faster_corner_impl.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "vision-precomp.h"  // Precompiled headers
 
#if MRPT_HAS_OPENCV
 
#include "faster_corner_prototypes.h"
 
#include <cvd/fast_corner.h>
#include <cvd/utility.h>
 
template <void (* F)(const CVD::BasicImage<CVD::byte>& I, std::vector<CVD::ImageRef>& corners, int barrier)>
void fast_corner_detect(
        const IplImage* I, TSimpleFeatureList& corners, int barrier, uint8_t octave,
        std::vector<size_t>* out_feats_index_by_row)
        {
                auto ptr = reinterpret_cast<CVD::byte* >(I->imageData);
                CVD::BasicImage<CVD::byte> img(ptr, {I->width, I->height}, I->widthStep);
 
                std::vector<CVD::ImageRef> outputs;
                //reerve enough corners for every pixel
                outputs.reserve(I->width * I->height);
                F(img, outputs, barrier);
                for(auto & output : outputs)
                {
                        corners.push_back_fast(output.x << octave, output.y << octave);
                }
                if(out_feats_index_by_row)
                {
                                auto & counters = *out_feats_index_by_row;
                                counters.assign(I->height, 0);
                                for(auto & output : outputs)
                                {
                                        counters[output.y]++;
                                }
                }
        }
 
void fast_corner_detect_9(
        const IplImage* I, TSimpleFeatureList& corners, int barrier, uint8_t octave,
        std::vector<size_t>* out_feats_index_by_row)
        {
                fast_corner_detect<CVD::fast_corner_detect_9>(I, corners, barrier, octave, out_feats_index_by_row);
        }
 
void fast_corner_detect_10(
        const IplImage* I, TSimpleFeatureList& corners, int barrier, uint8_t octave,
        std::vector<size_t>* out_feats_index_by_row)
        {
                fast_corner_detect<CVD::fast_corner_detect_10>(I, corners, barrier, octave, out_feats_index_by_row);
 
        }
 
void fast_corner_detect_12(
        const IplImage* I, TSimpleFeatureList& corners, int barrier, uint8_t octave,
        std::vector<size_t>* out_feats_index_by_row)
        {
                fast_corner_detect<CVD::fast_corner_detect_12>(I, corners, barrier, octave, out_feats_index_by_row);
        }
#endif