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FAST/AGAST: Allocate MAX_CORNERS or the actual max corners.
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@ -6,6 +6,7 @@
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#include "gc.h"
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#define MAX_ROW (480)
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#define MAX_CORNERS (2000)
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#define Compare(X, Y) ((X)>=(Y))
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typedef struct {
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@ -195,8 +196,8 @@ static corner_t *agast58_detect(image_t *img, int b, int* num_corners, rectangle
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offset7=s_offset7;
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width=s_width;
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//int max_corners = fb_avail()/sizeof(corner_t);
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int max_corners = 5000;
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// Try to alloc MAX_CORNERS or the actual max corners we can alloc.
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int max_corners = IM_MIN(MAX_CORNERS, (fb_avail() / sizeof(corner_t)));
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corner_t *corners = (corner_t*) fb_alloc(max_corners * sizeof(corner_t));
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for(y=roi->y+1; y < ysizeB; y++)
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@ -5,6 +5,7 @@
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#include "gc.h"
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#define MAX_ROW (480)
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#define MAX_CORNERS (2000)
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#define Compare(X, Y) ((X)>=(Y))
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typedef struct {
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@ -3109,8 +3110,8 @@ static void fast9_score(image_t *image, corner_t *corners, int num_corners, int
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static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, int b)
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{
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int num_corners = 0;
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//int max_corners = fb_avail()/sizeof(corner_t);
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int max_corners = 20000;
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// Try to alloc MAX_CORNERS or the actual max corners we can alloc.
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int max_corners = IM_MIN(MAX_CORNERS, (fb_avail() / sizeof(corner_t)));
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corner_t *corners = (corner_t*) fb_alloc(max_corners * sizeof(corner_t));
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for(int y=roi->y+3; y<roi->y+roi->h-3; y++) {
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