*/
#include "precomp.hpp"
+#include "fast_score.hpp"
namespace cv
{
-static void makeOffsets(int pixel[], int row_stride, int patternSize)
-{
- switch(patternSize) {
- case 16:
- 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;
- 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;
- break;
- case 12:
- pixel[0] = 0 + row_stride * 2;
- pixel[1] = 1 + row_stride * 2;
- pixel[2] = 2 + row_stride * 1;
- pixel[3] = 2 + row_stride * 0;
- pixel[4] = 2 + row_stride * -1;
- pixel[5] = 1 + row_stride * -2;
- pixel[6] = 0 + row_stride * -2;
- pixel[7] = -1 + row_stride * -2;
- pixel[8] = -2 + row_stride * -1;
- pixel[9] = -2 + row_stride * 0;
- pixel[10] = -2 + row_stride * 1;
- pixel[11] = -1 + row_stride * 2;
- break;
- case 8:
- pixel[0] = 0 + row_stride * 1;
- pixel[1] = 1 + row_stride * 1;
- pixel[2] = 1 + row_stride * 0;
- pixel[3] = 1 + row_stride * -1;
- pixel[4] = 0 + row_stride * -1;
- pixel[5] = -1 + row_stride * -1;
- pixel[6] = 0 + row_stride * 0;
- pixel[7] = 1 + row_stride * 1;
- break;
- }
-}
-
-/*static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold) {
- // check that with the computed "threshold" the pixel is still a corner
- // and that with the increased-by-1 "threshold" the pixel is not a corner anymore
- for( int delta = 0; delta <= 1; delta++ )
- {
- int v0 = std::min(ptr[0] + threshold + delta, 255);
- int v1 = std::max(ptr[0] - threshold - delta, 0);
- int c0 = 0, c1 = 0;
-
- for( int k = 0; k < N; k++ )
- {
- int x = ptr[pixel[k]];
- if(x > v0)
- {
- if( ++c0 > K )
- break;
- c1 = 0;
- }
- else if( x < v1 )
- {
- if( ++c1 > K )
- break;
- c0 = 0;
- }
- else
- {
- c0 = c1 = 0;
- }
- }
- CV_Assert( (delta == 0 && std::max(c0, c1) > K) ||
- (delta == 1 && std::max(c0, c1) <= K) );
- }
-}*/
-
-template<int patternSize>
-int cornerScore(const uchar* ptr, const int pixel[], int threshold);
-
-template<>
-int cornerScore<16>(const uchar* ptr, const int pixel[], int threshold)
-{
- const int K = 8, N = 16 + K + 1;
- int k, v = ptr[0];
- short d[N];
- for( k = 0; k < N; k++ )
- d[k] = (short)(v - ptr[pixel[k]]);
-
-#if CV_SSE2
- __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
- for( k = 0; k < 16; k += 8 )
- {
- __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
- __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
- __m128i a = _mm_min_epi16(v0, v1);
- __m128i b = _mm_max_epi16(v0, v1);
- v0 = _mm_loadu_si128((__m128i*)(d+k+3));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k+4));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k+5));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k+6));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k+7));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k+8));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k));
- q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
- q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
- v0 = _mm_loadu_si128((__m128i*)(d+k+9));
- q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
- q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
- }
- q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
- q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
- q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
- q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
- threshold = (short)_mm_cvtsi128_si32(q0) - 1;
-#else
- int a0 = threshold;
- for( k = 0; k < 16; k += 2 )
- {
- int a = std::min((int)d[k+1], (int)d[k+2]);
- a = std::min(a, (int)d[k+3]);
- if( a <= a0 )
- continue;
- a = std::min(a, (int)d[k+4]);
- a = std::min(a, (int)d[k+5]);
- a = std::min(a, (int)d[k+6]);
- a = std::min(a, (int)d[k+7]);
- a = std::min(a, (int)d[k+8]);
- a0 = std::max(a0, std::min(a, (int)d[k]));
- a0 = std::max(a0, std::min(a, (int)d[k+9]));
- }
-
- int b0 = -a0;
- for( k = 0; k < 16; k += 2 )
- {
- int b = std::max((int)d[k+1], (int)d[k+2]);
- b = std::max(b, (int)d[k+3]);
- b = std::max(b, (int)d[k+4]);
- b = std::max(b, (int)d[k+5]);
- if( b >= b0 )
- continue;
- b = std::max(b, (int)d[k+6]);
- b = std::max(b, (int)d[k+7]);
- b = std::max(b, (int)d[k+8]);
-
- b0 = std::min(b0, std::max(b, (int)d[k]));
- b0 = std::min(b0, std::max(b, (int)d[k+9]));
- }
-
- threshold = -b0-1;
-#endif
-
-#if 0
- testCorner(ptr, pixel, K, N, threshold);
-#endif
- return threshold;
-}
-
-template<>
-int cornerScore<12>(const uchar* ptr, const int pixel[], int threshold)
-{
- const int K = 6, N = 12 + K + 1;
- int k, v = ptr[0];
- short d[N];
- for( k = 0; k < N; k++ )
- d[k] = (short)(v - ptr[pixel[k]]);
-
-#if CV_SSE2
- __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
- for( k = 0; k < 16; k += 8 )
- {
- __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
- __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
- __m128i a = _mm_min_epi16(v0, v1);
- __m128i b = _mm_max_epi16(v0, v1);
- v0 = _mm_loadu_si128((__m128i*)(d+k+3));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k+4));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k+5));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k+6));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k));
- q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
- q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
- v0 = _mm_loadu_si128((__m128i*)(d+k+7));
- q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
- q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
- }
- q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
- q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
- q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
- q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
- threshold = (short)_mm_cvtsi128_si32(q0) - 1;
-#else
- int a0 = threshold;
- for( k = 0; k < 12; k += 2 )
- {
- int a = std::min((int)d[k+1], (int)d[k+2]);
- if( a <= a0 )
- continue;
- a = std::min(a, (int)d[k+3]);
- a = std::min(a, (int)d[k+4]);
- a = std::min(a, (int)d[k+5]);
- a = std::min(a, (int)d[k+6]);
- a0 = std::max(a0, std::min(a, (int)d[k]));
- a0 = std::max(a0, std::min(a, (int)d[k+7]));
- }
-
- int b0 = -a0;
- for( k = 0; k < 12; k += 2 )
- {
- int b = std::max((int)d[k+1], (int)d[k+2]);
- b = std::max(b, (int)d[k+3]);
- b = std::max(b, (int)d[k+4]);
- if( b >= b0 )
- continue;
- b = std::max(b, (int)d[k+5]);
- b = std::max(b, (int)d[k+6]);
-
- b0 = std::min(b0, std::max(b, (int)d[k]));
- b0 = std::min(b0, std::max(b, (int)d[k+7]));
- }
-
- threshold = -b0-1;
-#endif
-
-#if 0
- testCorner(ptr, pixel, K, N, threshold);
-#endif
- return threshold;
-}
-
-template<>
-int cornerScore<8>(const uchar* ptr, const int pixel[], int threshold)
-{
- const int K = 4, N = 8 + K + 1;
- int k, v = ptr[0];
- short d[N];
- for( k = 0; k < N; k++ )
- d[k] = (short)(v - ptr[pixel[k]]);
-
-#if CV_SSE2
- __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
- for( k = 0; k < 16; k += 8 )
- {
- __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
- __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
- __m128i a = _mm_min_epi16(v0, v1);
- __m128i b = _mm_max_epi16(v0, v1);
- v0 = _mm_loadu_si128((__m128i*)(d+k+3));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k+4));
- a = _mm_min_epi16(a, v0);
- b = _mm_max_epi16(b, v0);
- v0 = _mm_loadu_si128((__m128i*)(d+k));
- q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
- q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
- v0 = _mm_loadu_si128((__m128i*)(d+k+5));
- q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
- q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
- }
- q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
- q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
- q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
- q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
- threshold = (short)_mm_cvtsi128_si32(q0) - 1;
-#else
- int a0 = threshold;
- for( k = 0; k < 8; k += 2 )
- {
- int a = std::min((int)d[k+1], (int)d[k+2]);
- if( a <= a0 )
- continue;
- a = std::min(a, (int)d[k+3]);
- a = std::min(a, (int)d[k+4]);
- a0 = std::max(a0, std::min(a, (int)d[k]));
- a0 = std::max(a0, std::min(a, (int)d[k+5]));
- }
-
- int b0 = -a0;
- for( k = 0; k < 8; k += 2 )
- {
- int b = std::max((int)d[k+1], (int)d[k+2]);
- b = std::max(b, (int)d[k+3]);
- if( b >= b0 )
- continue;
- b = std::max(b, (int)d[k+4]);
-
- b0 = std::min(b0, std::max(b, (int)d[k]));
- b0 = std::min(b0, std::max(b, (int)d[k+5]));
- }
-
- threshold = -b0-1;
-#endif
-
-#if 0
- testCorner(ptr, pixel, K, N, threshold);
-#endif
- return threshold;
-}
-
template<int patternSize>
void FAST_t(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression)
{
#endif
int i, j, k, pixel[25];
makeOffsets(pixel, (int)img.step, patternSize);
- for(k = patternSize; k < 25; k++)
- pixel[k] = pixel[k - patternSize];
keypoints.clear();
--- /dev/null
+/* This is FAST corner detector, contributed to OpenCV by the author, Edward Rosten.
+ Below is the original copyright and the references */
+
+/*
+Copyright (c) 2006, 2008 Edward Rosten
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ *Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ *Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ *Neither the name of the University of Cambridge nor the names of
+ its contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/*
+The references are:
+ * Machine learning for high-speed corner detection,
+ E. Rosten and T. Drummond, ECCV 2006
+ * Faster and better: A machine learning approach to corner detection
+ E. Rosten, R. Porter and T. Drummond, PAMI, 2009
+*/
+
+#include "fast_score.hpp"
+
+namespace cv
+{
+
+void makeOffsets(int pixel[25], int row_stride, int patternSize)
+{
+ CV_Assert(pixel != 0);
+ switch(patternSize) {
+ case 16:
+ 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;
+ 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;
+ break;
+ case 12:
+ pixel[0] = 0 + row_stride * 2;
+ pixel[1] = 1 + row_stride * 2;
+ pixel[2] = 2 + row_stride * 1;
+ pixel[3] = 2 + row_stride * 0;
+ pixel[4] = 2 + row_stride * -1;
+ pixel[5] = 1 + row_stride * -2;
+ pixel[6] = 0 + row_stride * -2;
+ pixel[7] = -1 + row_stride * -2;
+ pixel[8] = -2 + row_stride * -1;
+ pixel[9] = -2 + row_stride * 0;
+ pixel[10] = -2 + row_stride * 1;
+ pixel[11] = -1 + row_stride * 2;
+ break;
+ case 8:
+ pixel[0] = 0 + row_stride * 1;
+ pixel[1] = 1 + row_stride * 1;
+ pixel[2] = 1 + row_stride * 0;
+ pixel[3] = 1 + row_stride * -1;
+ pixel[4] = 0 + row_stride * -1;
+ pixel[5] = -1 + row_stride * -1;
+ pixel[6] = 0 + row_stride * 0;
+ pixel[7] = 1 + row_stride * 1;
+ break;
+ }
+ for(int k = patternSize; k < 25; k++)
+ pixel[k] = pixel[k - patternSize];
+}
+
+/*static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold) {
+ // check that with the computed "threshold" the pixel is still a corner
+ // and that with the increased-by-1 "threshold" the pixel is not a corner anymore
+ for( int delta = 0; delta <= 1; delta++ )
+ {
+ int v0 = std::min(ptr[0] + threshold + delta, 255);
+ int v1 = std::max(ptr[0] - threshold - delta, 0);
+ int c0 = 0, c1 = 0;
+
+ for( int k = 0; k < N; k++ )
+ {
+ int x = ptr[pixel[k]];
+ if(x > v0)
+ {
+ if( ++c0 > K )
+ break;
+ c1 = 0;
+ }
+ else if( x < v1 )
+ {
+ if( ++c1 > K )
+ break;
+ c0 = 0;
+ }
+ else
+ {
+ c0 = c1 = 0;
+ }
+ }
+ CV_Assert( (delta == 0 && std::max(c0, c1) > K) ||
+ (delta == 1 && std::max(c0, c1) <= K) );
+ }
+}*/
+
+template<>
+int cornerScore<16>(const uchar* ptr, const int pixel[], int threshold)
+{
+ const int K = 8, N = 16 + K + 1;
+ int k, v = ptr[0];
+ short d[N];
+ for( k = 0; k < N; k++ )
+ d[k] = (short)(v - ptr[pixel[k]]);
+
+#if CV_SSE2
+ __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
+ for( k = 0; k < 16; k += 8 )
+ {
+ __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
+ __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
+ __m128i a = _mm_min_epi16(v0, v1);
+ __m128i b = _mm_max_epi16(v0, v1);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+3));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+4));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+5));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+6));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+7));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+8));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k));
+ q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+ q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+ v0 = _mm_loadu_si128((__m128i*)(d+k+9));
+ q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+ q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+ }
+ q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
+ q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
+ q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
+ q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
+ threshold = (short)_mm_cvtsi128_si32(q0) - 1;
+#else
+ int a0 = threshold;
+ for( k = 0; k < 16; k += 2 )
+ {
+ int a = std::min((int)d[k+1], (int)d[k+2]);
+ a = std::min(a, (int)d[k+3]);
+ if( a <= a0 )
+ continue;
+ a = std::min(a, (int)d[k+4]);
+ a = std::min(a, (int)d[k+5]);
+ a = std::min(a, (int)d[k+6]);
+ a = std::min(a, (int)d[k+7]);
+ a = std::min(a, (int)d[k+8]);
+ a0 = std::max(a0, std::min(a, (int)d[k]));
+ a0 = std::max(a0, std::min(a, (int)d[k+9]));
+ }
+
+ int b0 = -a0;
+ for( k = 0; k < 16; k += 2 )
+ {
+ int b = std::max((int)d[k+1], (int)d[k+2]);
+ b = std::max(b, (int)d[k+3]);
+ b = std::max(b, (int)d[k+4]);
+ b = std::max(b, (int)d[k+5]);
+ if( b >= b0 )
+ continue;
+ b = std::max(b, (int)d[k+6]);
+ b = std::max(b, (int)d[k+7]);
+ b = std::max(b, (int)d[k+8]);
+
+ b0 = std::min(b0, std::max(b, (int)d[k]));
+ b0 = std::min(b0, std::max(b, (int)d[k+9]));
+ }
+
+ threshold = -b0-1;
+#endif
+
+#if 0
+ testCorner(ptr, pixel, K, N, threshold);
+#endif
+ return threshold;
+}
+
+template<>
+int cornerScore<12>(const uchar* ptr, const int pixel[], int threshold)
+{
+ const int K = 6, N = 12 + K + 1;
+ int k, v = ptr[0];
+ short d[N];
+ for( k = 0; k < N; k++ )
+ d[k] = (short)(v - ptr[pixel[k]]);
+
+#if CV_SSE2
+ __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
+ for( k = 0; k < 16; k += 8 )
+ {
+ __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
+ __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
+ __m128i a = _mm_min_epi16(v0, v1);
+ __m128i b = _mm_max_epi16(v0, v1);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+3));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+4));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+5));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+6));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k));
+ q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+ q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+ v0 = _mm_loadu_si128((__m128i*)(d+k+7));
+ q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+ q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+ }
+ q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
+ q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
+ q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
+ q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
+ threshold = (short)_mm_cvtsi128_si32(q0) - 1;
+#else
+ int a0 = threshold;
+ for( k = 0; k < 12; k += 2 )
+ {
+ int a = std::min((int)d[k+1], (int)d[k+2]);
+ if( a <= a0 )
+ continue;
+ a = std::min(a, (int)d[k+3]);
+ a = std::min(a, (int)d[k+4]);
+ a = std::min(a, (int)d[k+5]);
+ a = std::min(a, (int)d[k+6]);
+ a0 = std::max(a0, std::min(a, (int)d[k]));
+ a0 = std::max(a0, std::min(a, (int)d[k+7]));
+ }
+
+ int b0 = -a0;
+ for( k = 0; k < 12; k += 2 )
+ {
+ int b = std::max((int)d[k+1], (int)d[k+2]);
+ b = std::max(b, (int)d[k+3]);
+ b = std::max(b, (int)d[k+4]);
+ if( b >= b0 )
+ continue;
+ b = std::max(b, (int)d[k+5]);
+ b = std::max(b, (int)d[k+6]);
+
+ b0 = std::min(b0, std::max(b, (int)d[k]));
+ b0 = std::min(b0, std::max(b, (int)d[k+7]));
+ }
+
+ threshold = -b0-1;
+#endif
+
+#if 0
+ testCorner(ptr, pixel, K, N, threshold);
+#endif
+ return threshold;
+}
+
+template<>
+int cornerScore<8>(const uchar* ptr, const int pixel[], int threshold)
+{
+ const int K = 4, N = 8 + K + 1;
+ int k, v = ptr[0];
+ short d[N];
+ for( k = 0; k < N; k++ )
+ d[k] = (short)(v - ptr[pixel[k]]);
+
+#if CV_SSE2
+ __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
+ for( k = 0; k < 16; k += 8 )
+ {
+ __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
+ __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
+ __m128i a = _mm_min_epi16(v0, v1);
+ __m128i b = _mm_max_epi16(v0, v1);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+3));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k+4));
+ a = _mm_min_epi16(a, v0);
+ b = _mm_max_epi16(b, v0);
+ v0 = _mm_loadu_si128((__m128i*)(d+k));
+ q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+ q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+ v0 = _mm_loadu_si128((__m128i*)(d+k+5));
+ q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+ q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+ }
+ q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
+ q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
+ q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
+ q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
+ threshold = (short)_mm_cvtsi128_si32(q0) - 1;
+#else
+ int a0 = threshold;
+ for( k = 0; k < 8; k += 2 )
+ {
+ int a = std::min((int)d[k+1], (int)d[k+2]);
+ if( a <= a0 )
+ continue;
+ a = std::min(a, (int)d[k+3]);
+ a = std::min(a, (int)d[k+4]);
+ a0 = std::max(a0, std::min(a, (int)d[k]));
+ a0 = std::max(a0, std::min(a, (int)d[k+5]));
+ }
+
+ int b0 = -a0;
+ for( k = 0; k < 8; k += 2 )
+ {
+ int b = std::max((int)d[k+1], (int)d[k+2]);
+ b = std::max(b, (int)d[k+3]);
+ if( b >= b0 )
+ continue;
+ b = std::max(b, (int)d[k+4]);
+
+ b0 = std::min(b0, std::max(b, (int)d[k]));
+ b0 = std::min(b0, std::max(b, (int)d[k+5]));
+ }
+
+ threshold = -b0-1;
+#endif
+
+#if 0
+ testCorner(ptr, pixel, K, N, threshold);
+#endif
+ return threshold;
+}
+
+}
--- /dev/null
+/* This is FAST corner detector, contributed to OpenCV by the author, Edward Rosten.
+ Below is the original copyright and the references */
+
+/*
+Copyright (c) 2006, 2008 Edward Rosten
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+ *Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ *Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ *Neither the name of the University of Cambridge nor the names of
+ its contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+/*
+The references are:
+ * Machine learning for high-speed corner detection,
+ E. Rosten and T. Drummond, ECCV 2006
+ * Faster and better: A machine learning approach to corner detection
+ E. Rosten, R. Porter and T. Drummond, PAMI, 2009
+*/
+
+#ifndef __OPENCV_FEATURES_2D_FAST_HPP__
+#define __OPENCV_FEATURES_2D_FAST_HPP__
+
+#ifdef __cplusplus
+
+#include "precomp.hpp"
+
+namespace cv
+{
+
+void makeOffsets(int pixel[25], int row_stride, int patternSize);
+
+//static void testCorner(const uchar* ptr, const int pixel[], int K, int N, int threshold);
+
+template<int patternSize>
+int cornerScore(const uchar* ptr, const int pixel[], int threshold);
+
+}
+
+#endif
+#endif
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