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/imageprocessing/dera/group_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];
/* }}} */
/* {{{ usage() */
usage()
{
printf("Usage: susan <in.pgm> <out.pgm> [options]\n\n");
printf("-s : Smoothing mode (default)\n");
printf("-e : Edges mode\n");
printf("-c : Corners mode\n\n");
printf("See source code for more information about setting the thresholds\n");
printf("-t <thresh> : Brightness threshold, all modes (default=20)\n");
printf("-d <thresh> : Distance threshold, smoothing mode, (default=4) (use next option instead for flat 3x3 mask)\n");
printf("-3 : Use flat 3x3 mask, edges or smoothing mode\n");
printf("-n : No post-processing on the binary edge map (runs much faster); edges mode\n");
printf("-q : Use faster (and usually stabler) corner mode; edge-like corner suppression not carried out; corners mode\n");
printf("-b : Mark corners/edges with single black points instead of black with white border; corners or edges mode\n");
printf("-p : Output initial enhancement image only; corners or edges mode (default is edges mode)\n");
printf("\nSUSAN Version 2l (C) 1995-1997 Stephen Smith, DRA UK. [email protected]\n");
exit(0);
}
/* }}} */
/* {{{ get_image(filename,in,x_size,y_size) */
/* {{{ int getint(fp) derived from XV */
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);
// printf("x=%d y=%d\n",*x_size,*y_size);
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);
}
/* }}} */
/* {{{ int_to_uchar(r,in,size) */
int_to_uchar(r,in,size)
uchar *in;
int *r, size;
{
int i,
max_r=r[0],
min_r=r[0];
for (i=0; i<size; i++)
{
if ( r[i] > max_r )
max_r=r[i];
if ( r[i] < min_r )
min_r=r[i];
}
/*printf("min=%d max=%d\n",min_r,max_r);*/
max_r-=min_r;
for (i=0; i<size; i++)
in[i] = (uchar)((int)((int)(r[i]-min_r)*255)/max_r);
}
/* }}} */
/* {{{ setup_brightness_lut(bp,thresh,form) */
void setup_brightness_lut(bp,thresh,form)
uchar **bp;
int thresh, form;
{
int k;
float temp;
*bp=(unsigned char *)malloc(516);
*bp=*bp+258;
for(k=-256;k<257;k++)
{
temp=((float)k)/((float)thresh);
temp=temp*temp;
if (form==6)
temp=temp*temp*temp;
temp=100.0*exp(-temp);
*(*bp+k)= (uchar)temp;
}
}
/* }}} */
/* {{{ susan principle */
/* {{{ susan_principle(in,r,bp,max_no,x_size,y_size) */
susan_principle(in,r,bp,max_no,x_size,y_size)
uchar *in, *bp;
int *r, max_no, x_size, y_size;
{
int i, j, n;
uchar *p,*cp;
memset (r,0,x_size * y_size * sizeof(int));
for (i=3;i<y_size-3;i++)
for (j=3;j<x_size-3;j++)
{
n=100;
p=in + (i-3)*x_size + j - 1;
cp=bp + in[i*x_size+j];
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-3;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-5;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-6;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=2;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-6;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-5;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-3;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
if (n<=max_no)
r[i*x_size+j] = max_no - n;
}
}
/* }}} */
/* {{{ susan_principle_small(in,r,bp,max_no,x_size,y_size) */
susan_principle_small(in,r,bp,max_no,x_size,y_size)
uchar *in, *bp;
int *r, max_no, x_size, y_size;
{
int i, j, n;
uchar *p,*cp;
memset (r,0,x_size * y_size * sizeof(int));
max_no = 730; /* ho hum ;) */
for (i=1;i<y_size-1;i++)
for (j=1;j<x_size-1;j++)
{
n=100;
p=in + (i-1)*x_size + j - 1;
cp=bp + in[i*x_size+j];
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-2;
n+=*(cp-*p);
p+=2;
n+=*(cp-*p);
p+=x_size-2;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
if (n<=max_no)
r[i*x_size+j] = max_no - n;
}
}
/* }}} */
/* }}} */
/* {{{ smoothing */
/* {{{ median(in,i,j,x_size) */
uchar median(in,i,j,x_size)
uchar *in;
int i, j, x_size;
{
int p[8],k,l,tmp;
p[0]=in[(i-1)*x_size+j-1];
p[1]=in[(i-1)*x_size+j ];
p[2]=in[(i-1)*x_size+j+1];
p[3]=in[(i )*x_size+j-1];
p[4]=in[(i )*x_size+j+1];
p[5]=in[(i+1)*x_size+j-1];
p[6]=in[(i+1)*x_size+j ];
p[7]=in[(i+1)*x_size+j+1];
for(k=0; k<7; k++)
for(l=0; l<(7-k); l++)
if (p[l]>p[l+1])
{
tmp=p[l]; p[l]=p[l+1]; p[l+1]=tmp;
}
return( (p[3]+p[4]) / 2 );
}
/* }}} */
/* {{{ enlarge(in,tmp_image,x_size,y_size,border) */
/* this enlarges "in" so that borders can be dealt with easily */
enlarge(in,tmp_image,x_size,y_size,border)
uchar **in;
uchar *tmp_image;
int *x_size, *y_size, border;
{
int i, j;
for(i=0; i<*y_size; i++) /* copy *in into tmp_image */
memcpy(tmp_image+(i+border)*(*x_size+2*border)+border, *in+i* *x_size, *x_size);
for(i=0; i<border; i++) /* copy top and bottom rows; invert as many as necessary */
{
memcpy(tmp_image+(border-1-i)*(*x_size+2*border)+border,*in+i* *x_size,*x_size);
memcpy(tmp_image+(*y_size+border+i)*(*x_size+2*border)+border,*in+(*y_size-i-1)* *x_size,*x_size);
}
for(i=0; i<border; i++) /* copy left and right columns */
for(j=0; j<*y_size+2*border; j++)
{
tmp_image[j*(*x_size+2*border)+border-1-i]=tmp_image[j*(*x_size+2*border)+border+i];
tmp_image[j*(*x_size+2*border)+ *x_size+border+i]=tmp_image[j*(*x_size+2*border)+ *x_size+border-1-i];
}
*x_size+=2*border; /* alter image size */
*y_size+=2*border;
*in=tmp_image; /* repoint in */
}
/* }}} */
/* {{{ void susan_smoothing(three_by_three,in,dt,x_size,y_size,bp) */
void susan_smoothing(three_by_three,in,dt,x_size,y_size,bp)
int three_by_three, x_size, y_size;
uchar *in, *bp;
float dt;
{
/* {{{ vars */
float temp;
int n_max, increment, mask_size,
i,j,x,y,area,brightness,tmp,centre;
uchar *ip, *dp, *dpt, *cp, *out=in,
*tmp_image;
TOTAL_TYPE total;
/* }}} */
/* {{{ setup larger image and border sizes */
if (three_by_three==0)
mask_size = ((int)(1.5 * dt)) + 1;
else
mask_size = 1;
total=0.1; /* test for total's type */
if ( (dt>15) && (total==0) )
{
printf("Distance_thresh (%f) too big for integer arithmetic.\n",dt);
printf("Either reduce it to <=15 or recompile with variable \"total\"\n");
printf("as a float: see top \"defines\" section.\n");
exit(0);
}
if ( (2*mask_size+1>x_size) || (2*mask_size+1>y_size) )
{
printf("Mask size (1.5*distance_thresh+1=%d) too big for image (%dx%d).\n",mask_size,x_size,y_size);
exit(0);
}
tmp_image = (uchar *) malloc( (x_size+mask_size*2) * (y_size+mask_size*2) );
enlarge(&in,tmp_image,&x_size,&y_size,mask_size);
/* }}} */
if (three_by_three==0)
{ /* large Gaussian masks */
/* {{{ setup distance lut */
n_max = (mask_size*2) + 1;
increment = x_size - n_max;
dp = (unsigned char *)malloc(n_max*n_max);
dpt = dp;
temp = -(dt*dt);
for(i=-mask_size; i<=mask_size; i++)
for(j=-mask_size; j<=mask_size; j++)
{
x = (int) (100.0 * exp( ((float)((i*i)+(j*j))) / temp ));
*dpt++ = (unsigned char)x;
}
/* }}} */
/* {{{ main section */
for (i=mask_size;i<y_size-mask_size;i++)
{
for (j=mask_size;j<x_size-mask_size;j++)
{
area = 0;
total = 0;
dpt = dp;
ip = in + ((i-mask_size)*x_size) + j - mask_size;
centre = in[i*x_size+j];
cp = bp + centre;
for(y=-mask_size; y<=mask_size; y++)
{
for(x=-mask_size; x<=mask_size; x++)
{
brightness = *ip++;
tmp = *dpt++ * *(cp-brightness);
area += tmp;
total += tmp * brightness;
}
ip += increment;
}
tmp = area-10000;
if (tmp==0)
*out++=median(in,i,j,x_size);
else
*out++=((total-(centre*10000))/tmp);
}
}
/* }}} */
}
else
{ /* 3x3 constant mask */
/* {{{ main section */
for (i=1;i<y_size-1;i++)
{
for (j=1;j<x_size-1;j++)
{
area = 0;
total = 0;
ip = in + ((i-1)*x_size) + j - 1;
centre = in[i*x_size+j];
cp = bp + centre;
brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
brightness=*ip; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
ip += x_size-2;
brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
brightness=*ip; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
ip += x_size-2;
brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
brightness=*ip; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
tmp = area-100;
if (tmp==0)
*out++=median(in,i,j,x_size);
else
*out++=(total-(centre*100))/tmp;
}
}
/* }}} */
}
}
/* }}} */
/* }}} */
/* {{{ edges */
/* {{{ edge_draw(in,corner_list,drawing_mode) */
edge_draw(in,mid,x_size,y_size,drawing_mode)
uchar *in, *mid;
int x_size, y_size, drawing_mode;
{
int i;
uchar *inp, *midp;
if (drawing_mode==0)
{
/* mark 3x3 white block around each edge point */
midp=mid;
for (i=0; i<x_size*y_size; i++)
{
if (*midp<8)
{
inp = in + (midp - mid) - x_size - 1;
*inp++=255; *inp++=255; *inp=255; inp+=x_size-2;
*inp++=255; *inp++; *inp=255; inp+=x_size-2;
*inp++=255; *inp++=255; *inp=255;
}
midp++;
}
}
/* now mark 1 black pixel at each edge point */
midp=mid;
for (i=0; i<x_size*y_size; i++)
{
if (*midp<8)
*(in + (midp - mid)) = 0;
midp++;
}
}
/* }}} */
/* {{{ susan_thin(r,mid,x_size,y_size) */
/* only one pass is needed as i,j are decremented if necessary to go
back and do bits again */
susan_thin(r,mid,x_size,y_size)
uchar *mid;
int *r, x_size, y_size;
{
int l[9], centre, nlinks, npieces,
b01, b12, b21, b10,
p1, p2, p3, p4,
b00, b02, b20, b22,
m, n, a, b, x, y, i, j;
uchar *mp;
for (i=4;i<y_size-4;i++)
for (j=4;j<x_size-4;j++)
if (mid[i*x_size+j]<8)
{
centre = r[i*x_size+j];
/* {{{ count number of neighbours */
mp=mid + (i-1)*x_size + j-1;
n = (*mp<8) +
(*(mp+1)<8) +
(*(mp+2)<8) +
(*(mp+x_size)<8) +
(*(mp+x_size+2)<8) +
(*(mp+x_size+x_size)<8) +
(*(mp+x_size+x_size+1)<8) +
(*(mp+x_size+x_size+2)<8);
/* }}} */
/* {{{ n==0 no neighbours - remove point */
if (n==0)
mid[i*x_size+j]=100;
/* }}} */
/* {{{ n==1 - extend line if I can */
/* extension is only allowed a few times - the value of mid is used to control this */
if ( (n==1) && (mid[i*x_size+j]<6) )
{
/* find maximum neighbour weighted in direction opposite the
neighbour already present. e.g.
have: O O O weight r by 0 2 3
X X O 0 0 4
O O O 0 2 3 */
l[0]=r[(i-1)*x_size+j-1]; l[1]=r[(i-1)*x_size+j]; l[2]=r[(i-1)*x_size+j+1];
l[3]=r[(i )*x_size+j-1]; l[4]=0; l[5]=r[(i )*x_size+j+1];
l[6]=r[(i+1)*x_size+j-1]; l[7]=r[(i+1)*x_size+j]; l[8]=r[(i+1)*x_size+j+1];
if (mid[(i-1)*x_size+j-1]<8) { l[0]=0; l[1]=0; l[3]=0; l[2]*=2;
l[6]*=2; l[5]*=3; l[7]*=3; l[8]*=4; }
else { if (mid[(i-1)*x_size+j]<8) { l[1]=0; l[0]=0; l[2]=0; l[3]*=2;
l[5]*=2; l[6]*=3; l[8]*=3; l[7]*=4; }
else { if (mid[(i-1)*x_size+j+1]<8) { l[2]=0; l[1]=0; l[5]=0; l[0]*=2;
l[8]*=2; l[3]*=3; l[7]*=3; l[6]*=4; }
else { if (mid[(i)*x_size+j-1]<8) { l[3]=0; l[0]=0; l[6]=0; l[1]*=2;
l[7]*=2; l[2]*=3; l[8]*=3; l[5]*=4; }
else { if (mid[(i)*x_size+j+1]<8) { l[5]=0; l[2]=0; l[8]=0; l[1]*=2;
l[7]*=2; l[0]*=3; l[6]*=3; l[3]*=4; }
else { if (mid[(i+1)*x_size+j-1]<8) { l[6]=0; l[3]=0; l[7]=0; l[0]*=2;
l[8]*=2; l[1]*=3; l[5]*=3; l[2]*=4; }
else { if (mid[(i+1)*x_size+j]<8) { l[7]=0; l[6]=0; l[8]=0; l[3]*=2;
l[5]*=2; l[0]*=3; l[2]*=3; l[1]*=4; }
else { if (mid[(i+1)*x_size+j+1]<8) { l[8]=0; l[5]=0; l[7]=0; l[6]*=2;
l[2]*=2; l[1]*=3; l[3]*=3; l[0]*=4; } }}}}}}}
m=0; /* find the highest point */
for(y=0; y<3; y++)
for(x=0; x<3; x++)
if (l[y+y+y+x]>m) { m=l[y+y+y+x]; a=y; b=x; }
if (m>0)
{
if (mid[i*x_size+j]<4)
mid[(i+a-1)*x_size+j+b-1] = 4;
else
mid[(i+a-1)*x_size+j+b-1] = mid[i*x_size+j]+1;
if ( (a+a+b) < 3 ) /* need to jump back in image */
{
i+=a-1;
j+=b-2;
if (i<4) i=4;
if (j<4) j=4;
}
}
}
/* }}} */
/* {{{ n==2 */
if (n==2)
{
/* put in a bit here to straighten edges */
b00 = mid[(i-1)*x_size+j-1]<8; /* corners of 3x3 */
b02 = mid[(i-1)*x_size+j+1]<8;
b20 = mid[(i+1)*x_size+j-1]<8;
b22 = mid[(i+1)*x_size+j+1]<8;
if ( ((b00+b02+b20+b22)==2) && ((b00|b22)&(b02|b20)))
{ /* case: move a point back into line.
e.g. X O X CAN become X X X
O X O O O O
O O O O O O */
if (b00)
{
if (b02) { x=0; y=-1; }
else { x=-1; y=0; }
}
else
{
if (b02) { x=1; y=0; }
else { x=0; y=1; }
}
if (((float)r[(i+y)*x_size+j+x]/(float)centre) > 0.7)
{
if ( ( (x==0) && (mid[(i+(2*y))*x_size+j]>7) && (mid[(i+(2*y))*x_size+j-1]>7) && (mid[(i+(2*y))*x_size+j+1]>7) ) ||
( (y==0) && (mid[(i)*x_size+j+(2*x)]>7) && (mid[(i+1)*x_size+j+(2*x)]>7) && (mid[(i-1)*x_size+j+(2*x)]>7) ) )
{
mid[(i)*x_size+j]=100;
mid[(i+y)*x_size+j+x]=3; /* no jumping needed */
}
}
}
else
{
b01 = mid[(i-1)*x_size+j ]<8;
b12 = mid[(i )*x_size+j+1]<8;
b21 = mid[(i+1)*x_size+j ]<8;
b10 = mid[(i )*x_size+j-1]<8;
/* {{{ right angle ends - not currently used */
#ifdef IGNORETHIS
if ( (b00&b01)|(b00&b10)|(b02&b01)|(b02&b12)|(b20&b10)|(b20&b21)|(b22&b21)|(b22&b12) )
{ /* case; right angle ends. clean up.
e.g.; X X O CAN become X X O
O X O O O O
O O O O O O */
if ( ((b01)&(mid[(i-2)*x_size+j-1]>7)&(mid[(i-2)*x_size+j]>7)&(mid[(i-2)*x_size+j+1]>7)&
((b00&((2*r[(i-1)*x_size+j+1])>centre))|(b02&((2*r[(i-1)*x_size+j-1])>centre)))) |
((b10)&(mid[(i-1)*x_size+j-2]>7)&(mid[(i)*x_size+j-2]>7)&(mid[(i+1)*x_size+j-2]>7)&
((b00&((2*r[(i+1)*x_size+j-1])>centre))|(b20&((2*r[(i-1)*x_size+j-1])>centre)))) |
((b12)&(mid[(i-1)*x_size+j+2]>7)&(mid[(i)*x_size+j+2]>7)&(mid[(i+1)*x_size+j+2]>7)&
((b02&((2*r[(i+1)*x_size+j+1])>centre))|(b22&((2*r[(i-1)*x_size+j+1])>centre)))) |
((b21)&(mid[(i+2)*x_size+j-1]>7)&(mid[(i+2)*x_size+j]>7)&(mid[(i+2)*x_size+j+1]>7)&
((b20&((2*r[(i+1)*x_size+j+1])>centre))|(b22&((2*r[(i+1)*x_size+j-1])>centre)))) )
{
mid[(i)*x_size+j]=100;
if (b10&b20) j-=2;
if (b00|b01|b02) { i--; j-=2; }
}
}
#endif
/* }}} */
if ( ((b01+b12+b21+b10)==2) && ((b10|b12)&(b01|b21)) &&
((b01&((mid[(i-2)*x_size+j-1]<8)|(mid[(i-2)*x_size+j+1]<8)))|(b10&((mid[(i-1)*x_size+j-2]<8)|(mid[(i+1)*x_size+j-2]<8)))|
(b12&((mid[(i-1)*x_size+j+2]<8)|(mid[(i+1)*x_size+j+2]<8)))|(b21&((mid[(i+2)*x_size+j-1]<8)|(mid[(i+2)*x_size+j+1]<8)))) )
{ /* case; clears odd right angles.
e.g.; O O O becomes O O O
X X O X O O
O X O O X O */
mid[(i)*x_size+j]=100;
i--; /* jump back */
j-=2;
if (i<4) i=4;
if (j<4) j=4;
}
}
}
/* }}} */
/* {{{ n>2 the thinning is done here without breaking connectivity */
if (n>2)
{
b01 = mid[(i-1)*x_size+j ]<8;
b12 = mid[(i )*x_size+j+1]<8;
b21 = mid[(i+1)*x_size+j ]<8;
b10 = mid[(i )*x_size+j-1]<8;
if((b01+b12+b21+b10)>1)
{
b00 = mid[(i-1)*x_size+j-1]<8;
b02 = mid[(i-1)*x_size+j+1]<8;
b20 = mid[(i+1)*x_size+j-1]<8;
b22 = mid[(i+1)*x_size+j+1]<8;
p1 = b00 | b01;
p2 = b02 | b12;
p3 = b22 | b21;
p4 = b20 | b10;
if( ((p1 + p2 + p3 + p4) - ((b01 & p2)+(b12 & p3)+(b21 & p4)+(b10 & p1))) < 2)
{
mid[(i)*x_size+j]=100;
i--;
j-=2;
if (i<4) i=4;
if (j<4) j=4;
}
}
}
/* }}} */
}
}
/* }}} */
/* {{{ susan_edges(in,r,sf,max_no,out) */
susan_edges(in,r,mid,bp,max_no,x_size,y_size)
uchar *in, *bp, *mid;
int *r, max_no, x_size, y_size;
{
float z;
int do_symmetry, i, j, m, n, a, b, x, y, w;
uchar c,*p,*cp;
memset (r,0,x_size * y_size * sizeof(int));
for (i=3;i<y_size-3;i++)
for (j=3;j<x_size-3;j++)
{
n=100;
p=in + (i-3)*x_size + j - 1;
cp=bp + in[i*x_size+j];
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-3;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-5;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-6;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=2;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-6;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-5;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-3;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
if (n<=max_no)
r[i*x_size+j] = max_no - n;
}
for (i=4;i<y_size-4;i++)
for (j=4;j<x_size-4;j++)
{
if (r[i*x_size+j]>0)
{
m=r[i*x_size+j];
n=max_no - m;
cp=bp + in[i*x_size+j];
if (n>600)
{
p=in + (i-3)*x_size + j - 1;
x=0;y=0;
c=*(cp-*p++);x-=c;y-=3*c;
c=*(cp-*p++);y-=3*c;
c=*(cp-*p);x+=c;y-=3*c;
p+=x_size-3;
c=*(cp-*p++);x-=2*c;y-=2*c;
c=*(cp-*p++);x-=c;y-=2*c;
c=*(cp-*p++);y-=2*c;
c=*(cp-*p++);x+=c;y-=2*c;
c=*(cp-*p);x+=2*c;y-=2*c;
p+=x_size-5;
c=*(cp-*p++);x-=3*c;y-=c;
c=*(cp-*p++);x-=2*c;y-=c;
c=*(cp-*p++);x-=c;y-=c;
c=*(cp-*p++);y-=c;
c=*(cp-*p++);x+=c;y-=c;
c=*(cp-*p++);x+=2*c;y-=c;
c=*(cp-*p);x+=3*c;y-=c;
p+=x_size-6;
c=*(cp-*p++);x-=3*c;
c=*(cp-*p++);x-=2*c;
c=*(cp-*p);x-=c;
p+=2;
c=*(cp-*p++);x+=c;
c=*(cp-*p++);x+=2*c;
c=*(cp-*p);x+=3*c;
p+=x_size-6;
c=*(cp-*p++);x-=3*c;y+=c;
c=*(cp-*p++);x-=2*c;y+=c;
c=*(cp-*p++);x-=c;y+=c;
c=*(cp-*p++);y+=c;
c=*(cp-*p++);x+=c;y+=c;
c=*(cp-*p++);x+=2*c;y+=c;
c=*(cp-*p);x+=3*c;y+=c;
p+=x_size-5;
c=*(cp-*p++);x-=2*c;y+=2*c;
c=*(cp-*p++);x-=c;y+=2*c;
c=*(cp-*p++);y+=2*c;
c=*(cp-*p++);x+=c;y+=2*c;
c=*(cp-*p);x+=2*c;y+=2*c;
p+=x_size-3;
c=*(cp-*p++);x-=c;y+=3*c;
c=*(cp-*p++);y+=3*c;
c=*(cp-*p);x+=c;y+=3*c;
z = sqrt((float)((x*x) + (y*y)));
if (z > (0.9*(float)n)) /* 0.5 */
{
do_symmetry=0;
if (x==0)
z=1000000.0;
else
z=((float)y) / ((float)x);
if (z < 0) { z=-z; w=-1; }
else w=1;
if (z < 0.5) { /* vert_edge */ a=0; b=1; }
else { if (z > 2.0) { /* hor_edge */ a=1; b=0; }
else { /* diag_edge */ if (w>0) { a=1; b=1; }
else { a=-1; b=1; }}}
if ( (m > r[(i+a)*x_size+j+b]) && (m >= r[(i-a)*x_size+j-b]) &&
(m > r[(i+(2*a))*x_size+j+(2*b)]) && (m >= r[(i-(2*a))*x_size+j-(2*b)]) )
mid[i*x_size+j] = 1;
}
else
do_symmetry=1;
}
else
do_symmetry=1;
if (do_symmetry==1)
{
p=in + (i-3)*x_size + j - 1;
x=0; y=0; w=0;
/* | \
y -x- w
| \ */
c=*(cp-*p++);x+=c;y+=9*c;w+=3*c;
c=*(cp-*p++);y+=9*c;
c=*(cp-*p);x+=c;y+=9*c;w-=3*c;
p+=x_size-3;
c=*(cp-*p++);x+=4*c;y+=4*c;w+=4*c;
c=*(cp-*p++);x+=c;y+=4*c;w+=2*c;
c=*(cp-*p++);y+=4*c;
c=*(cp-*p++);x+=c;y+=4*c;w-=2*c;
c=*(cp-*p);x+=4*c;y+=4*c;w-=4*c;
p+=x_size-5;
c=*(cp-*p++);x+=9*c;y+=c;w+=3*c;
c=*(cp-*p++);x+=4*c;y+=c;w+=2*c;
c=*(cp-*p++);x+=c;y+=c;w+=c;
c=*(cp-*p++);y+=c;
c=*(cp-*p++);x+=c;y+=c;w-=c;
c=*(cp-*p++);x+=4*c;y+=c;w-=2*c;
c=*(cp-*p);x+=9*c;y+=c;w-=3*c;
p+=x_size-6;
c=*(cp-*p++);x+=9*c;
c=*(cp-*p++);x+=4*c;
c=*(cp-*p);x+=c;
p+=2;
c=*(cp-*p++);x+=c;
c=*(cp-*p++);x+=4*c;
c=*(cp-*p);x+=9*c;
p+=x_size-6;
c=*(cp-*p++);x+=9*c;y+=c;w-=3*c;
c=*(cp-*p++);x+=4*c;y+=c;w-=2*c;
c=*(cp-*p++);x+=c;y+=c;w-=c;
c=*(cp-*p++);y+=c;
c=*(cp-*p++);x+=c;y+=c;w+=c;
c=*(cp-*p++);x+=4*c;y+=c;w+=2*c;
c=*(cp-*p);x+=9*c;y+=c;w+=3*c;
p+=x_size-5;
c=*(cp-*p++);x+=4*c;y+=4*c;w-=4*c;
c=*(cp-*p++);x+=c;y+=4*c;w-=2*c;
c=*(cp-*p++);y+=4*c;
c=*(cp-*p++);x+=c;y+=4*c;w+=2*c;
c=*(cp-*p);x+=4*c;y+=4*c;w+=4*c;
p+=x_size-3;
c=*(cp-*p++);x+=c;y+=9*c;w-=3*c;
c=*(cp-*p++);y+=9*c;
c=*(cp-*p);x+=c;y+=9*c;w+=3*c;
if (y==0)
z = 1000000.0;
else
z = ((float)x) / ((float)y);
if (z < 0.5) { /* vertical */ a=0; b=1; }
else { if (z > 2.0) { /* horizontal */ a=1; b=0; }
else { /* diagonal */ if (w>0) { a=-1; b=1; }
else { a=1; b=1; }}}
if ( (m > r[(i+a)*x_size+j+b]) && (m >= r[(i-a)*x_size+j-b]) &&
(m > r[(i+(2*a))*x_size+j+(2*b)]) && (m >= r[(i-(2*a))*x_size+j-(2*b)]) )
mid[i*x_size+j] = 2;
}
}
}
}
/* }}} */
/* {{{ susan_edges_small(in,r,sf,max_no,out) */
susan_edges_small(in,r,mid,bp,max_no,x_size,y_size)
uchar *in, *bp, *mid;
int *r, max_no, x_size, y_size;
{
float z;
int do_symmetry, i, j, m, n, a, b, x, y, w;
uchar c,*p,*cp;
memset (r,0,x_size * y_size * sizeof(int));
max_no = 730; /* ho hum ;) */
for (i=1;i<y_size-1;i++)
for (j=1;j<x_size-1;j++)
{
n=100;
p=in + (i-1)*x_size + j - 1;
cp=bp + in[i*x_size+j];
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-2;
n+=*(cp-*p);
p+=2;
n+=*(cp-*p);
p+=x_size-2;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
if (n<=max_no)
r[i*x_size+j] = max_no - n;
}
for (i=2;i<y_size-2;i++)
for (j=2;j<x_size-2;j++)
{
if (r[i*x_size+j]>0)
{
m=r[i*x_size+j];
n=max_no - m;
cp=bp + in[i*x_size+j];
if (n>250)
{
p=in + (i-1)*x_size + j - 1;
x=0;y=0;
c=*(cp-*p++);x-=c;y-=c;
c=*(cp-*p++);y-=c;
c=*(cp-*p);x+=c;y-=c;
p+=x_size-2;
c=*(cp-*p);x-=c;
p+=2;
c=*(cp-*p);x+=c;
p+=x_size-2;
c=*(cp-*p++);x-=c;y+=c;
c=*(cp-*p++);y+=c;
c=*(cp-*p);x+=c;y+=c;
z = sqrt((float)((x*x) + (y*y)));
if (z > (0.4*(float)n)) /* 0.6 */
{
do_symmetry=0;
if (x==0)
z=1000000.0;
else
z=((float)y) / ((float)x);
if (z < 0) { z=-z; w=-1; }
else w=1;
if (z < 0.5) { /* vert_edge */ a=0; b=1; }
else { if (z > 2.0) { /* hor_edge */ a=1; b=0; }
else { /* diag_edge */ if (w>0) { a=1; b=1; }
else { a=-1; b=1; }}}
if ( (m > r[(i+a)*x_size+j+b]) && (m >= r[(i-a)*x_size+j-b]) )
mid[i*x_size+j] = 1;
}
else
do_symmetry=1;
}
else
do_symmetry=1;
if (do_symmetry==1)
{
p=in + (i-1)*x_size + j - 1;
x=0; y=0; w=0;
/* | \
y -x- w
| \ */
c=*(cp-*p++);x+=c;y+=c;w+=c;
c=*(cp-*p++);y+=c;
c=*(cp-*p);x+=c;y+=c;w-=c;
p+=x_size-2;
c=*(cp-*p);x+=c;
p+=2;
c=*(cp-*p);x+=c;
p+=x_size-2;
c=*(cp-*p++);x+=c;y+=c;w-=c;
c=*(cp-*p++);y+=c;
c=*(cp-*p);x+=c;y+=c;w+=c;
if (y==0)
z = 1000000.0;
else
z = ((float)x) / ((float)y);
if (z < 0.5) { /* vertical */ a=0; b=1; }
else { if (z > 2.0) { /* horizontal */ a=1; b=0; }
else { /* diagonal */ if (w>0) { a=-1; b=1; }
else { a=1; b=1; }}}
if ( (m > r[(i+a)*x_size+j+b]) && (m >= r[(i-a)*x_size+j-b]) )
mid[i*x_size+j] = 2;
}
}
}
}
/* }}} */
/* }}} */
/* {{{ corners */
/* {{{ corner_draw(in,corner_list,drawing_mode) */
corner_draw(in,corner_list,x_size,drawing_mode)
uchar *in;
CORNER_LIST corner_list;
int x_size, drawing_mode;
{
uchar *p;
int n=0;
while(corner_list[n].info != 7)
{
if (drawing_mode==0)
{
p = in + (corner_list[n].y-1)*x_size + corner_list[n].x - 1;
*p++=255; *p++=255; *p=255; p+=x_size-2;
*p++=255; *p++=0; *p=255; p+=x_size-2;
*p++=255; *p++=255; *p=255;
n++;
}
else
{
p = in + corner_list[n].y*x_size + corner_list[n].x;
*p=0;
n++;
}
}
}
/* }}} */
/* {{{ susan(in,r,sf,max_no,corner_list) */
susan_corners(in,r,bp,max_no,corner_list,x_size,y_size)
uchar *in, *bp;
int *r, max_no, x_size, y_size;
CORNER_LIST corner_list;
{
int n,x,y,sq,xx,yy,
i,j,*cgx,*cgy;
float divide;
uchar c,*p,*cp;
memset (r,0,x_size * y_size * sizeof(int));
cgx=(int *)malloc(x_size*y_size*sizeof(int));
cgy=(int *)malloc(x_size*y_size*sizeof(int));
for (i=5;i<y_size-5;i++)
for (j=5;j<x_size-5;j++) {
n=100;
p=in + (i-3)*x_size + j - 1;
cp=bp + in[i*x_size+j];
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-3;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-5;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-6;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
if (n<max_no){ /* do this test early and often ONLY to save wasted computation */
p+=2;
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p);
if (n<max_no){
p+=x_size-6;
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p);
if (n<max_no){
p+=x_size-5;
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p);
if (n<max_no){
p+=x_size-3;
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p);
if (n<max_no)
{
x=0;y=0;
p=in + (i-3)*x_size + j - 1;
c=*(cp-*p++);x-=c;y-=3*c;
c=*(cp-*p++);y-=3*c;
c=*(cp-*p);x+=c;y-=3*c;
p+=x_size-3;
c=*(cp-*p++);x-=2*c;y-=2*c;
c=*(cp-*p++);x-=c;y-=2*c;
c=*(cp-*p++);y-=2*c;
c=*(cp-*p++);x+=c;y-=2*c;
c=*(cp-*p);x+=2*c;y-=2*c;
p+=x_size-5;
c=*(cp-*p++);x-=3*c;y-=c;
c=*(cp-*p++);x-=2*c;y-=c;
c=*(cp-*p++);x-=c;y-=c;
c=*(cp-*p++);y-=c;
c=*(cp-*p++);x+=c;y-=c;
c=*(cp-*p++);x+=2*c;y-=c;
c=*(cp-*p);x+=3*c;y-=c;
p+=x_size-6;
c=*(cp-*p++);x-=3*c;
c=*(cp-*p++);x-=2*c;
c=*(cp-*p);x-=c;
p+=2;
c=*(cp-*p++);x+=c;
c=*(cp-*p++);x+=2*c;
c=*(cp-*p);x+=3*c;
p+=x_size-6;
c=*(cp-*p++);x-=3*c;y+=c;
c=*(cp-*p++);x-=2*c;y+=c;
c=*(cp-*p++);x-=c;y+=c;
c=*(cp-*p++);y+=c;
c=*(cp-*p++);x+=c;y+=c;
c=*(cp-*p++);x+=2*c;y+=c;
c=*(cp-*p);x+=3*c;y+=c;
p+=x_size-5;
c=*(cp-*p++);x-=2*c;y+=2*c;
c=*(cp-*p++);x-=c;y+=2*c;
c=*(cp-*p++);y+=2*c;
c=*(cp-*p++);x+=c;y+=2*c;
c=*(cp-*p);x+=2*c;y+=2*c;
p+=x_size-3;
c=*(cp-*p++);x-=c;y+=3*c;
c=*(cp-*p++);y+=3*c;
c=*(cp-*p);x+=c;y+=3*c;
xx=x*x;
yy=y*y;
sq=xx+yy;
if ( sq > ((n*n)/2) )
{
if(yy<xx) {
divide=(float)y/(float)abs(x);
sq=abs(x)/x;
sq=*(cp-in[(i+FTOI(divide))*x_size+j+sq]) +
*(cp-in[(i+FTOI(2*divide))*x_size+j+2*sq]) +
*(cp-in[(i+FTOI(3*divide))*x_size+j+3*sq]);}
else {
divide=(float)x/(float)abs(y);
sq=abs(y)/y;
sq=*(cp-in[(i+sq)*x_size+j+FTOI(divide)]) +
*(cp-in[(i+2*sq)*x_size+j+FTOI(2*divide)]) +
*(cp-in[(i+3*sq)*x_size+j+FTOI(3*divide)]);}
if(sq>290){
r[i*x_size+j] = max_no-n;
cgx[i*x_size+j] = (51*x)/n;
cgy[i*x_size+j] = (51*y)/n;}
}
}
}}}}}}}}}}}}}}}}}}}
/* to locate the local maxima */
n=0;
for (i=5;i<y_size-5;i++)
for (j=5;j<x_size-5;j++) {
x = r[i*x_size+j];
if (x>0) {
/* 5x5 mask */
#ifdef FIVE_SUPP
if (
(x>r[(i-1)*x_size+j+2]) &&
(x>r[(i )*x_size+j+1]) &&
(x>r[(i )*x_size+j+2]) &&
(x>r[(i+1)*x_size+j-1]) &&
(x>r[(i+1)*x_size+j ]) &&
(x>r[(i+1)*x_size+j+1]) &&
(x>r[(i+1)*x_size+j+2]) &&
(x>r[(i+2)*x_size+j-2]) &&
(x>r[(i+2)*x_size+j-1]) &&
(x>r[(i+2)*x_size+j ]) &&
(x>r[(i+2)*x_size+j+1]) &&
(x>r[(i+2)*x_size+j+2]) &&
(x>=r[(i-2)*x_size+j-2]) &&
(x>=r[(i-2)*x_size+j-1]) &&
(x>=r[(i-2)*x_size+j ]) &&
(x>=r[(i-2)*x_size+j+1]) &&
(x>=r[(i-2)*x_size+j+2]) &&
(x>=r[(i-1)*x_size+j-2]) &&
(x>=r[(i-1)*x_size+j-1]) &&
(x>=r[(i-1)*x_size+j ]) &&
(x>=r[(i-1)*x_size+j+1]) &&
(x>=r[(i )*x_size+j-2]) &&
(x>=r[(i )*x_size+j-1]) &&
(x>=r[(i+1)*x_size+j-2]) )
#endif
#ifdef SEVEN_SUPP
if (
(x>r[(i-3)*x_size+j-3]) &&
(x>r[(i-3)*x_size+j-2]) &&
(x>r[(i-3)*x_size+j-1]) &&
(x>r[(i-3)*x_size+j ]) &&
(x>r[(i-3)*x_size+j+1]) &&
(x>r[(i-3)*x_size+j+2]) &&
(x>r[(i-3)*x_size+j+3]) &&
(x>r[(i-2)*x_size+j-3]) &&
(x>r[(i-2)*x_size+j-2]) &&
(x>r[(i-2)*x_size+j-1]) &&
(x>r[(i-2)*x_size+j ]) &&
(x>r[(i-2)*x_size+j+1]) &&
(x>r[(i-2)*x_size+j+2]) &&
(x>r[(i-2)*x_size+j+3]) &&
(x>r[(i-1)*x_size+j-3]) &&
(x>r[(i-1)*x_size+j-2]) &&
(x>r[(i-1)*x_size+j-1]) &&
(x>r[(i-1)*x_size+j ]) &&
(x>r[(i-1)*x_size+j+1]) &&
(x>r[(i-1)*x_size+j+2]) &&
(x>r[(i-1)*x_size+j+3]) &&
(x>r[(i)*x_size+j-3]) &&
(x>r[(i)*x_size+j-2]) &&
(x>r[(i)*x_size+j-1]) &&
(x>=r[(i)*x_size+j+1]) &&
(x>=r[(i)*x_size+j+2]) &&
(x>=r[(i)*x_size+j+3]) &&
(x>=r[(i+1)*x_size+j-3]) &&
(x>=r[(i+1)*x_size+j-2]) &&
(x>=r[(i+1)*x_size+j-1]) &&
(x>=r[(i+1)*x_size+j ]) &&
(x>=r[(i+1)*x_size+j+1]) &&
(x>=r[(i+1)*x_size+j+2]) &&
(x>=r[(i+1)*x_size+j+3]) &&
(x>=r[(i+2)*x_size+j-3]) &&
(x>=r[(i+2)*x_size+j-2]) &&
(x>=r[(i+2)*x_size+j-1]) &&
(x>=r[(i+2)*x_size+j ]) &&
(x>=r[(i+2)*x_size+j+1]) &&
(x>=r[(i+2)*x_size+j+2]) &&
(x>=r[(i+2)*x_size+j+3]) &&
(x>=r[(i+3)*x_size+j-3]) &&
(x>=r[(i+3)*x_size+j-2]) &&
(x>=r[(i+3)*x_size+j-1]) &&
(x>=r[(i+3)*x_size+j ]) &&
(x>=r[(i+3)*x_size+j+1]) &&
(x>=r[(i+3)*x_size+j+2]) &&
(x>=r[(i+3)*x_size+j+3]) )
#endif
{
corner_list[n].info=0;
corner_list[n].x=j;
corner_list[n].y=i;
corner_list[n].dx=cgx[i*x_size+j];
corner_list[n].dy=cgy[i*x_size+j];
corner_list[n].I=in[i*x_size+j];
//printf("x=%d,y=%d\n",corner_list[n].x,corner_list[n].y);
n++;
if(n==MAX_CORNERS){
fprintf(stderr,"Too many corners.\n");
exit(1);
}}}}
corner_list[n].info=7;
free(cgx);
free(cgy);
}
/* }}} */
/* {{{ susan_quick(in,r,sf,max_no,corner_list) */
susan_corners_quick(in,r,bp,max_no,corner_list,x_size,y_size)
uchar *in, *bp;
int *r, max_no, x_size, y_size;
CORNER_LIST corner_list;
{
int n,x,y,i,j;
uchar *p,*cp;
memset (r,0,x_size * y_size * sizeof(int));
for (i=7;i<y_size-7;i++)
for (j=7;j<x_size-7;j++) {
n=100;
p=in + (i-3)*x_size + j - 1;
cp=bp + in[i*x_size+j];
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-3;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-5;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
p+=x_size-6;
n+=*(cp-*p++);
n+=*(cp-*p++);
n+=*(cp-*p);
if (n<max_no){
p+=2;
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p);
if (n<max_no){
p+=x_size-6;
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p);
if (n<max_no){
p+=x_size-5;
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p);
if (n<max_no){
p+=x_size-3;
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p++);
if (n<max_no){
n+=*(cp-*p);
if (n<max_no)
r[i*x_size+j] = max_no-n;
}}}}}}}}}}}}}}}}}}}
/* to locate the local maxima */
n=0;
for (i=7;i<y_size-7;i++)
for (j=7;j<x_size-7;j++) {
x = r[i*x_size+j];
if (x>0) {
/* 5x5 mask */
#ifdef FIVE_SUPP
if (
(x>r[(i-1)*x_size+j+2]) &&
(x>r[(i )*x_size+j+1]) &&
(x>r[(i )*x_size+j+2]) &&
(x>r[(i+1)*x_size+j-1]) &&
(x>r[(i+1)*x_size+j ]) &&
(x>r[(i+1)*x_size+j+1]) &&
(x>r[(i+1)*x_size+j+2]) &&
(x>r[(i+2)*x_size+j-2]) &&
(x>r[(i+2)*x_size+j-1]) &&
(x>r[(i+2)*x_size+j ]) &&
(x>r[(i+2)*x_size+j+1]) &&
(x>r[(i+2)*x_size+j+2]) &&
(x>=r[(i-2)*x_size+j-2]) &&
(x>=r[(i-2)*x_size+j-1]) &&
(x>=r[(i-2)*x_size+j ]) &&
(x>=r[(i-2)*x_size+j+1]) &&
(x>=r[(i-2)*x_size+j+2]) &&
(x>=r[(i-1)*x_size+j-2]) &&
(x>=r[(i-1)*x_size+j-1]) &&
(x>=r[(i-1)*x_size+j ]) &&
(x>=r[(i-1)*x_size+j+1]) &&
(x>=r[(i )*x_size+j-2]) &&
(x>=r[(i )*x_size+j-1]) &&
(x>=r[(i+1)*x_size+j-2]) )
#endif
#ifdef SEVEN_SUPP
if (
(x>r[(i-3)*x_size+j-3]) &&
(x>r[(i-3)*x_size+j-2]) &&
(x>r[(i-3)*x_size+j-1]) &&
(x>r[(i-3)*x_size+j ]) &&
(x>r[(i-3)*x_size+j+1]) &&
(x>r[(i-3)*x_size+j+2]) &&
(x>r[(i-3)*x_size+j+3]) &&
(x>r[(i-2)*x_size+j-3]) &&
(x>r[(i-2)*x_size+j-2]) &&
(x>r[(i-2)*x_size+j-1]) &&
(x>r[(i-2)*x_size+j ]) &&
(x>r[(i-2)*x_size+j+1]) &&
(x>r[(i-2)*x_size+j+2]) &&
(x>r[(i-2)*x_size+j+3]) &&
(x>r[(i-1)*x_size+j-3]) &&
(x>r[(i-1)*x_size+j-2]) &&
(x>r[(i-1)*x_size+j-1]) &&
(x>r[(i-1)*x_size+j ]) &&
(x>r[(i-1)*x_size+j+1]) &&
(x>r[(i-1)*x_size+j+2]) &&
(x>r[(i-1)*x_size+j+3]) &&
(x>r[(i)*x_size+j-3]) &&
(x>r[(i)*x_size+j-2]) &&
(x>r[(i)*x_size+j-1]) &&
(x>=r[(i)*x_size+j+1]) &&
(x>=r[(i)*x_size+j+2]) &&
(x>=r[(i)*x_size+j+3]) &&
(x>=r[(i+1)*x_size+j-3]) &&
(x>=r[(i+1)*x_size+j-2]) &&
(x>=r[(i+1)*x_size+j-1]) &&
(x>=r[(i+1)*x_size+j ]) &&
(x>=r[(i+1)*x_size+j+1]) &&
(x>=r[(i+1)*x_size+j+2]) &&
(x>=r[(i+1)*x_size+j+3]) &&
(x>=r[(i+2)*x_size+j-3]) &&
(x>=r[(i+2)*x_size+j-2]) &&
(x>=r[(i+2)*x_size+j-1]) &&
(x>=r[(i+2)*x_size+j ]) &&
(x>=r[(i+2)*x_size+j+1]) &&
(x>=r[(i+2)*x_size+j+2]) &&
(x>=r[(i+2)*x_size+j+3]) &&
(x>=r[(i+3)*x_size+j-3]) &&
(x>=r[(i+3)*x_size+j-2]) &&
(x>=r[(i+3)*x_size+j-1]) &&
(x>=r[(i+3)*x_size+j ]) &&
(x>=r[(i+3)*x_size+j+1]) &&
(x>=r[(i+3)*x_size+j+2]) &&
(x>=r[(i+3)*x_size+j+3]) )
#endif
{
corner_list[n].info=0;
corner_list[n].x=j;
corner_list[n].y=i;
x = in[(i-2)*x_size+j-2] + in[(i-2)*x_size+j-1] + in[(i-2)*x_size+j] + in[(i-2)*x_size+j+1] + in[(i-2)*x_size+j+2] +
in[(i-1)*x_size+j-2] + in[(i-1)*x_size+j-1] + in[(i-1)*x_size+j] + in[(i-1)*x_size+j+1] + in[(i-1)*x_size+j+2] +
in[(i )*x_size+j-2] + in[(i )*x_size+j-1] + in[(i )*x_size+j] + in[(i )*x_size+j+1] + in[(i )*x_size+j+2] +
in[(i+1)*x_size+j-2] + in[(i+1)*x_size+j-1] + in[(i+1)*x_size+j] + in[(i+1)*x_size+j+1] + in[(i+1)*x_size+j+2] +
in[(i+2)*x_size+j-2] + in[(i+2)*x_size+j-1] + in[(i+2)*x_size+j] + in[(i+2)*x_size+j+1] + in[(i+2)*x_size+j+2];
corner_list[n].I=x/25;
/*corner_list[n].I=in[i*x_size+j];*/
x = in[(i-2)*x_size+j+2] + in[(i-1)*x_size+j+2] + in[(i)*x_size+j+2] + in[(i+1)*x_size+j+2] + in[(i+2)*x_size+j+2] -
(in[(i-2)*x_size+j-2] + in[(i-1)*x_size+j-2] + in[(i)*x_size+j-2] + in[(i+1)*x_size+j-2] + in[(i+2)*x_size+j-2]);
x += x + in[(i-2)*x_size+j+1] + in[(i-1)*x_size+j+1] + in[(i)*x_size+j+1] + in[(i+1)*x_size+j+1] + in[(i+2)*x_size+j+1] -
(in[(i-2)*x_size+j-1] + in[(i-1)*x_size+j-1] + in[(i)*x_size+j-1] + in[(i+1)*x_size+j-1] + in[(i+2)*x_size+j-1]);
y = in[(i+2)*x_size+j-2] + in[(i+2)*x_size+j-1] + in[(i+2)*x_size+j] + in[(i+2)*x_size+j+1] + in[(i+2)*x_size+j+2] -
(in[(i-2)*x_size+j-2] + in[(i-2)*x_size+j-1] + in[(i-2)*x_size+j] + in[(i-2)*x_size+j+1] + in[(i-2)*x_size+j+2]);
y += y + in[(i+1)*x_size+j-2] + in[(i+1)*x_size+j-1] + in[(i+1)*x_size+j] + in[(i+1)*x_size+j+1] + in[(i+1)*x_size+j+2] -
(in[(i-1)*x_size+j-2] + in[(i-1)*x_size+j-1] + in[(i-1)*x_size+j] + in[(i-1)*x_size+j+1] + in[(i-1)*x_size+j+2]);
corner_list[n].dx=x/15;
corner_list[n].dy=y/15;
n++;
if(n==MAX_CORNERS){
fprintf(stderr,"Too many corners.\n");
exit(1);
}}}}
corner_list[n].info=7;
}
/* }}} */
/* }}} */
/* {{{ main(argc, argv) */
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=10, /*10(M),11(F),13(edge),24(M/F)*/
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;
/* }}} */
if (argc<3)
usage();
get_image(argv[1],&in,&x_size,&y_size);
/* {{{ look at options */
while (argindex < argc)
{
tcp = argv[argindex];
if (*tcp == '-')
switch (*++tcp)
{
case 's': /* smoothing */
mode=0;
break;
case 'e': /* edges */
mode=1;
break;
case 'c': /* corners */
mode=2;
break;
case 'p': /* principle */
principle=1;
break;
case 'n': /* thinning post processing */
thin_post_proc=0;
break;
case 'b': /* simple drawing mode */
drawing_mode=1;
break;
case '3': /* 3x3 flat mask */
three_by_three=1;
break;
case 'q': /* quick susan mask */
susan_quick=1;
break;
case 'd': /* distance threshold */
if (++argindex >= argc){
printf ("No argument following -d\n");
exit(0);}
dt=atof(argv[argindex]);
if (dt<0) three_by_three=1;
break;
case 't': /* brightness threshold */
if (++argindex >= argc){
printf ("No argument following -t\n");
exit(0);}
bt=atoi(argv[argindex]);
break;
}
else
usage();
argindex++;
}
if ( (principle==1) && (mode==0) )
mode=1;
/* }}} */
/* {{{ main processing */
switch (mode)
{
case 0:
/* {{{ smoothing */
setup_brightness_lut(&bp,bt,2);
susan_smoothing(three_by_three,in,dt,x_size,y_size,bp);
break;
/* }}} */
case 1:
/* {{{ edges */
r = (int *) malloc(x_size * y_size * sizeof(int));
setup_brightness_lut(&bp,bt,6);
if (principle)
{
if (three_by_three)
susan_principle_small(in,r,bp,max_no_edges,x_size,y_size);
else
susan_principle(in,r,bp,max_no_edges,x_size,y_size);
int_to_uchar(r,in,x_size*y_size);
}
else
{
mid = (uchar *)malloc(x_size*y_size);
memset (mid,100,x_size * y_size); /* note not set to zero */
if (three_by_three)
susan_edges_small(in,r,mid,bp,max_no_edges,x_size,y_size);
else
susan_edges(in,r,mid,bp,max_no_edges,x_size,y_size);
if(thin_post_proc)
susan_thin(r,mid,x_size,y_size);
edge_draw(in,mid,x_size,y_size,drawing_mode);
}
break;
/* }}} */
case 2:
/* {{{ corners */
r = (int *) malloc(x_size * y_size * sizeof(int));
setup_brightness_lut(&bp,bt,6);
if (principle)
{
susan_principle(in,r,bp,max_no_corners,x_size,y_size);
int_to_uchar(r,in,x_size*y_size);
}
else
{
if(susan_quick)
susan_corners_quick(in,r,bp,max_no_corners,corner_list,x_size,y_size);
else
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);
}
/* }}} */
Thank you.
