agast7_12d.h

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//
//    agast7d - AGAST, an adaptive and generic corner detector based on the
//              accelerated segment test for a 12 pixel mask in diamond format
//
//    Copyright (C) 2010  Elmar Mair
//
//    This program is free software: you can redistribute it and/or modify
//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation, either version 3 of the License, or
//    (at your option) any later version.
//
//    This program is distributed in the hope that it will be useful,
//    but WITHOUT ANY WARRANTY; without even the implied warranty of
//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//    GNU General Public License for more details.
//
//    You should have received a copy of the GNU General Public License
//    along with this program.  If not, see <http://www.gnu.org/licenses/>.

#ifndef AGAST7_12D_H
#define AGAST7_12D_H

#include <stdint.h>
#include "AstDetector.h"

struct CvPoint;

namespace agast{

        class AgastDetector7_12d: public AstDetector
        {
                public:
                        AgastDetector7_12d():AstDetector(){;}
                        AgastDetector7_12d(int width, int height, int thr):AstDetector(width, height, thr){init_pattern();};
                        ~AgastDetector7_12d(){}
                        void detect(const unsigned char* im,
                                        std::vector<CvPoint>& keypoints);
                        void nms(const unsigned char* im,
                                        const std::vector<CvPoint>& keypoints, std::vector<CvPoint>& keypoints_nms);
                        int get_borderWidth(){return borderWidth;}
                        int cornerScore(const unsigned char* p, bool ignorePattern=false);

                private:
                        static const int borderWidth=3;
                        int_fast16_t s_offset0;
                        int_fast16_t s_offset1;
                        int_fast16_t s_offset2;
                        int_fast16_t s_offset3;
                        int_fast16_t s_offset4;
                        int_fast16_t s_offset5;
                        int_fast16_t s_offset6;
                        int_fast16_t s_offset7;
                        int_fast16_t s_offset8;
                        int_fast16_t s_offset9;
                        int_fast16_t s_offset10;
                        int_fast16_t s_offset11;

                        void init_pattern()
                        {
                                s_offset0=(-3)+(0)*xsize;
                                s_offset1=(-2)+(-1)*xsize;
                                s_offset2=(-1)+(-2)*xsize;
                                s_offset3=(0)+(-3)*xsize;
                                s_offset4=(1)+(-2)*xsize;
                                s_offset5=(2)+(-1)*xsize;
                                s_offset6=(3)+(0)*xsize;
                                s_offset7=(2)+(1)*xsize;
                                s_offset8=(1)+(2)*xsize;
                                s_offset9=(0)+(3)*xsize;
                                s_offset10=(-1)+(2)*xsize;
                                s_offset11=(-2)+(1)*xsize;
                        }
        };

}

#endif /* AGAST7_12D_H */