fast_rosten.h File Reference

#include "std.h"
#include "lib/vision/image.h"

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Functions
void	fast9_detect (struct image_t *img, uint8_t threshold, uint16_t min_dist, uint16_t x_padding, uint16_t y_padding, uint16_t *num_corners, uint16_t *ret_corners_length, struct point_t **ret_corners, uint16_t *roi)
	Do a FAST9 corner detection. More...
int	fast9_detect_pixel (struct image_t *img, uint8_t threshold, uint16_t x, uint16_t y)
	Do a FAST9 corner detection for a single pixel. More...

Function Documentation

void fast9_detect	(	struct image_t *	img,
		uint8_t	threshold,
		uint16_t	min_dist,
		uint16_t	x_padding,
		uint16_t	y_padding,
		uint16_t *	num_corners,
		uint16_t *	ret_corners_length,
		struct point_t **	ret_corners,
		uint16_t *	roi
	)

Do a FAST9 corner detection.

The array *ret_corners can be reallocated in this function every time it becomes too full, *ret_corners_length is updated appropriately.

Parameters

[in]	*img	The image to do the corner detection on
[in]	threshold	The threshold which we use for FAST9
[in]	min_dist	The minimum distance in pixels between detections
[in]	x_padding	The padding in the x direction to not scan for corners
[in]	y_padding	The padding in the y direction to not scan for corners
[in]	*num_corners	reference to the amount of corners found, set by this function
[in]	*ret_corners_length	the length of the array *ret_corners.
[in]	**ret_corners	pointer to the array which contains the corners that were detected.
[in]	*roi	array of format [x0 y0 x1 y1] describing the region of interest in the image where the corners will be detected. If null, the whole image is used.

Definition at line 52 of file fast_rosten.c.

References image_t::buf, fast_make_offsets(), image_t::h, IMAGE_YUV422, p, image_t::type, and image_t::w.

Referenced by calc_fast9_lukas_kanade(), and manage_flow_features().

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int fast9_detect_pixel	(	struct image_t *	img,
		uint8_t	threshold,
		uint16_t	x,
		uint16_t	y
	)

Do a FAST9 corner detection for a single pixel.

Returns 0 when not a corner, and 1 when a corner.

Parameters

[in]	*img	The image to do the corner detection on
[in]	threshold	The threshold which we use for FAST9
[in]	x,the	x-coordinate of the pixel
[in]	y,the	y-coordinate of the pixel

Definition at line 3709 of file fast_rosten.c.

References image_t::buf, fast_make_offsets(), image_t::h, IMAGE_YUV422, p, image_t::type, and image_t::w.

Referenced by act_fast().

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