/* 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 "precomp.hpp"
namespace cv
{
static int fast9CornerScore(const unsigned char* p, const int pixel[], int bstart)
{
int bmin = bstart;
int bmax = 255;
int b = (bmax + bmin)/2;
/*Compute the score using binary search*/
for(;;)
{
int cb = *p + b;
int c_b= *p - b;
if( p[pixel[0]] > cb)
if( p[pixel[1]] > cb)
if( p[pixel[2]] > cb)
if( p[pixel[3]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
goto is_a_corner;
else
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[7]] < c_b)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[14]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[6]] < c_b)
if( p[pixel[15]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[13]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[13]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[5]] < c_b)
if( p[pixel[14]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[12]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[13]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[14]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[6]] < c_b)
goto is_a_corner;
else
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[12]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[6]] < c_b)
goto is_a_corner;
else
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[4]] < c_b)
if( p[pixel[13]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[11]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[12]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[13]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[5]] < c_b)
goto is_a_corner;
else
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[11]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[5]] < c_b)
goto is_a_corner;
else
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[3]] < c_b)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[10]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[4]] < c_b)
goto is_a_corner;
else
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[10]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[4]] < c_b)
goto is_a_corner;
else
if( p[pixel[13]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[2]] < c_b)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[3]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[9]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[3]] < c_b)
goto is_a_corner;
else
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[3]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[9]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[3]] < c_b)
goto is_a_corner;
else
if( p[pixel[12]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[1]] < c_b)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[3]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[2]] > cb)
if( p[pixel[3]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[8]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[3]] < c_b)
if( p[pixel[2]] < c_b)
goto is_a_corner;
else
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[3]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[2]] > cb)
if( p[pixel[3]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[8]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[3]] < c_b)
if( p[pixel[2]] < c_b)
goto is_a_corner;
else
if( p[pixel[11]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[0]] < c_b)
if( p[pixel[1]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[3]] > cb)
if( p[pixel[2]] > cb)
goto is_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[3]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[2]] < c_b)
if( p[pixel[3]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[1]] < c_b)
if( p[pixel[2]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[3]] > cb)
goto is_a_corner;
else
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[3]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[2]] < c_b)
if( p[pixel[3]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[4]] > cb)
goto is_a_corner;
else
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[3]] < c_b)
if( p[pixel[4]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[5]] > cb)
goto is_a_corner;
else
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[13]] < c_b)
if( p[pixel[11]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[12]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[4]] < c_b)
if( p[pixel[5]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[6]] > cb)
goto is_a_corner;
else
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[14]] < c_b)
if( p[pixel[12]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[13]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[6]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[5]] < c_b)
if( p[pixel[6]] > cb)
if( p[pixel[15]] < c_b)
if( p[pixel[13]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[6]] < c_b)
if( p[pixel[7]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
goto is_a_corner;
else
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[13]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[6]] > cb)
goto is_a_corner;
else
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[5]] > cb)
goto is_a_corner;
else
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[4]] > cb)
goto is_a_corner;
else
if( p[pixel[13]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[9]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[3]] > cb)
goto is_a_corner;
else
if( p[pixel[12]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[3]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[8]] > cb)
if( p[pixel[7]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[10]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[3]] > cb)
if( p[pixel[2]] > cb)
goto is_a_corner;
else
if( p[pixel[11]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[3]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[2]] < c_b)
if( p[pixel[3]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[7]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[7]] > cb)
if( p[pixel[8]] > cb)
if( p[pixel[9]] > cb)
if( p[pixel[6]] > cb)
if( p[pixel[5]] > cb)
if( p[pixel[4]] > cb)
if( p[pixel[3]] > cb)
if( p[pixel[2]] > cb)
if( p[pixel[1]] > cb)
goto is_a_corner;
else
if( p[pixel[10]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] > cb)
if( p[pixel[11]] > cb)
if( p[pixel[12]] > cb)
if( p[pixel[13]] > cb)
if( p[pixel[14]] > cb)
if( p[pixel[15]] > cb)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else if( p[pixel[7]] < c_b)
if( p[pixel[8]] < c_b)
if( p[pixel[9]] < c_b)
if( p[pixel[6]] < c_b)
if( p[pixel[5]] < c_b)
if( p[pixel[4]] < c_b)
if( p[pixel[3]] < c_b)
if( p[pixel[2]] < c_b)
if( p[pixel[1]] < c_b)
goto is_a_corner;
else
if( p[pixel[10]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
if( p[pixel[10]] < c_b)
if( p[pixel[11]] < c_b)
if( p[pixel[12]] < c_b)
if( p[pixel[13]] < c_b)
if( p[pixel[14]] < c_b)
if( p[pixel[15]] < c_b)
goto is_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
else
goto is_not_a_corner;
is_a_corner:
bmin=b;
goto end_if;
is_not_a_corner:
bmax=b;
goto end_if;
end_if:
if(bmin == bmax - 1 || bmin == bmax)
return bmin;
b = (bmin + bmax) / 2;
}
}
static void makeOffsets(int pixel[], int row_stride)
{
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;
}
static void fast9ComputeScores(const Mat& img, vector<Point>& corners, vector<int>& scores, int b)
{
int pixel[16];
makeOffsets(pixel, (int)img.step);
size_t n, num_corners = corners.size();
scores.resize(num_corners);
for(n=0; n < num_corners; n++)
scores[n] = fast9CornerScore(&img.at<uchar>(corners[n]), pixel, b);
}
static void fast9Detect(const Mat& img, vector<Point>& ret_corners, int b)
{
int xsize = img.cols, ysize = img.rows;
int pixel[16];
makeOffsets(pixel, (int)img.step);
ret_corners.reserve(512);
for(int y=3; y < ysize - 3; y++)
for(int x=3; x < xsize - 3; x++)
{
const uchar* p = &img.at<uchar>(y,x);
int cb = *p + b;
int c_b= *p - b;
if(p[pixel[0]] > cb)
if(p[pixel[1]] > cb)
if(p[pixel[2]] > cb)
if(p[pixel[3]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
{}
else
if(p[pixel[15]] > cb)
{}
else
continue;
else if(p[pixel[7]] < c_b)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else if(p[pixel[14]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else if(p[pixel[6]] < c_b)
if(p[pixel[15]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
{}
else
continue;
else if(p[pixel[13]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[14]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else if(p[pixel[13]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[5]] < c_b)
if(p[pixel[14]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[15]] > cb)
{}
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[12]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[13]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[14]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[6]] < c_b)
{}
else
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[12]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[6]] < c_b)
{}
else
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[4]] < c_b)
if(p[pixel[13]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[11]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[12]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[13]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[5]] < c_b)
{}
else
if(p[pixel[14]] < c_b)
{}
else
continue;
else
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[11]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[5]] < c_b)
{}
else
if(p[pixel[14]] < c_b)
{}
else
continue;
else
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[3]] < c_b)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[10]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[4]] < c_b)
{}
else
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[10]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[4]] < c_b)
{}
else
if(p[pixel[13]] < c_b)
{}
else
continue;
else
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[2]] < c_b)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[3]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[9]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[3]] < c_b)
{}
else
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[3]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[9]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[3]] < c_b)
{}
else
if(p[pixel[12]] < c_b)
{}
else
continue;
else
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[1]] < c_b)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
{}
else
continue;
else
continue;
else
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[3]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[2]] > cb)
if(p[pixel[3]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[8]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[3]] < c_b)
if(p[pixel[2]] < c_b)
{}
else
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
{}
else
continue;
else
continue;
else
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[3]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[2]] > cb)
if(p[pixel[3]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[8]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[3]] < c_b)
if(p[pixel[2]] < c_b)
{}
else
if(p[pixel[11]] < c_b)
{}
else
continue;
else
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[0]] < c_b)
if(p[pixel[1]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[3]] > cb)
if(p[pixel[2]] > cb)
{}
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
{}
else
continue;
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[3]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[2]] < c_b)
if(p[pixel[3]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[1]] < c_b)
if(p[pixel[2]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[3]] > cb)
{}
else
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
{}
else
continue;
else
continue;
else
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[3]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[2]] < c_b)
if(p[pixel[3]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[4]] > cb)
{}
else
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
{}
else
continue;
else
continue;
else
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[3]] < c_b)
if(p[pixel[4]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[5]] > cb)
{}
else
if(p[pixel[14]] > cb)
{}
else
continue;
else
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[13]] < c_b)
if(p[pixel[11]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[12]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[4]] < c_b)
if(p[pixel[5]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[6]] > cb)
{}
else
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[14]] < c_b)
if(p[pixel[12]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[13]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[6]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[5]] < c_b)
if(p[pixel[6]] > cb)
if(p[pixel[15]] < c_b)
if(p[pixel[13]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[14]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[6]] < c_b)
if(p[pixel[7]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
{}
else
if(p[pixel[15]] < c_b)
{}
else
continue;
else
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[13]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[12]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[6]] > cb)
{}
else
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[11]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[5]] > cb)
{}
else
if(p[pixel[14]] > cb)
{}
else
continue;
else
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[4]] > cb)
{}
else
if(p[pixel[13]] > cb)
{}
else
continue;
else
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
{}
else
continue;
else
continue;
else
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[9]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[3]] > cb)
{}
else
if(p[pixel[12]] > cb)
{}
else
continue;
else
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
{}
else
continue;
else
continue;
else
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[3]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[8]] > cb)
if(p[pixel[7]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[10]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[3]] > cb)
if(p[pixel[2]] > cb)
{}
else
if(p[pixel[11]] > cb)
{}
else
continue;
else
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
{}
else
continue;
else
continue;
else
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[3]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[2]] < c_b)
if(p[pixel[3]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[7]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[7]] > cb)
if(p[pixel[8]] > cb)
if(p[pixel[9]] > cb)
if(p[pixel[6]] > cb)
if(p[pixel[5]] > cb)
if(p[pixel[4]] > cb)
if(p[pixel[3]] > cb)
if(p[pixel[2]] > cb)
if(p[pixel[1]] > cb)
{}
else
if(p[pixel[10]] > cb)
{}
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
{}
else
continue;
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] > cb)
if(p[pixel[11]] > cb)
if(p[pixel[12]] > cb)
if(p[pixel[13]] > cb)
if(p[pixel[14]] > cb)
if(p[pixel[15]] > cb)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else if(p[pixel[7]] < c_b)
if(p[pixel[8]] < c_b)
if(p[pixel[9]] < c_b)
if(p[pixel[6]] < c_b)
if(p[pixel[5]] < c_b)
if(p[pixel[4]] < c_b)
if(p[pixel[3]] < c_b)
if(p[pixel[2]] < c_b)
if(p[pixel[1]] < c_b)
{}
else
if(p[pixel[10]] < c_b)
{}
else
continue;
else
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
{}
else
continue;
else
continue;
else
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
if(p[pixel[10]] < c_b)
if(p[pixel[11]] < c_b)
if(p[pixel[12]] < c_b)
if(p[pixel[13]] < c_b)
if(p[pixel[14]] < c_b)
if(p[pixel[15]] < c_b)
{}
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
else
continue;
ret_corners.push_back(Point(x,y));
}
}
/* This defines non-strict maxima */
#define Compare(X, Y) ((X)>=(Y))
/* This is a fast, integer only, sparse nonmaximal suppression. */
/* probably only useful for FAST corner detection */
static void fastNonmaxSuppression(const vector<Point>& corners,
const vector<int>& scores,
vector<KeyPoint>& ret_nonmax)
{
int i, j, num_corners = (int)corners.size();
// Point above points (roughly) to the pixel above the one of interest, if there is a feature there.
int point_above = 0;
int point_below = 0;
ret_nonmax.clear();
if(num_corners < 1)
return;
/* Find where each row begins
(the corners are output in raster scan order). A beginning of -1 signifies
that there are no corners on that row. */
int last_row = corners[num_corners-1].y;
vector<int> row_start(last_row+1);
for(i=0; i < last_row+1; i++)
row_start[i] = -1;
int prev_row = -1;
for(i=0; i< num_corners; i++)
if(corners[i].y != prev_row)
{
row_start[corners[i].y] = i;
prev_row = corners[i].y;
}
ret_nonmax.reserve(num_corners);
for(i = 0; i < num_corners; i++)
{
int score = scores[i];
Point pos = corners[i];
// Check left
if(i > 0 && corners[i-1].x == pos.x-1 && corners[i-1].y == pos.y && Compare(scores[i-1], score))
continue;
// Check right
if(i < num_corners-1 && corners[i+1].x == pos.x+1 && corners[i+1].y == pos.y && Compare(scores[i+1], score))
continue;
bool suppressed = false;
// Check above (if there is a valid row above)
if(pos.y != 0 && row_start[pos.y - 1] != -1)
{
// Make sure that current point_above is one row above.
if(corners[point_above].y < pos.y - 1)
point_above = row_start[pos.y-1];
// Make point_above point to the first of the pixels above the current point, if it exists.
for(; corners[point_above].y < pos.y && corners[point_above].x < pos.x - 1; point_above++)
;
for(j=point_above; corners[j].y < pos.y && corners[j].x <= pos.x + 1; j++)
{
int x = corners[j].x;
if( (x == pos.x - 1 || x ==pos.x || x == pos.x+1) && Compare(scores[j], score))
{
suppressed = true;
break;
}
}
if( suppressed )
continue;
}
// Check below (if there is anything below)
if(pos.y != last_row && row_start[pos.y + 1] != -1 && point_below < num_corners) // Nothing below
{
if(corners[point_below].y < pos.y + 1)
point_below = row_start[pos.y+1];
// Make point below point to one of the pixels belowthe current point, if it exists.
for(; point_below < num_corners && corners[point_below].y == pos.y+1
&& corners[point_below].x < pos.x - 1; point_below++)
;
for(j=point_below; j < num_corners && corners[j].y == pos.y+1 && corners[j].x <= pos.x + 1; j++)
{
int x = corners[j].x;
if( (x == pos.x - 1 || x ==pos.x || x == pos.x+1) && Compare(scores[j],score))
{
suppressed = true;
break;
}
}
if( suppressed )
continue;
}
ret_nonmax.push_back(KeyPoint(corners[i], 6.f, -1.f, (float)score));
}
}
}
void cv::FAST( const Mat& image, vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression )
{
CV_Assert(image.data && image.type() == CV_8U);
vector<Point> corners;
fast9Detect(image, corners, threshold);
if(nonmax_suppression)
{
vector<int> scores;
fast9ComputeScores(image, corners, scores, threshold);
fastNonmaxSuppression(corners, scores, keypoints);
}
else
{
size_t i, n = corners.size();
keypoints.resize(n);
for( i = 0; i < n; i++ )
keypoints[i] = KeyPoint(corners[i], 6.f);
}
}