diff --git a/src/omv/img/fast.c b/src/omv/img/fast.c index daaf90c12..1ead0b46b 100644 --- a/src/omv/img/fast.c +++ b/src/omv/img/fast.c @@ -15,8 +15,8 @@ typedef struct { } corner_t; static int pixel[16]; -static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, int b); -static void fast9_score(image_t *image, corner_t *corners, int num_corners, int b); +static corner_t *fast12_detect(image_t *image, rectangle_t *roi, int *n_corners, int b); +static void fast12_score(image_t *image, corner_t *corners, int num_corners, int b); static void nonmax_suppression(corner_t *corners, int num_corners, array_t *keypoints); static kp_t *alloc_keypoint(uint16_t x, uint16_t y) @@ -30,22 +30,23 @@ static kp_t *alloc_keypoint(uint16_t x, uint16_t y) static void make_offsets(int pixel[], int row_stride) { - pixel[0] = 0 + row_stride * 3; - pixel[1] = 1 + row_stride * 3; - pixel[2] = 2 + row_stride * 2; - pixel[3] = 3 + row_stride * 1; - pixel[4] = 3 + row_stride * 0; - pixel[5] = 3 + row_stride * -1; - pixel[6] = 2 + row_stride * -2; - pixel[7] = 1 + row_stride * -3; - pixel[8] = 0 + row_stride * -3; - pixel[9] = -1 + row_stride * -3; + static const int r = 3; + pixel[0] = 0 + row_stride * r; + pixel[1] = 1 + row_stride * r; + pixel[2] = 2 + row_stride * 2; + pixel[3] = r + row_stride * 1; + pixel[4] = r + row_stride * 0; + pixel[5] = r + row_stride * -1; + pixel[6] = 2 + row_stride * -2; + pixel[7] = 1 + row_stride * -r; + pixel[8] = 0 + row_stride * -r; + pixel[9] = -1 + row_stride * -r; pixel[10] = -2 + row_stride * -2; - pixel[11] = -3 + row_stride * -1; - pixel[12] = -3 + row_stride * 0; - pixel[13] = -3 + row_stride * 1; - pixel[14] = -2 + row_stride * 2; - pixel[15] = -1 + row_stride * 3; + pixel[11] = -r + row_stride * -1; + pixel[12] = -r + row_stride * 0; + pixel[13] = -r + row_stride * 1; + pixel[14] = -2 + row_stride * 2; + pixel[15] = -1 + row_stride * r; } void fast_detect(image_t *image, array_t *keypoints, int threshold, rectangle_t *roi) @@ -54,10 +55,10 @@ void fast_detect(image_t *image, array_t *keypoints, int threshold, rectangle_t make_offsets(pixel, image->w); // Find corners - corner_t *corners = fast9_detect(image, roi, &num_corners, threshold); + corner_t *corners = fast12_detect(image, roi, &num_corners, threshold); if (num_corners) { // Score corners - fast9_score(image, corners, num_corners, threshold); + fast12_score(image, corners, num_corners, threshold); // Non-max suppression nonmax_suppression(corners, num_corners, keypoints); } @@ -169,7 +170,7 @@ static void nonmax_suppression(corner_t *corners, int num_corners, array_t *keyp } /* Auto-generated code*/ -static uint8_t fast9_corner_score(const uint8_t* p, int bstart) +static uint8_t fast12_corner_score(const uint8_t* p, int bstart) { int bmin = bstart; int bmax = 255; @@ -191,33 +192,40 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) if( p[pixel[6]] > cb) if( p[pixel[7]] > cb) if( p[pixel[8]] > cb) - goto is_a_corner; + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + goto is_a_corner; + else + if( p[pixel[15]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[7]] < c_b) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[14]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; else goto is_not_a_corner; else @@ -226,64 +234,13 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; - else - goto is_not_a_corner; else - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[6]] < c_b) - if( p[pixel[15]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[13]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; else goto is_not_a_corner; else @@ -295,138 +252,13 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[13]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[5]] < c_b) - if( p[pixel[14]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[12]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[13]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[14]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[6]] < c_b) - goto is_a_corner; - else - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; else goto is_not_a_corner; else @@ -440,52 +272,14 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[12]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[6]] < c_b) - goto is_a_corner; - else - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; else goto is_not_a_corner; else @@ -501,62 +295,15 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else if( p[pixel[4]] < c_b) - if( p[pixel[13]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[11]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[12]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; else goto is_not_a_corner; else @@ -571,29 +318,26 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; - else if( p[pixel[13]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[5]] < c_b) - goto is_a_corner; - else + else if( p[pixel[8]] < c_b) + if( p[pixel[5]] < c_b) + if( p[pixel[6]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -607,106 +351,23 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; + goto is_not_a_corner; else - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; - else - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[11]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[5]] < c_b) - goto is_a_corner; - else - if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; else goto is_not_a_corner; else @@ -718,54 +379,16 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else if( p[pixel[3]] < c_b) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; + if( p[pixel[15]] > cb) + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + goto is_a_corner; else goto is_not_a_corner; else @@ -776,44 +399,26 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[10]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[4]] < c_b) - goto is_a_corner; - else - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; + else if( p[pixel[7]] < c_b) + if( p[pixel[4]] < c_b) + if( p[pixel[5]] < c_b) + if( p[pixel[6]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -822,6 +427,8 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -831,54 +438,22 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else - goto is_not_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - goto is_a_corner; + if( p[pixel[4]] < c_b) + if( p[pixel[5]] < c_b) + if( p[pixel[6]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -891,44 +466,64 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; - else if( p[pixel[10]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[4]] < c_b) + else + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) goto is_a_corner; - else - if( p[pixel[13]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else if( p[pixel[7]] < c_b) + if( p[pixel[4]] < c_b) + if( p[pixel[5]] < c_b) + if( p[pixel[6]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -942,48 +537,28 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else if( p[pixel[2]] < c_b) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) + if( p[pixel[6]] > cb) + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) goto is_a_corner; else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; + if( p[pixel[3]] > cb) + if( p[pixel[4]] > cb) + if( p[pixel[5]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -992,14 +567,34 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else - if( p[pixel[3]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - goto is_a_corner; + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else if( p[pixel[6]] < c_b) + if( p[pixel[4]] < c_b) + if( p[pixel[5]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[3]] < c_b) + goto is_a_corner; + else + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1012,69 +607,6 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[9]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[3]] < c_b) - goto is_a_corner; - else - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; else goto is_not_a_corner; else @@ -1084,66 +616,28 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) + if( p[pixel[6]] > cb) + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) goto is_a_corner; else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[3]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; + if( p[pixel[3]] > cb) + if( p[pixel[4]] > cb) + if( p[pixel[5]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1154,50 +648,32 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; - else if( p[pixel[9]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[3]] < c_b) - goto is_a_corner; - else - if( p[pixel[12]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else + else if( p[pixel[6]] < c_b) + if( p[pixel[4]] < c_b) + if( p[pixel[5]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) if( p[pixel[12]] < c_b) if( p[pixel[13]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; + if( p[pixel[14]] < c_b) + if( p[pixel[3]] < c_b) + goto is_a_corner; + else + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1206,6 +682,8 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1217,75 +695,37 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else if( p[pixel[1]] < c_b) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - goto is_a_corner; + if( p[pixel[5]] > cb) + if( p[pixel[6]] > cb) + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; + else + if( p[pixel[3]] > cb) + if( p[pixel[4]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[3]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[2]] > cb) - if( p[pixel[3]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; + if( p[pixel[2]] > cb) + if( p[pixel[3]] > cb) + if( p[pixel[4]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1296,79 +736,43 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; - else if( p[pixel[8]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[3]] < c_b) - if( p[pixel[2]] < c_b) - goto is_a_corner; - else - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else + else if( p[pixel[5]] < c_b) + if( p[pixel[4]] < c_b) + if( p[pixel[6]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) if( p[pixel[10]] < c_b) if( p[pixel[11]] < c_b) if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - goto is_a_corner; + if( p[pixel[3]] < c_b) + if( p[pixel[2]] < c_b) + goto is_a_corner; + else + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1379,6 +783,8 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1386,57 +792,37 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - goto is_a_corner; + if( p[pixel[5]] > cb) + if( p[pixel[6]] > cb) + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; + else + if( p[pixel[3]] > cb) + if( p[pixel[4]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[3]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; + if( p[pixel[2]] > cb) + if( p[pixel[3]] > cb) + if( p[pixel[4]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1445,14 +831,40 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else - if( p[pixel[2]] > cb) - if( p[pixel[3]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - goto is_a_corner; + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else if( p[pixel[5]] < c_b) + if( p[pixel[4]] < c_b) + if( p[pixel[6]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[3]] < c_b) + if( p[pixel[2]] < c_b) + goto is_a_corner; + else + if( p[pixel[14]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1465,75 +877,6 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[8]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[3]] < c_b) - if( p[pixel[2]] < c_b) - goto is_a_corner; - else - if( p[pixel[11]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; else goto is_not_a_corner; else @@ -1544,75 +887,37 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else if( p[pixel[0]] < c_b) if( p[pixel[1]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[3]] > cb) - if( p[pixel[2]] > cb) - goto is_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else + if( p[pixel[5]] > cb) + if( p[pixel[4]] > cb) + if( p[pixel[6]] > cb) + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) if( p[pixel[10]] > cb) if( p[pixel[11]] > cb) if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - goto is_a_corner; + if( p[pixel[3]] > cb) + if( p[pixel[2]] > cb) + goto is_a_corner; + else + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1623,79 +928,43 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; - else if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - goto is_a_corner; + else if( p[pixel[5]] < c_b) + if( p[pixel[6]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + if( p[pixel[3]] < c_b) + if( p[pixel[4]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[3]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[2]] < c_b) - if( p[pixel[3]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; + if( p[pixel[2]] < c_b) + if( p[pixel[3]] < c_b) + if( p[pixel[4]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1706,6 +975,8 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1714,129 +985,26 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else if( p[pixel[1]] < c_b) if( p[pixel[2]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[3]] > cb) - goto is_a_corner; - else - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else + if( p[pixel[6]] > cb) + if( p[pixel[4]] > cb) + if( p[pixel[5]] > cb) + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) if( p[pixel[11]] > cb) if( p[pixel[12]] > cb) if( p[pixel[13]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[3]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - goto is_a_corner; + if( p[pixel[3]] > cb) + goto is_a_corner; + else + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1849,6 +1017,46 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else if( p[pixel[6]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + if( p[pixel[3]] < c_b) + if( p[pixel[4]] < c_b) + if( p[pixel[5]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1857,40 +1065,23 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else if( p[pixel[2]] < c_b) if( p[pixel[3]] > cb) - if( p[pixel[10]] > cb) + if( p[pixel[15]] < c_b) if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[4]] > cb) - goto is_a_corner; - else - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; + if( p[pixel[4]] > cb) + if( p[pixel[5]] > cb) + if( p[pixel[6]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -1899,62 +1090,23 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; + else if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + goto is_a_corner; else goto is_not_a_corner; else @@ -1965,120 +1117,14 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; else - goto is_not_a_corner; - else if( p[pixel[3]] < c_b) - if( p[pixel[4]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[5]] > cb) - goto is_a_corner; - else - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[13]] < c_b) - if( p[pixel[11]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[12]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else + if( p[pixel[4]] > cb) if( p[pixel[5]] > cb) if( p[pixel[6]] > cb) if( p[pixel[7]] > cb) @@ -2087,7 +1133,13 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) if( p[pixel[10]] > cb) if( p[pixel[11]] > cb) if( p[pixel[12]] > cb) - goto is_a_corner; + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -2104,387 +1156,24 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; - else if( p[pixel[4]] < c_b) - if( p[pixel[5]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[6]] > cb) - goto is_a_corner; - else - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[14]] < c_b) - if( p[pixel[12]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[13]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else + else + goto is_not_a_corner; + else if( p[pixel[3]] < c_b) + if( p[pixel[4]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[5]] > cb) if( p[pixel[6]] > cb) if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[5]] < c_b) - if( p[pixel[6]] > cb) - if( p[pixel[15]] < c_b) - if( p[pixel[13]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[6]] < c_b) - if( p[pixel[7]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - goto is_a_corner; - else - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[13]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[12]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) if( p[pixel[9]] > cb) if( p[pixel[10]] > cb) if( p[pixel[11]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[6]] > cb) - goto is_a_corner; - else + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) if( p[pixel[15]] > cb) goto is_a_corner; else goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[5]] > cb) - goto is_a_corner; - else - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - goto is_a_corner; else goto is_not_a_corner; else @@ -2497,393 +1186,23 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[4]] > cb) - goto is_a_corner; - else - if( p[pixel[13]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[9]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[3]] > cb) - goto is_a_corner; - else - if( p[pixel[12]] > cb) + else if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) goto is_a_corner; else goto is_not_a_corner; - else - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[3]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[8]] > cb) - if( p[pixel[7]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[10]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[3]] > cb) - if( p[pixel[2]] > cb) - goto is_a_corner; - else - if( p[pixel[11]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; - else - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[3]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[2]] < c_b) - if( p[pixel[3]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[5]] < c_b) - if( p[pixel[6]] < c_b) - if( p[pixel[7]] < c_b) - goto is_a_corner; else goto is_not_a_corner; else @@ -2896,130 +1215,66 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[7]] > cb) - if( p[pixel[8]] > cb) - if( p[pixel[9]] > cb) - if( p[pixel[6]] > cb) - if( p[pixel[5]] > cb) - if( p[pixel[4]] > cb) - if( p[pixel[3]] > cb) - if( p[pixel[2]] > cb) - if( p[pixel[1]] > cb) - goto is_a_corner; - else - if( p[pixel[10]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - if( p[pixel[10]] > cb) - if( p[pixel[11]] > cb) - if( p[pixel[12]] > cb) - if( p[pixel[13]] > cb) - if( p[pixel[14]] > cb) - if( p[pixel[15]] > cb) - goto is_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; else goto is_not_a_corner; - else - goto is_not_a_corner; - else - goto is_not_a_corner; - else if( p[pixel[7]] < c_b) - if( p[pixel[8]] < c_b) - if( p[pixel[9]] < c_b) - if( p[pixel[6]] < c_b) + else if( p[pixel[4]] < c_b) if( p[pixel[5]] < c_b) - if( p[pixel[4]] < c_b) - if( p[pixel[3]] < c_b) - if( p[pixel[2]] < c_b) - if( p[pixel[1]] < c_b) - goto is_a_corner; - else + if( p[pixel[6]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) if( p[pixel[10]] < c_b) - goto is_a_corner; + if( p[pixel[11]] < c_b) + goto is_a_corner; + else + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - goto is_a_corner; + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else goto is_not_a_corner; else - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - goto is_a_corner; + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -3031,7 +1286,13 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) if( p[pixel[11]] < c_b) if( p[pixel[12]] < c_b) if( p[pixel[13]] < c_b) - goto is_a_corner; + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -3041,12 +1302,18 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - goto is_a_corner; + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -3058,13 +1325,19 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) else goto is_not_a_corner; else - if( p[pixel[10]] < c_b) - if( p[pixel[11]] < c_b) - if( p[pixel[12]] < c_b) - if( p[pixel[13]] < c_b) - if( p[pixel[14]] < c_b) - if( p[pixel[15]] < c_b) - goto is_a_corner; + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -3077,6 +1350,346 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) goto is_not_a_corner; else goto is_not_a_corner; + else + if( p[pixel[7]] > cb) + if( p[pixel[4]] > cb) + if( p[pixel[5]] > cb) + if( p[pixel[6]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[6]] > cb) + if( p[pixel[4]] > cb) + if( p[pixel[5]] > cb) + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[3]] > cb) + goto is_a_corner; + else + if( p[pixel[15]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else if( p[pixel[6]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + if( p[pixel[3]] < c_b) + if( p[pixel[4]] < c_b) + if( p[pixel[5]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[5]] > cb) + if( p[pixel[4]] > cb) + if( p[pixel[6]] > cb) + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[13]] > cb) + if( p[pixel[3]] > cb) + if( p[pixel[2]] > cb) + goto is_a_corner; + else + if( p[pixel[14]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else if( p[pixel[5]] < c_b) + if( p[pixel[6]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + if( p[pixel[3]] < c_b) + if( p[pixel[4]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[2]] < c_b) + if( p[pixel[3]] < c_b) + if( p[pixel[4]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[4]] > cb) + if( p[pixel[5]] > cb) + if( p[pixel[6]] > cb) + if( p[pixel[7]] > cb) + if( p[pixel[8]] > cb) + if( p[pixel[9]] > cb) + if( p[pixel[10]] > cb) + if( p[pixel[11]] > cb) + if( p[pixel[12]] > cb) + if( p[pixel[3]] > cb) + if( p[pixel[2]] > cb) + if( p[pixel[1]] > cb) + goto is_a_corner; + else + if( p[pixel[13]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[13]] > cb) + if( p[pixel[14]] > cb) + if( p[pixel[15]] > cb) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else if( p[pixel[4]] < c_b) + if( p[pixel[5]] < c_b) + if( p[pixel[6]] < c_b) + if( p[pixel[7]] < c_b) + if( p[pixel[8]] < c_b) + if( p[pixel[9]] < c_b) + if( p[pixel[10]] < c_b) + if( p[pixel[11]] < c_b) + if( p[pixel[12]] < c_b) + if( p[pixel[3]] < c_b) + if( p[pixel[2]] < c_b) + if( p[pixel[1]] < c_b) + goto is_a_corner; + else + if( p[pixel[13]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + if( p[pixel[13]] < c_b) + if( p[pixel[14]] < c_b) + if( p[pixel[15]] < c_b) + goto is_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; + else + goto is_not_a_corner; else goto is_not_a_corner; else @@ -3100,15 +1713,15 @@ static uint8_t fast9_corner_score(const uint8_t* p, int bstart) } } -static void fast9_score(image_t *image, corner_t *corners, int num_corners, int b) -{ +static void fast12_score(image_t *image, corner_t *corners, int num_corners, int b) +{ for (int i=0; iscore = fast9_corner_score(image->pixels + c->y*image->w + c->x, b); + c->score = fast12_corner_score(image->pixels + c->y*image->w + c->x, b); } } -static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, int b) +static corner_t *fast12_detect(image_t *image, rectangle_t *roi, int *n_corners, int b) { int num_corners=0; corner_t *corners = (corner_t*) fb_alloc(sizeof(corner_t)*MAX_CORNERS); @@ -3119,162 +1732,13 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, const uint8_t *p = r + x; int cb = *p + b; int c_b= *p - b; - if(p[pixel[0]] > cb) - if(p[pixel[1]] > cb) - if(p[pixel[2]] > cb) - if(p[pixel[3]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - {} - else - if(p[pixel[15]] > cb) - {} - else - continue; - else if(p[pixel[7]] < c_b) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - continue; - else if(p[pixel[14]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - continue; - else - continue; - else if(p[pixel[6]] < c_b) - if(p[pixel[15]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - {} - else - continue; - else if(p[pixel[13]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[14]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - continue; - else - continue; - else if(p[pixel[13]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[5]] < c_b) - if(p[pixel[14]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[15]] > cb) - {} - else + + if(p[pixel[0]] > cb) + if(p[pixel[1]] > cb) + if(p[pixel[2]] > cb) + if(p[pixel[3]] > cb) + if(p[pixel[4]] > cb) + if(p[pixel[5]] > cb) if(p[pixel[6]] > cb) if(p[pixel[7]] > cb) if(p[pixel[8]] > cb) @@ -3283,1704 +1747,93 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, if(p[pixel[11]] > cb) {} else - continue; + if(p[pixel[15]] > cb) + {} + else + continue; else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[12]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[13]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[14]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[6]] < c_b) - {} - else - if(p[pixel[15]] < c_b) - {} + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; else continue; else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - {} + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; else continue; else continue; - else - continue; else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[12]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[6]] < c_b) - {} - else - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[4]] < c_b) - if(p[pixel[13]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[11]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[12]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[13]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[5]] < c_b) - {} - else - if(p[pixel[14]] < c_b) - {} - else - continue; - else - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[11]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[5]] < c_b) - {} - else - if(p[pixel[14]] < c_b) - {} - else - continue; - else - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[3]] < c_b) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[10]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[4]] < c_b) - {} - else - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - {} - else - continue; - else - continue; - else - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[10]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[4]] < c_b) - {} - else - if(p[pixel[13]] < c_b) - {} - else - continue; - else - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - {} - else - continue; - else - continue; - else - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[2]] < c_b) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[3]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[9]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[3]] < c_b) - {} - else - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - {} - else - continue; - else - continue; - else - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[3]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[9]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[3]] < c_b) - {} - else - if(p[pixel[12]] < c_b) - {} - else - continue; - else - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - {} - else - continue; - else - continue; - else - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[1]] < c_b) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - {} - else - continue; - else - continue; - else - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[3]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[2]] > cb) - if(p[pixel[3]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[8]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[3]] < c_b) - if(p[pixel[2]] < c_b) - {} - else - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - {} - else - continue; - else - continue; - else - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - {} - else - continue; - else - continue; - else - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[3]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[2]] > cb) - if(p[pixel[3]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[8]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[3]] < c_b) - if(p[pixel[2]] < c_b) - {} - else - if(p[pixel[11]] < c_b) - {} - else - continue; - else - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - {} - else - continue; - else - continue; - else - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[0]] < c_b) - if(p[pixel[1]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[3]] > cb) - if(p[pixel[2]] > cb) - {} - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - {} - else - continue; - else - continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - {} - else - continue; - else - continue; - else - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[3]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[2]] < c_b) - if(p[pixel[3]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[1]] < c_b) - if(p[pixel[2]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[3]] > cb) - {} - else - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - {} - else - continue; - else - continue; - else - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[3]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[2]] < c_b) - if(p[pixel[3]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[4]] > cb) - {} - else - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - {} - else - continue; - else - continue; - else - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[3]] < c_b) - if(p[pixel[4]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[5]] > cb) - {} - else - if(p[pixel[14]] > cb) - {} - else - continue; - else - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[13]] < c_b) - if(p[pixel[11]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) if(p[pixel[12]] > cb) - {} + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; else continue; else continue; else continue; - else - continue; else - continue; - else - continue; - else - continue; - else if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - {} + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; else continue; else @@ -4991,97 +1844,20 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) + else if(p[pixel[4]] < c_b) if(p[pixel[8]] > cb) if(p[pixel[9]] > cb) if(p[pixel[10]] > cb) if(p[pixel[11]] > cb) if(p[pixel[12]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[4]] < c_b) - if(p[pixel[5]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[6]] > cb) - {} - else - if(p[pixel[15]] > cb) - {} + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; else continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[14]] < c_b) - if(p[pixel[12]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[13]] > cb) - {} else continue; else @@ -5092,22 +1868,26 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else - continue; - else - continue; - else if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) + else if(p[pixel[8]] < c_b) + if(p[pixel[5]] < c_b) + if(p[pixel[6]] < c_b) + if(p[pixel[7]] < c_b) if(p[pixel[9]] < c_b) if(p[pixel[10]] < c_b) if(p[pixel[11]] < c_b) - {} + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; else continue; else @@ -5120,48 +1900,79 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else - continue; - else - continue; - else - if(p[pixel[6]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; else continue; else - continue; - else - continue; - else if(p[pixel[5]] < c_b) - if(p[pixel[6]] > cb) - if(p[pixel[15]] < c_b) - if(p[pixel[13]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[3]] < c_b) + if(p[pixel[15]] > cb) if(p[pixel[7]] > cb) if(p[pixel[8]] > cb) if(p[pixel[9]] > cb) if(p[pixel[10]] > cb) if(p[pixel[11]] > cb) if(p[pixel[12]] > cb) - if(p[pixel[14]] > cb) - {} + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[7]] < c_b) + if(p[pixel[4]] < c_b) + if(p[pixel[5]] < c_b) + if(p[pixel[6]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; else continue; else @@ -5176,13 +1987,41 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - {} + else + if(p[pixel[4]] < c_b) + if(p[pixel[5]] < c_b) + if(p[pixel[6]] < c_b) + if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; else continue; - else - continue; else if(p[pixel[7]] > cb) if(p[pixel[8]] > cb) @@ -5192,7 +2031,45 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, if(p[pixel[12]] > cb) if(p[pixel[13]] > cb) if(p[pixel[14]] > cb) - {} + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[7]] < c_b) + if(p[pixel[4]] < c_b) + if(p[pixel[5]] < c_b) + if(p[pixel[6]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; else continue; else @@ -5209,17 +2086,29 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else if(p[pixel[6]] < c_b) - if(p[pixel[7]] > cb) - if(p[pixel[14]] > cb) + else if(p[pixel[2]] < c_b) + if(p[pixel[6]] > cb) + if(p[pixel[7]] > cb) if(p[pixel[8]] > cb) if(p[pixel[9]] > cb) if(p[pixel[10]] > cb) if(p[pixel[11]] > cb) if(p[pixel[12]] > cb) if(p[pixel[13]] > cb) - if(p[pixel[15]] > cb) - {} + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + if(p[pixel[3]] > cb) + if(p[pixel[4]] > cb) + if(p[pixel[5]] > cb) + {} + else + continue; + else + continue; + else + continue; else continue; else @@ -5234,40 +2123,71 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} + else + continue; + else if(p[pixel[6]] < c_b) + if(p[pixel[4]] < c_b) + if(p[pixel[5]] < c_b) + if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[3]] < c_b) + {} + else + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; else continue; else continue; - else if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - {} - else - if(p[pixel[15]] < c_b) - {} - else - continue; else - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; + continue; else - if(p[pixel[13]] > cb) + if(p[pixel[6]] > cb) if(p[pixel[7]] > cb) if(p[pixel[8]] > cb) if(p[pixel[9]] > cb) if(p[pixel[10]] > cb) if(p[pixel[11]] > cb) if(p[pixel[12]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + if(p[pixel[3]] > cb) + if(p[pixel[4]] > cb) + if(p[pixel[5]] > cb) + {} + else + continue; + else + continue; + else + continue; else continue; else @@ -5284,32 +2204,32 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[12]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[6]] > cb) - {} - else - if(p[pixel[15]] > cb) - {} + else if(p[pixel[6]] < c_b) + if(p[pixel[4]] < c_b) + if(p[pixel[5]] < c_b) + if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[3]] < c_b) + {} + else + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; else continue; + else + continue; else continue; else @@ -5324,12 +2244,531 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} + else if(p[pixel[1]] < c_b) + if(p[pixel[5]] > cb) + if(p[pixel[6]] > cb) + if(p[pixel[7]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + if(p[pixel[3]] > cb) + if(p[pixel[4]] > cb) + {} + else + continue; + else + continue; + else + if(p[pixel[2]] > cb) + if(p[pixel[3]] > cb) + if(p[pixel[4]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; else + continue; + else + continue; + else + continue; + else if(p[pixel[5]] < c_b) + if(p[pixel[4]] < c_b) + if(p[pixel[6]] < c_b) + if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[3]] < c_b) + if(p[pixel[2]] < c_b) + {} + else + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + {} + else + continue; + else + continue; + else + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + if(p[pixel[5]] > cb) + if(p[pixel[6]] > cb) + if(p[pixel[7]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + if(p[pixel[3]] > cb) + if(p[pixel[4]] > cb) + {} + else + continue; + else + continue; + else + if(p[pixel[2]] > cb) + if(p[pixel[3]] > cb) + if(p[pixel[4]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[5]] < c_b) + if(p[pixel[4]] < c_b) + if(p[pixel[6]] < c_b) + if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[3]] < c_b) + if(p[pixel[2]] < c_b) + {} + else + if(p[pixel[14]] < c_b) + {} + else + continue; + else + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[0]] < c_b) + if(p[pixel[1]] > cb) + if(p[pixel[5]] > cb) + if(p[pixel[4]] > cb) + if(p[pixel[6]] > cb) + if(p[pixel[7]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[3]] > cb) + if(p[pixel[2]] > cb) + {} + else + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + {} + else + continue; + else + continue; + else + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[5]] < c_b) + if(p[pixel[6]] < c_b) + if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + if(p[pixel[3]] < c_b) + if(p[pixel[4]] < c_b) + {} + else + continue; + else + continue; + else + if(p[pixel[2]] < c_b) + if(p[pixel[3]] < c_b) + if(p[pixel[4]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[1]] < c_b) + if(p[pixel[2]] > cb) + if(p[pixel[6]] > cb) + if(p[pixel[4]] > cb) + if(p[pixel[5]] > cb) + if(p[pixel[7]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[3]] > cb) + {} + else + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[6]] < c_b) + if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + if(p[pixel[3]] < c_b) + if(p[pixel[4]] < c_b) + if(p[pixel[5]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[2]] < c_b) + if(p[pixel[3]] > cb) + if(p[pixel[15]] < c_b) + if(p[pixel[7]] > cb) + if(p[pixel[4]] > cb) + if(p[pixel[5]] > cb) + if(p[pixel[6]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + if(p[pixel[4]] > cb) + if(p[pixel[5]] > cb) + if(p[pixel[6]] > cb) + if(p[pixel[7]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[3]] < c_b) + if(p[pixel[4]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[5]] > cb) + if(p[pixel[6]] > cb) + if(p[pixel[7]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else if(p[pixel[4]] < c_b) + if(p[pixel[5]] < c_b) if(p[pixel[6]] < c_b) if(p[pixel[7]] < c_b) if(p[pixel[8]] < c_b) @@ -5337,6 +2776,92 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, if(p[pixel[10]] < c_b) if(p[pixel[11]] < c_b) {} + else + if(p[pixel[15]] < c_b) + {} + else + continue; + else + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; else continue; else @@ -5350,78 +2875,19 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, else continue; else - continue; - else - continue; - else - continue; - else - if(p[pixel[11]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[5]] > cb) - {} - else - if(p[pixel[14]] > cb) - {} - else - continue; - else - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - {} + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; else continue; else @@ -5435,84 +2901,31 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, else continue; else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[4]] > cb) - {} - else - if(p[pixel[13]] > cb) - {} - else - continue; - else - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - {} - else - continue; - else - continue; - else - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - {} + if(p[pixel[7]] > cb) + if(p[pixel[4]] > cb) + if(p[pixel[5]] > cb) + if(p[pixel[6]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; else continue; else @@ -5523,14 +2936,22 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - {} + else if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; else continue; else @@ -5544,185 +2965,36 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, else continue; else - continue; - else - continue; - else - continue; - else - if(p[pixel[9]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[3]] > cb) - {} - else - if(p[pixel[12]] > cb) - {} - else - continue; - else - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - {} - else - continue; - else - continue; - else - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[3]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[8]] > cb) - if(p[pixel[7]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[10]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[5]] > cb) + if(p[pixel[6]] > cb) if(p[pixel[4]] > cb) - if(p[pixel[3]] > cb) - if(p[pixel[2]] > cb) - {} - else - if(p[pixel[11]] > cb) - {} - else - continue; - else - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - {} - else - continue; - else - continue; - else - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - {} + if(p[pixel[5]] > cb) + if(p[pixel[7]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[3]] > cb) + {} + else + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; else continue; else @@ -5731,13 +3003,36 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} + else if(p[pixel[6]] < c_b) + if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + if(p[pixel[3]] < c_b) + if(p[pixel[4]] < c_b) + if(p[pixel[5]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; else continue; else @@ -5749,60 +3044,40 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, else continue; else - continue; - else - continue; - else - continue; - else if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - {} - else - continue; - else - continue; - else - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[3]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - {} + if(p[pixel[5]] > cb) + if(p[pixel[4]] > cb) + if(p[pixel[6]] > cb) + if(p[pixel[7]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[13]] > cb) + if(p[pixel[3]] > cb) + if(p[pixel[2]] > cb) + {} + else + if(p[pixel[14]] > cb) + {} + else + continue; + else + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; else continue; else @@ -5813,14 +3088,43 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else - if(p[pixel[2]] < c_b) - if(p[pixel[3]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[7]] < c_b) - {} + else if(p[pixel[5]] < c_b) + if(p[pixel[6]] < c_b) + if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + if(p[pixel[3]] < c_b) + if(p[pixel[4]] < c_b) + {} + else + continue; + else + continue; + else + if(p[pixel[2]] < c_b) + if(p[pixel[3]] < c_b) + if(p[pixel[4]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; else continue; else @@ -5834,67 +3138,49 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, else continue; else - continue; - else - continue; - else - continue; - else - if(p[pixel[7]] > cb) - if(p[pixel[8]] > cb) - if(p[pixel[9]] > cb) - if(p[pixel[6]] > cb) - if(p[pixel[5]] > cb) - if(p[pixel[4]] > cb) - if(p[pixel[3]] > cb) - if(p[pixel[2]] > cb) - if(p[pixel[1]] > cb) - {} - else - if(p[pixel[10]] > cb) - {} - else - continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - {} - else - continue; - else - continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - {} + if(p[pixel[4]] > cb) + if(p[pixel[5]] > cb) + if(p[pixel[6]] > cb) + if(p[pixel[7]] > cb) + if(p[pixel[8]] > cb) + if(p[pixel[9]] > cb) + if(p[pixel[10]] > cb) + if(p[pixel[11]] > cb) + if(p[pixel[12]] > cb) + if(p[pixel[3]] > cb) + if(p[pixel[2]] > cb) + if(p[pixel[1]] > cb) + {} + else + if(p[pixel[13]] > cb) + {} + else + continue; + else + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + {} + else + continue; + else + continue; + else + if(p[pixel[13]] > cb) + if(p[pixel[14]] > cb) + if(p[pixel[15]] > cb) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; else continue; else @@ -5905,14 +3191,49 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else - if(p[pixel[10]] > cb) - if(p[pixel[11]] > cb) - if(p[pixel[12]] > cb) - if(p[pixel[13]] > cb) - if(p[pixel[14]] > cb) - if(p[pixel[15]] > cb) - {} + else if(p[pixel[4]] < c_b) + if(p[pixel[5]] < c_b) + if(p[pixel[6]] < c_b) + if(p[pixel[7]] < c_b) + if(p[pixel[8]] < c_b) + if(p[pixel[9]] < c_b) + if(p[pixel[10]] < c_b) + if(p[pixel[11]] < c_b) + if(p[pixel[12]] < c_b) + if(p[pixel[3]] < c_b) + if(p[pixel[2]] < c_b) + if(p[pixel[1]] < c_b) + {} + else + if(p[pixel[13]] < c_b) + {} + else + continue; + else + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + {} + else + continue; + else + continue; + else + if(p[pixel[13]] < c_b) + if(p[pixel[14]] < c_b) + if(p[pixel[15]] < c_b) + {} + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; + else + continue; else continue; else @@ -5925,109 +3246,14 @@ static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, continue; else continue; - else - continue; - else - continue; - else if(p[pixel[7]] < c_b) - if(p[pixel[8]] < c_b) - if(p[pixel[9]] < c_b) - if(p[pixel[6]] < c_b) - if(p[pixel[5]] < c_b) - if(p[pixel[4]] < c_b) - if(p[pixel[3]] < c_b) - if(p[pixel[2]] < c_b) - if(p[pixel[1]] < c_b) - {} - else - if(p[pixel[10]] < c_b) - {} - else - continue; - else - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - {} - else - continue; - else - continue; - else - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - if(p[pixel[10]] < c_b) - if(p[pixel[11]] < c_b) - if(p[pixel[12]] < c_b) - if(p[pixel[13]] < c_b) - if(p[pixel[14]] < c_b) - if(p[pixel[15]] < c_b) - {} - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; - else - continue; // Add corner - corners[num_corners].x = x; - corners[num_corners].y = y; + corners[num_corners].x = x; + corners[num_corners].y = y; - if (++num_corners == MAX_CORNERS) { + if (++num_corners == MAX_CORNERS) { goto done; - } + } } }