cb)
goto success;
else
continue;
else
if (*(cache_1 + 1) > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
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[10]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[1]) > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[1]) > 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 + 3) > cb)
if (*(cache_0 + -3) > cb)
if (*(cache_1 + 1) > cb || *(cache_1 + 1) < c_b)
continue;
else
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[5]) > cb)
continue;
else if (*(cache_0 + pixel[5]) < c_b)
goto success;
else
if (*(cache_0 + pixel[14]) > cb)
goto success;
else
continue;
else
continue;
else if (*(cache_0 + pixel[11]) < c_b)
continue;
else
if (*(cache_0 + pixel[5]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + -3) > cb)
if (*(cache_0 + pixel[10]) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[1]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else if (*(cache_0 + pixel[11]) < c_b)
continue;
else
if (*(cache_0 + pixel[5]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + 3) > cb)
if (*(cache_1 + 2) > cb || *(cache_1 + 2) < c_b)
continue;
else
goto success;
else
continue;
else
continue;
else
if (*(cache_0 + 3) > cb)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[1]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[5]) < c_b)
if (*(cache_0 + pixel[11]) > cb)
goto success;
else
continue;
else
if (*(cache_0 + pixel[11]) > cb)
if (*(cache_0 + pixel[1]) > cb)
if (*(cache_2 + -6) > cb)
if (*(cache_0 + pixel[2]) > cb)
if (*(cache_0 + pixel[0]) > cb)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*cache_2 < c_b)
if (*(cache_0 + pixel[15]) < c_b)
if (*(cache_0 + pixel[5]) > cb)
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_1 + 2) > cb)
if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[14]) < c_b)
goto success;
else
continue;
else
continue;
else if (*(cache_1 + 2) < c_b)
continue;
else
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + pixel[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 + pixel[5]) < c_b)
if (*(cache_1 + 2) > cb)
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[6]) > cb)
continue;
else if (*(cache_0 + pixel[6]) < c_b)
goto success;
else
if (*(cache_0 + -3) < c_b)
if (*(cache_0 + 3) > cb)
continue;
else if (*(cache_0 + 3) < c_b)
if (*(cache_0 + pixel[14]) < c_b)
goto success;
else
continue;
else
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_0 + pixel[2]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else if (*(cache_1 + 2) < c_b)
if (*(cache_0 + 3) > cb)
continue;
else if (*(cache_0 + 3) < c_b)
if (*(cache_0 + pixel[14]) > cb)
if (*(cache_1 + 1) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + pixel[2]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[6]) > cb)
continue;
else if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + pixel[1]) < c_b)
if (*(cache_0 + pixel[2]) < 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[2]) < c_b)
if (*(cache_2 + -6) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
if (*(cache_1 + 1) < c_b)
if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + pixel[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_0 + pixel[10]) < c_b)
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[14]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[6]) > cb)
if (*(cache_0 + pixel[10]) > cb)
goto success;
else
continue;
else if (*(cache_0 + pixel[6]) < c_b)
if (*(cache_0 + 3) > cb)
continue;
else if (*(cache_0 + 3) < c_b)
if (*(cache_0 + pixel[1]) < c_b)
if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[0]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_0 + pixel[1]) < c_b)
if (*(cache_1 + 1) > cb || *(cache_1 + 1) < c_b)
continue;
else
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + -3) < c_b)
if (*(cache_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[0]) < c_b)
if (*(cache_0 + 3) > cb)
continue;
else if (*(cache_0 + 3) < c_b)
if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_0 + pixel[1]) < c_b)
goto success;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[10]) < c_b)
if (*(cache_0 + pixel[11]) < c_b)
if (*(cache_0 + pixel[2]) < c_b)
goto success;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if (*(cache_0 + pixel[11]) < 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[14]) < c_b)
if (*(cache_0 + pixel[2]) < c_b)
if (*(cache_2 + -6) < 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_0 + pixel[14]) < c_b)
if (*(cache_0 + pixel[1]) < c_b)
if (*(cache_2 + -6) < c_b)
if (*(cache_0 + pixel[0]) < c_b)
if (*(cache_0 + pixel[2]) < c_b)
goto success;
else
continue;
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;
}
}
}
public FASTline(FASTcorner point1, FASTcorner point2, int response)
{
this.point1 = point1;
this.point2 = point2;
this.response = response;
}
public FASTline(FASTcorner point1, FASTcorner point2, int response)
{
this.point1 = point1;
this.point2 = point2;
this.response = response;
}
