agast7_12d.h
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00001 //
00002 //    agast7d - AGAST, an adaptive and generic corner detector based on the
00003 //              accelerated segment test for a 12 pixel mask in diamond format
00004 //
00005 //    Copyright (C) 2010  Elmar Mair
00006 //
00007 //    This program is free software: you can redistribute it and/or modify
00008 //    it under the terms of the GNU General Public License as published by
00009 //    the Free Software Foundation, either version 3 of the License, or
00010 //    (at your option) any later version.
00011 //
00012 //    This program is distributed in the hope that it will be useful,
00013 //    but WITHOUT ANY WARRANTY; without even the implied warranty of
00014 //    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015 //    GNU General Public License for more details.
00016 //
00017 //    You should have received a copy of the GNU General Public License
00018 //    along with this program.  If not, see <http://www.gnu.org/licenses/>.
00019 
00020 #ifndef AGAST7_12D_H
00021 #define AGAST7_12D_H
00022 
00023 #include <stdint.h>
00024 #include "AstDetector.h"
00025 
00026 struct CvPoint;
00027 
00028 namespace agast{
00029 
00030         class AgastDetector7_12d: public AstDetector
00031         {
00032                 public:
00033                         AgastDetector7_12d():AstDetector(){;}
00034                         AgastDetector7_12d(int width, int height, int thr):AstDetector(width, height, thr){init_pattern();};
00035                         ~AgastDetector7_12d(){}
00036                         void detect(const unsigned char* im,
00037                                         std::vector<CvPoint>& keypoints);
00038                         void nms(const unsigned char* im,
00039                                         const std::vector<CvPoint>& keypoints, std::vector<CvPoint>& keypoints_nms);
00040                         int get_borderWidth(){return borderWidth;}
00041                         int cornerScore(const unsigned char* p, bool ignorePattern=false);
00042 
00043                 private:
00044                         static const int borderWidth=3;
00045                         int_fast16_t s_offset0;
00046                         int_fast16_t s_offset1;
00047                         int_fast16_t s_offset2;
00048                         int_fast16_t s_offset3;
00049                         int_fast16_t s_offset4;
00050                         int_fast16_t s_offset5;
00051                         int_fast16_t s_offset6;
00052                         int_fast16_t s_offset7;
00053                         int_fast16_t s_offset8;
00054                         int_fast16_t s_offset9;
00055                         int_fast16_t s_offset10;
00056                         int_fast16_t s_offset11;
00057 
00058                         void init_pattern()
00059                         {
00060                                 s_offset0=(-3)+(0)*xsize;
00061                                 s_offset1=(-2)+(-1)*xsize;
00062                                 s_offset2=(-1)+(-2)*xsize;
00063                                 s_offset3=(0)+(-3)*xsize;
00064                                 s_offset4=(1)+(-2)*xsize;
00065                                 s_offset5=(2)+(-1)*xsize;
00066                                 s_offset6=(3)+(0)*xsize;
00067                                 s_offset7=(2)+(1)*xsize;
00068                                 s_offset8=(1)+(2)*xsize;
00069                                 s_offset9=(0)+(3)*xsize;
00070                                 s_offset10=(-1)+(2)*xsize;
00071                                 s_offset11=(-2)+(1)*xsize;
00072                         }
00073         };
00074 
00075 }
00076 
00077 #endif /* AGAST7_12D_H */


ptam
Author(s): Stephan Weiss, Markus Achtelik, Simon Lynen
autogenerated on Tue Jan 7 2014 11:12:22