Code:
/* {{{ Copyright etc. */
/**********************************************************************\
SUSAN Version 2l by Stephen Smith
Oxford Centre for Functional Magnetic Resonance Imaging of the Brain,
Department of Clinical Neurology, Oxford University, Oxford, UK
(Previously in Computer Vision and Image Processing Group - now
Computer Vision and Electro Optics Group - DERA Chertsey, UK)
Email: [email protected]
WWW: http://www.fmrib.ox.ac.uk/~steve
(C) Crown Copyright (1995-1999), Defence Evaluation and Research Agency,
Farnborough, Hampshire, GU14 6TD, UK
DERA WWW site:
http://www.dera.gov.uk/
DERA Computer Vision and Electro Optics Group WWW site:
http://www.dera.gov.uk/imageprocessi...roup_home.html
DERA Computer Vision and Electro Optics Group point of contact:
Dr. John Savage, [email protected], +44 1344 633203
A UK patent has been granted: "Method for digitally processing
images to determine the position of edges and/or corners therein for
guidance of unmanned vehicle", UK Patent 2272285. Proprietor:
Secretary of State for Defence, UK. 15 January 1997
This code is issued for research purposes only and remains the
property of the UK Secretary of State for Defence. This code must
not be passed on without this header information being kept
intact. This code must not be sold.
\**********************************************************************/
/* }}} */
/* {{{ defines, includes and typedefs */
/* ********** Optional settings */
#ifndef PPC
typedef int TOTAL_TYPE; /* this is faster for "int" but should be "float" for large d masks */
#else
typedef float TOTAL_TYPE; /* for my PowerPC accelerator only */
#endif
/*#define FOPENB*/ /* uncomment if using djgpp gnu C for DOS or certain Win95 compilers */
#define SEVEN_SUPP /* size for non-max corner suppression; SEVEN_SUPP or FIVE_SUPP */
#define MAX_CORNERS 15000 /* max corners per frame */
/* ********** Leave the rest - but you may need to remove one or both of sys/file.h and malloc.h lines */
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <math.h>
//#include <sys/file.h> /* may want to remove this line */
//#include <malloc.h> /* may want to remove this line */
#define exit_error(IFB,IFC) { fprintf(stderr,IFB,IFC); exit(0); }
#define FTOI(a) ( (a) < 0 ? ((int)(a-0.5)) : ((int)(a+0.5)) )
typedef unsigned char uchar;
typedef struct {int x,y,info, dx, dy, I;} CORNER_LIST[MAX_CORNERS];
int getint(fd)
FILE *fd;
{
int c, i;
char dummy[10000];
c = getc(fd);
while (1) /* find next integer */
{
if (c=='#') /* if we're at a comment, read to end of line */
fgets(dummy,9000,fd);
if (c==EOF)
exit_error("Image %s not binary PGM.\n","is");
if (c>='0' && c<='9')
break; /* found what we were looking for */
c = getc(fd);
}
/* we're at the start of a number, continue until we hit a non-number */
i = 0;
while (1) {
i = (i*10) + (c - '0');
c = getc(fd);
if (c==EOF) return (i);
if (c<'0' || c>'9') break;
}
return (i);
}
/* }}} */
void get_image(filename,in,x_size,y_size)
char filename[200];
unsigned char **in;
int *x_size, *y_size;
{
FILE *fd;
char header [100];
int tmp;
#ifdef FOPENB
if ((fd=fopen(filename,"rb")) == NULL)
#else
if ((fd=fopen(filename,"r")) == NULL)
#endif
exit_error("Can't input image %s.\n",filename);
/* {{{ read header */
header[0]=fgetc(fd);
header[1]=fgetc(fd);
if(!(header[0]=='P' && header[1]=='5'))
exit_error("Image %s does not have binary PGM header.\n",filename);
*x_size = getint(fd);
*y_size = getint(fd);
tmp = getint(fd);
/* }}} */
*in = (uchar *) malloc(*x_size * *y_size);
if (fread(*in,1,*x_size * *y_size,fd) == 0)
exit_error("Image %s is wrong size.\n",filename);
fclose(fd);
}
/* }}} */
/* {{{ put_image(filename,in,x_size,y_size) */
put_image(filename,in,x_size,y_size)
char filename [100],
*in;
int x_size,
y_size;
{
FILE *fd;
#ifdef FOPENB
if ((fd=fopen(filename,"wb")) == NULL)
#else
if ((fd=fopen(filename,"w")) == NULL)
#endif
exit_error("Can't output image%s.\n",filename);
fprintf(fd,"P5\n");
fprintf(fd,"%d %d\n",x_size,y_size);
fprintf(fd,"255\n");
if (fwrite(in,x_size*y_size,1,fd) != 1)
exit_error("Can't write image %s.\n",filename);
fclose(fd);
}
main(argc, argv)
int argc;
char *argv [];
{
/* {{{ vars */
FILE *ofp;
char filename [80],
*tcp;
uchar *in, *bp, *mid;
float dt=4.0;
int *r,
argindex=3,
bt=13,
principle=0,
thin_post_proc=1,
three_by_three=0,
drawing_mode=0,
susan_quick=0,
max_no_corners=1850,
max_no_edges=2650,
mode = 0, i,
x_size, y_size;
CORNER_LIST corner_list;
get_image(argv[1],&in,&x_size,&y_size);
susan_corners(in,r,bp,max_no_corners,corner_list,x_size,y_size);
corner_draw(in,corner_list,x_size,drawing_mode);
}
break;
/* }}} */
}
/* }}} */
put_image(argv[2],in,x_size,y_size);
}
/* }}} */
Sorry i just cannot include the full program in because it might be too complicated or too long. The main modification will be on get_image and put_image subroutines.
