[llvm-commits] CVS: llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/LICENSE Makefile input_large.pgm input_small.pgm output_large.smoothing.pgm susan.c
Chris Lattner
sabre at nondot.org
Tue Jan 9 15:45:02 PST 2007
Changes in directory llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan:
LICENSE added (r1.1)
Makefile added (r1.1)
input_large.pgm added (r1.1)
input_small.pgm added (r1.1)
output_large.smoothing.pgm added (r1.1)
susan.c added (r1.1)
---
Log message:
Readd mibench
---
Diffs of the changes: (+5478 -0)
LICENSE | 14
Makefile | 6
input_large.pgm | 2076 +++++++++++++++++++++++++++++++++++++++++++
input_small.pgm | 5
output_large.smoothing.pgm | 1253 ++++++++++++++++++++++++++
susan.c | 2124 +++++++++++++++++++++++++++++++++++++++++++++
6 files changed, 5478 insertions(+)
Index: llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/LICENSE
diff -c /dev/null llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/LICENSE:1.1
*** /dev/null Tue Jan 9 17:44:44 2007
--- llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/LICENSE Tue Jan 9 17:44:34 2007
***************
*** 0 ****
--- 1,14 ----
+ This code is issued for research purposes only and remains the
+ property of the UK Secretary of State for Defence. This code must
+ not be passed on without this header information being kept
+ intact. This code must not be sold.
+
+ A UK patent has been granted: "Method for digitally processing
+ images to determine the position of edges and/or corners therein for
+ guidance of unmanned vehicle", UK Patent 2272285. Proprietor:
+ Secretary of State for Defence, UK. 15 January 1997
+
+
+ Source Code obtained from:
+
+ http://www.fmrib.ox.ac.uk/~steve/susan/index.html
Index: llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/Makefile
diff -c /dev/null llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/Makefile:1.1
*** /dev/null Tue Jan 9 17:45:01 2007
--- llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/Makefile Tue Jan 9 17:44:34 2007
***************
*** 0 ****
--- 1,6 ----
+ LEVEL = ../../../..
+
+ PROG = automotive-susan
+ LDFLAGS = -lm
+ RUN_OPTIONS = input_large.pgm output_large.smoothing.pgm -s
+ include $(LEVEL)/MultiSource/Makefile.multisrc
Index: llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/input_large.pgm
diff -c /dev/null llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/input_large.pgm:1.1
*** /dev/null Tue Jan 9 17:45:01 2007
--- llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/input_large.pgm Tue Jan 9 17:44:34 2007
***************
*** 0 ****
--- 1,2088 ----
+ P5
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\ No newline at end of file
Index: llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/input_small.pgm
diff -c /dev/null llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/input_small.pgm:1.1
*** /dev/null Tue Jan 9 17:45:01 2007
--- llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/input_small.pgm Tue Jan 9 17:44:34 2007
***************
*** 0 ****
--- 1,5 ----
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Index: llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/output_large.smoothing.pgm
diff -c /dev/null llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/output_large.smoothing.pgm:1.1
*** /dev/null Tue Jan 9 17:45:01 2007
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+ ;CCDDDDDDDDEEEEDDCBA<46425CGHIJJKKKLKKKKKKKKKKJJHE410//////////...---------....--,
+
+
+
+
+
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+
+ =DDDDDDDDDDEEEEDDCBA;56425CGGIIJJKKKKKKKKKKKKKJJHD30//////////....---------...---,
+
+
+
+
+
+
$7667777hqqqqqqqppoonnnnnnnnnnoooooooooooooooopy²°°°°°°¯°°°±³µ»½¾¿À„¬¾¿À¿ÁÂÁÁÀ¾¿µ¤¨°ÃÂÇÃÅÅÃÃÂÂÁÀÀÀ¿¾¼º³²±œfj~´¯¯®Ÿhkkkkkkkkkjjjihhgfedccbaa`_U %((*)*))(%#3?+#"!!
+
+
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+
+
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+
+
+
+
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+
+
+
+
+
+
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+
+ 'BDDEEEEDDDEEEEEEDDCA;57525CFGHIJJKKKKKKKKLLLLKKJIF20/..............--..--------,++
+
+
+
+
+
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(&'((())'#4C+$#"!! !!#%&&%"!
+
+ /BDDEEEEDDDEEEEEEDDCA<67535BFGHIIJJKKKKKKLLLLLLKKJF3//...................------,,++
76777788kpqqqqqqppoonnnnnnnnnnnnnnnnnonooooooooˆ±®¯®®®®®¯¯°±²µ»½¾¿¿¾¾£¼¾½¼½¼µ¼ÀÀ¸ºª¥®ÂÂÁÅÅÅÃÃÂÁÀ¿¿¾½¼»¸²±°¢g¨gº«¯¤hkkkkkkkkjjiihhgfeddcbba``_V
!%((C*%#"!!! !!!"%*0-*&#!
+
+
+ 3BDDEEEEDDDEEEEEEDDCA=57536BFGHHIJJKKKKLLLLLLLLKKJG4//..-----...-----....-----,,,+*
#%*-35=AGHJU±ÑE266677778mppqqqqpppoonnnnnnnnnnnnnnnnnnnoooooooo’°¬®®®®®®®¯°±²´»½¾¾¾º±¹¼¯²¹¾¹¶¼¿º½·¥¨·ÁÁÁÆÅÅÄÃÂÁÀ¿¾¾½¼º·±±°¥jh½ª¯¬¥ikkkkkkkjjjiihggfedccbaa``_V
#(D*%#""!!! !!"#&4?;5+&"!
+ 8BDDEEEEDDDEEEEEEDDCA<47536BEFHHIJJKKKLLLLLLLLLKKJF3/...------------......----,,++*
3Wafimosuwy|~€€x{β556667777nppqqqqpppoonnnnnnnnnnnnnnnnnononnnnooo—¯«¬®®®¯¯°²µ»½½¾½Šf’¾«§·¾º¹½»»¼·«µÂ¿ÀÅÅÅÃÃÂÁÀ¿¾½¼»ºµ±±¯¨jq|µ«®¬£ikjkkkkjjjiihhgffedcbbaa```R#
$&!7B*$#""!! !!!"#'9HJC7-&#!
+
+
9ADDDEEEDDDEEEEEEDDCB;57436BEFGHIJJKKKLLLLLLLLLKJJF30...------------.......---,,++*
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& 6C*%#""!! !!!""';MOOH;/'"!
+
+
8 at DDDDDDDDDEEEEEEDDCA;57435AEFGHIJJKKKLLLLLLLLLKKJG4//..----------..........--,++**
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+
+
+
4?DCDDDDDDDEEEEEEDDCA;37425 at EFGHIIJKKLLLLLLLLLLKKIG5//..---------...../////..-,+*)(
##%&()/2;>A9,# $%233444557ppqqqqqpppoonnnnnnnnnnnnnnnooooooonnooo¦¬«¬¬¬®¯°²´¹»¼½¼l`žÀ¥·¼¹·¹¼ºº³¨¯³Á·ÃÆÆÄÃÂÀ¿¾½¼¼¶lqª²®«cee¶«®¬§ijjkkjjjjiihhgffedccbbaa``_D $ 6C,%#"!! !!"%6MRSRRMC/("!
+
+
%6=DCDDDDDDDEEEEEEDDCA<27325 at EFGHIIJKKLLLLLLLLLLKJIF4//..---------..../000000//.--,+
!#(+122.-/( 012233448ppqqqqpppooonnnnnnnnnnnnnnnoooooooooooo§¬«¬¬¬®¯°²³¹»¼¼²i£gÂœ±®¾¹µºº¹¸¶°¯·¾¸ÃÅÆÄÁÁ¾¼½¼º»¹lw¯°®¬qe«¯¬¬§ijjjjjjjjiihhgffedccbbaa```B & 9D*%#"!! !!"%;PSTTTRNB/&"
+
+ &8?DCDDDDDDDDEEEEEDDBA;27314 at EFGHIIJKKLLLLLLLLLLKJIF4/..----------.../0111221110//.,
$&,/1110(*10122338pqqqqqpppooonnnnnnnnnnnnnnoooooooooooopª¬«¬¬¬®®°±´¹»¼¼¹ej’š±¸¿º¶»³©³´®¶¿¸ÃÅÅÃÁ¾`c¼€`¡¸e¯®ª_k}³«®¬¬§hjjjjjjjjiihhgffedccbbaaa``@ '9D)$"!! !!%:QSTTTSRM>*&"
+
+ &;?DCDDDDDDDDEEEEEDDBA;26304 at EEFGHIJKKKLLLLLLLLKKJIF2...----------.../13455655443431!
+
+
+
+
+
$&%%##!! !$&)+-.00( $0011223:qqqqqqpppooonnnnnnoonnnnnnoooooooooooop«¬¬¬¬¬®®°±³¹º¼»²dkÁž¨¼¾²¬»¸ª°µ¨¯´¼ºÃÅÅÂÁ¿£Ÿ»¹d°ºh„¯©dqg´¬®¬¨gjjjjjjjjiiihggfedccbbaaa``= (199898976
7D,$"!! $:RTUUUTSQL6+$!
+
+ %;@DCDDDDDDDDDDEDDDDBA:17203?EEFGHIJKKKLLLLLLLLLKJIF2.----,,,-,----..149:<>?=<;>;=::%
+
+
+
+
+
+
+
+
+
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:F,#!! #9RUUUUSSROG8+$
+
+ (9ACCDDDDDCDDDDDDDDDBA9073/0?DEFGHIJJKKLLLLLLLLKKJIF1---,,,,,,,,,,--.1;GILLMLLLKJJHH)
+
+
+
+
+
+
+
+
+
+
+
+
+
!.ESSTUVUUV^d•‘U‘V'*% .,//012;qqqqqqpppooonnnooooooooooooooooooooooop¬¬¬¬¬®®¯±³¸º»¼±agšÂœ¨¹¾®«¹°«³¸®«·¶¿ÂÆÁ»Z›½“\¸b^ª°¬`q…±®¬¬©giijjjjjjjiihhgfedccbbaaa``A +=ccccbaa`C
9D,"! #6SUVUUTSROJF5*#
+ (:?CCDDDDCCDDDDDDDDCB at 9-62/0?DEFGHHJJKKLLLLLLLLLKJIG2++,+,+++,+,,,,-.2?NQRRTTUTTSSQQ+
+
+
+
+
+
+
+
+
+
+
+
!(-.0/00025;B889+!
,77888888777766666777777777777777777789<[WWVVUUUVVVVWXY[\^_W>MW]PSW[UTYUWVXVXZ[]^_^^]X:WXW=\]KKVZXXV69C\WYY[X665555544444333222111000//.# $02332210
" !%)*++,,+*('#
+ !%%'&&%&%&&&%'%%$$# %'''&&&&'''''''('''(')('" !!%*/12234433200.!
\ No newline at end of file
Index: llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/susan.c
diff -c /dev/null llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/susan.c:1.1
*** /dev/null Tue Jan 9 17:45:01 2007
--- llvm-test/MultiSource/Benchmarks/MiBench/automotive-susan/susan.c Tue Jan 9 17:44:34 2007
***************
*** 0 ****
--- 1,2124 ----
+ /* {{{ Copyright etc. */
+
+ /**********************************************************************\
+
+ SUSAN Version 2l by Stephen Smith
+ Oxford Centre for Functional Magnetic Resonance Imaging of the Brain,
+ Department of Clinical Neurology, Oxford University, Oxford, UK
+ (Previously in Computer Vision and Image Processing Group - now
+ Computer Vision and Electro Optics Group - DERA Chertsey, UK)
+ Email: steve at fmrib.ox.ac.uk
+ WWW: http://www.fmrib.ox.ac.uk/~steve
+
+ (C) Crown Copyright (1995-1999), Defence Evaluation and Research Agency,
+ Farnborough, Hampshire, GU14 6TD, UK
+ DERA WWW site:
+ http://www.dera.gov.uk/
+ DERA Computer Vision and Electro Optics Group WWW site:
+ http://www.dera.gov.uk/imageprocessing/dera/group_home.html
+ DERA Computer Vision and Electro Optics Group point of contact:
+ Dr. John Savage, jtsavage at dera.gov.uk, +44 1344 633203
+
+ A UK patent has been granted: "Method for digitally processing
+ images to determine the position of edges and/or corners therein for
+ guidance of unmanned vehicle", UK Patent 2272285. Proprietor:
+ Secretary of State for Defence, UK. 15 January 1997
+
+ This code is issued for research purposes only and remains the
+ property of the UK Secretary of State for Defence. This code must
+ not be passed on without this header information being kept
+ intact. This code must not be sold.
+
+ \**********************************************************************/
+
+ /* }}} */
+ /* {{{ Readme First */
+
+ /**********************************************************************\
+
+ SUSAN Version 2l
+ SUSAN = Smallest Univalue Segment Assimilating Nucleus
+
+ Email: steve at fmrib.ox.ac.uk
+ WWW: http://www.fmrib.ox.ac.uk/~steve
+
+ Related paper:
+ @article{Smith97,
+ author = "Smith, S.M. and Brady, J.M.",
+ title = "{SUSAN} - A New Approach to Low Level Image Processing",
+ journal = "Int. Journal of Computer Vision",
+ pages = "45--78",
+ volume = "23",
+ number = "1",
+ month = "May",
+ year = 1997}
+
+ To be registered for automatic (bug) updates of SUSAN, send an email.
+
+ Compile with:
+ gcc -O4 -o susan susan2l.c -lm
+
+ See following section for different machine information. Please
+ report any bugs (and fixes). There are a few optional changes that
+ can be made in the "defines" section which follows shortly.
+
+ Usage: type "susan" to get usage. Only PGM format files can be input
+ and output. Utilities such as the netpbm package and XV can be used
+ to convert to and from other formats. Any size of image can be
+ processed.
+
+ This code is written using an emacs folding mode, making moving
+ around the different sections very easy. This is why there are
+ various marks within comments and why comments are indented.
+
+
+ SUSAN QUICK:
+
+ This version of the SUSAN corner finder does not do all the
+ false-corner suppression and thus is faster and produced some false
+ positives, particularly on strong edges. However, because there are
+ less stages involving thresholds etc., the corners that are
+ correctly reported are usually more stable than those reported with
+ the full algorithm. Thus I recommend at least TRYING this algorithm
+ for applications where stability is important, e.g., tracking.
+
+ THRESHOLDS:
+
+ There are two thresholds which can be set at run-time. These are the
+ brightness threshold (t) and the distance threshold (d).
+
+ SPATIAL CONTROL: d
+
+ In SUSAN smoothing d controls the size of the Gaussian mask; its
+ default is 4.0. Increasing d gives more smoothing. In edge finding,
+ a fixed flat mask is used, either 37 pixels arranged in a "circle"
+ (default), or a 3 by 3 mask which gives finer detail. In corner
+ finding, only the larger 37 pixel mask is used; d is not
+ variable. In smoothing, the flat 3 by 3 mask can be used instead of
+ a larger Gaussian mask; this gives low smoothing and fast operation.
+
+ BRIGHTNESS CONTROL: t
+
+ In all three algorithms, t can be varied (default=20); this is the
+ main threshold to be varied. It determines the maximum difference in
+ greylevels between two pixels which allows them to be considered
+ part of the same "region" in the image. Thus it can be reduced to
+ give more edges or corners, i.e. to be more sensitive, and vice
+ versa. In smoothing, reducing t gives less smoothing, and vice
+ versa. Set t=10 for the test image available from the SUSAN web
+ page.
+
+ ITERATIONS:
+
+ With SUSAN smoothing, more smoothing can also be obtained by
+ iterating the algorithm several times. This has a different effect
+ from varying d or t.
+
+ FIXED MASKS:
+
+ 37 pixel mask: ooo 3 by 3 mask: ooo
+ ooooo ooo
+ ooooooo ooo
+ ooooooo
+ ooooooo
+ ooooo
+ ooo
+
+ CORNER ATTRIBUTES dx, dy and I
+ (Only read this if you are interested in the C implementation or in
+ using corner attributes, e.g., for corner matching)
+
+ Corners reported in the corner list have attributes associated with
+ them as well as positions. This is useful, for example, when
+ attempting to match corners from one image to another, as these
+ attributes can often be fairly unchanged between images. The
+ attributes are dx, dy and I. I is the value of image brightness at
+ the position of the corner. In the case of susan_corners_quick, dx
+ and dy are the first order derivatives (differentials) of the image
+ brightness in the x and y directions respectively, at the position
+ of the corner. In the case of normal susan corner finding, dx and dy
+ are scaled versions of the position of the centre of gravity of the
+ USAN with respect to the centre pixel (nucleus).
+
+ BRIGHTNESS FUNCTION LUT IMPLEMENTATION:
+ (Only read this if you are interested in the C implementation)
+
+ The SUSAN brightness function is implemented as a LUT
+ (Look-Up-Table) for speed. The resulting pointer-based code is a
+ little hard to follow, so here is a brief explanation. In
+ setup_brightness_lut() the LUT is setup. This mallocs enough space
+ for *bp and then repositions the pointer to the centre of the
+ malloced space. The SUSAN function e^-(x^6) or e^-(x^2) is
+ calculated and converted to a uchar in the range 0-100, for all
+ possible image brightness differences (including negative
+ ones). Thus bp[23] is the output for a brightness difference of 23
+ greylevels. In the SUSAN algorithms this LUT is used as follows:
+
+ p=in + (i-3)*x_size + j - 1;
+ p points to the first image pixel in the circular mask surrounding
+ point (x,y).
+
+ cp=bp + in[i*x_size+j];
+ cp points to a position in the LUT corresponding to the brightness
+ of the centre pixel (x,y).
+
+ now for every pixel within the mask surrounding (x,y),
+ n+=*(cp-*p++);
+ the brightness difference function is found by moving the cp pointer
+ down by an amount equal to the value of the pixel pointed to by p,
+ thus subtracting the two brightness values and performing the
+ exponential function. This value is added to n, the running USAN
+ area.
+
+ in SUSAN smoothing, the variable height mask is implemented by
+ multiplying the above by the moving mask pointer, reset for each new
+ centre pixel.
+ tmp = *dpt++ * *(cp-brightness);
+
+ \**********************************************************************/
+
+ /* }}} */
+ /* {{{ Machine Information */
+
+ /**********************************************************************\
+
+ Success has been reported with the following:
+
+ MACHINE OS COMPILER
+
+ Sun 4.1.4 bundled C, gcc
+
+ Next
+
+ SGI IRIX SGI cc
+
+ DEC Unix V3.2+
+
+ IBM RISC AIX gcc
+
+ PC Borland 5.0
+
+ PC Linux gcc-2.6.3
+
+ PC Win32 Visual C++ 4.0 (Console Application)
+
+ PC Win95 Visual C++ 5.0 (Console Application)
+ Thanks to Niu Yongsheng <niuysbit at 163.net>:
+ Use the FOPENB option below
+
+ PC DOS djgpp gnu C
+ Thanks to Mark Pettovello <mpettove at umdsun2.umd.umich.edu>:
+ Use the FOPENB option below
+
+ HP HP-UX bundled cc
+ Thanks to Brian Dixon <briand at hpcvsgen.cv.hp.com>:
+ in ksh:
+ export CCOPTS="-Aa -D_HPUX_SOURCE | -lM"
+ cc -O3 -o susan susan2l.c
+
+ \**********************************************************************/
+
+ /* }}} */
+ /* {{{ History */
+
+ /**********************************************************************\
+
+ SUSAN Version 2l, 12/2/99
+ Changed GNUDOS option to FOPENB.
+ (Thanks to Niu Yongsheng <niuysbit at 163.net>.)
+ Took out redundant "sq=sq/2;".
+
+ SUSAN Version 2k, 19/8/98:
+ In corner finding:
+ Changed if(yy<sq) {...} else if(xx<sq) {...} to
+ if(yy<xx) {...} else {...}
+ (Thanks to adq at cim.mcgill.edu - Alain Domercq.)
+
+ SUSAN Version 2j, 22/10/97:
+ Fixed (mask_size>x_size) etc. tests in smoothing.
+ Added a couple of free() calls for cgx and cgy.
+ (Thanks to geoffb at ucs.ed.ac.uk - Geoff Browitt.)
+
+ SUSAN Version 2i, 21/7/97:
+ Added information about corner attributes.
+
+ SUSAN Version 2h, 16/12/96:
+ Added principle (initial enhancement) option.
+
+ SUSAN Version 2g, 2/7/96:
+ Minor superficial changes to code.
+
+ SUSAN Version 2f, 16/1/96:
+ Added GNUDOS option (now called FOPENB; see options below).
+
+ SUSAN Version 2e, 9/1/96:
+ Added -b option.
+ Fixed 1 pixel horizontal offset error for drawing edges.
+
+ SUSAN Version 2d, 27/11/95:
+ Fixed loading of certain PGM files in get_image (again!)
+
+ SUSAN Version 2c, 22/11/95:
+ Fixed loading of certain PGM files in get_image.
+ (Thanks to qu at San-Jose.ate.slb.com - Gongyuan Qu.)
+
+ SUSAN Version 2b, 9/11/95:
+ removed "z==" error in edges routines.
+
+ SUSAN Version 2a, 6/11/95:
+ Removed a few unnecessary variable declarations.
+ Added different machine information.
+ Changed "header" in get_image to char.
+
+ SUSAN Version 2, 1/11/95: first combined version able to take any
+ image sizes.
+
+ SUSAN "Versions 1", circa 1992: the various SUSAN algorithms were
+ developed during my doctorate within different programs and for
+ fixed image sizes. The algorithms themselves are virtually unaltered
+ between "versions 1" and the combined program, version 2.
+
+ \**********************************************************************/
+
+ /* }}} */
+ /* {{{ defines, includes and typedefs */
+
+ /* ********** Optional settings */
+
+ #ifndef PPC
+ typedef int TOTAL_TYPE; /* this is faster for "int" but should be "float" for large d masks */
+ #else
+ typedef float TOTAL_TYPE; /* for my PowerPC accelerator only */
+ #endif
+
+ /*#define FOPENB*/ /* uncomment if using djgpp gnu C for DOS or certain Win95 compilers */
+ #define SEVEN_SUPP /* size for non-max corner suppression; SEVEN_SUPP or FIVE_SUPP */
+ #define MAX_CORNERS 15000 /* max corners per frame */
+
+ /* ********** Leave the rest - but you may need to remove one or both of sys/file.h and malloc.h lines */
+
+ #include <stdlib.h>
+ #include <stdio.h>
+ #include <string.h>
+ #include <math.h>
+ #include <sys/file.h> /* may want to remove this line */
+ #ifndef __APPLE__
+ #include <malloc.h> /* may want to remove this line */
+ #endif
+ #define exit_error(IFB,IFC) { fprintf(stderr,IFB,IFC); exit(0); }
+ #define FTOI(a) ( (a) < 0 ? ((int)(a-0.5)) : ((int)(a+0.5)) )
+ typedef unsigned char uchar;
+ typedef struct {int x,y,info, dx, dy, I;} CORNER_LIST[MAX_CORNERS];
+
+ /* }}} */
+ /* {{{ usage() */
+
+ usage()
+ {
+ printf("Usage: susan <in.pgm> <out.pgm> [options]\n\n");
+
+ printf("-s : Smoothing mode (default)\n");
+ printf("-e : Edges mode\n");
+ printf("-c : Corners mode\n\n");
+
+ printf("See source code for more information about setting the thresholds\n");
+ printf("-t <thresh> : Brightness threshold, all modes (default=20)\n");
+ printf("-d <thresh> : Distance threshold, smoothing mode, (default=4) (use next option instead for flat 3x3 mask)\n");
+ printf("-3 : Use flat 3x3 mask, edges or smoothing mode\n");
+ printf("-n : No post-processing on the binary edge map (runs much faster); edges mode\n");
+ printf("-q : Use faster (and usually stabler) corner mode; edge-like corner suppression not carried out; corners mode\n");
+ printf("-b : Mark corners/edges with single black points instead of black with white border; corners or edges mode\n");
+ printf("-p : Output initial enhancement image only; corners or edges mode (default is edges mode)\n");
+
+ printf("\nSUSAN Version 2l (C) 1995-1997 Stephen Smith, DRA UK. steve at fmrib.ox.ac.uk\n");
+
+ exit(0);
+ }
+
+ /* }}} */
+ /* {{{ get_image(filename,in,x_size,y_size) */
+
+ /* {{{ int getint(fp) derived from XV */
+
+ int getint(fd)
+ FILE *fd;
+ {
+ int c, i;
+ char dummy[10000];
+
+ c = getc(fd);
+ while (1) /* find next integer */
+ {
+ if (c=='#') /* if we're at a comment, read to end of line */
+ fgets(dummy,9000,fd);
+ if (c==EOF)
+ exit_error("Image %s not binary PGM.\n","is");
+ if (c>='0' && c<='9')
+ break; /* found what we were looking for */
+ c = getc(fd);
+ }
+
+ /* we're at the start of a number, continue until we hit a non-number */
+ i = 0;
+ while (1) {
+ i = (i*10) + (c - '0');
+ c = getc(fd);
+ if (c==EOF) return (i);
+ if (c<'0' || c>'9') break;
+ }
+
+ return (i);
+ }
+
+ /* }}} */
+
+ void get_image(filename,in,x_size,y_size)
+ char filename[200];
+ unsigned char **in;
+ int *x_size, *y_size;
+ {
+ FILE *fd;
+ char header [100];
+ int tmp;
+
+ #ifdef FOPENB
+ if ((fd=fopen(filename,"rb")) == NULL)
+ #else
+ if ((fd=fopen(filename,"r")) == NULL)
+ #endif
+ exit_error("Can't input image %s.\n",filename);
+
+ /* {{{ read header */
+
+ header[0]=fgetc(fd);
+ header[1]=fgetc(fd);
+ if(!(header[0]=='P' && header[1]=='5'))
+ exit_error("Image %s does not have binary PGM header.\n",filename);
+
+ *x_size = getint(fd);
+ *y_size = getint(fd);
+ tmp = getint(fd);
+
+ /* }}} */
+
+ *in = (uchar *) malloc(*x_size * *y_size);
+
+ if (fread(*in,1,*x_size * *y_size,fd) == 0)
+ exit_error("Image %s is wrong size.\n",filename);
+
+ fclose(fd);
+ }
+
+ /* }}} */
+ /* {{{ put_image(filename,in,x_size,y_size) */
+
+ put_image(filename,in,x_size,y_size)
+ char filename [100],
+ *in;
+ int x_size,
+ y_size;
+ {
+ FILE *fd;
+
+ #ifdef FOPENB
+ if ((fd=fopen(filename,"wb")) == NULL)
+ #else
+ if ((fd=fopen(filename,"w")) == NULL)
+ #endif
+ exit_error("Can't output image%s.\n",filename);
+
+ fprintf(fd,"P5\n");
+ fprintf(fd,"%d %d\n",x_size,y_size);
+ fprintf(fd,"255\n");
+
+ if (fwrite(in,x_size*y_size,1,fd) != 1)
+ exit_error("Can't write image %s.\n",filename);
+
+ fclose(fd);
+ }
+
+ /* }}} */
+ /* {{{ int_to_uchar(r,in,size) */
+
+ int_to_uchar(r,in,size)
+ uchar *in;
+ int *r, size;
+ {
+ int i,
+ max_r=r[0],
+ min_r=r[0];
+
+ for (i=0; i<size; i++)
+ {
+ if ( r[i] > max_r )
+ max_r=r[i];
+ if ( r[i] < min_r )
+ min_r=r[i];
+ }
+
+ /*printf("min=%d max=%d\n",min_r,max_r);*/
+
+ max_r-=min_r;
+
+ for (i=0; i<size; i++)
+ in[i] = (uchar)((int)((int)(r[i]-min_r)*255)/max_r);
+ }
+
+ /* }}} */
+ /* {{{ setup_brightness_lut(bp,thresh,form) */
+
+ void setup_brightness_lut(bp,thresh,form)
+ uchar **bp;
+ int thresh, form;
+ {
+ int k;
+ float temp;
+
+ *bp=(unsigned char *)malloc(516);
+ *bp=*bp+258;
+
+ for(k=-256;k<257;k++)
+ {
+ temp=((float)k)/((float)thresh);
+ temp=temp*temp;
+ if (form==6)
+ temp=temp*temp*temp;
+ temp=100.0*exp(-temp);
+ *(*bp+k)= (uchar)temp;
+ }
+ }
+
+ /* }}} */
+ /* {{{ susan principle */
+
+ /* {{{ susan_principle(in,r,bp,max_no,x_size,y_size) */
+
+ susan_principle(in,r,bp,max_no,x_size,y_size)
+ uchar *in, *bp;
+ int *r, max_no, x_size, y_size;
+ {
+ int i, j, n;
+ uchar *p,*cp;
+
+ memset (r,0,x_size * y_size * sizeof(int));
+
+ for (i=3;i<y_size-3;i++)
+ for (j=3;j<x_size-3;j++)
+ {
+ n=100;
+ p=in + (i-3)*x_size + j - 1;
+ cp=bp + in[i*x_size+j];
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-3;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-5;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-6;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=2;
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-6;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-5;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-3;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+
+ if (n<=max_no)
+ r[i*x_size+j] = max_no - n;
+ }
+ }
+
+ /* }}} */
+ /* {{{ susan_principle_small(in,r,bp,max_no,x_size,y_size) */
+
+ susan_principle_small(in,r,bp,max_no,x_size,y_size)
+ uchar *in, *bp;
+ int *r, max_no, x_size, y_size;
+ {
+ int i, j, n;
+ uchar *p,*cp;
+
+ memset (r,0,x_size * y_size * sizeof(int));
+
+ max_no = 730; /* ho hum ;) */
+
+ for (i=1;i<y_size-1;i++)
+ for (j=1;j<x_size-1;j++)
+ {
+ n=100;
+ p=in + (i-1)*x_size + j - 1;
+ cp=bp + in[i*x_size+j];
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-2;
+
+ n+=*(cp-*p);
+ p+=2;
+ n+=*(cp-*p);
+ p+=x_size-2;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+
+ if (n<=max_no)
+ r[i*x_size+j] = max_no - n;
+ }
+ }
+
+ /* }}} */
+
+ /* }}} */
+ /* {{{ smoothing */
+
+ /* {{{ median(in,i,j,x_size) */
+
+ uchar median(in,i,j,x_size)
+ uchar *in;
+ int i, j, x_size;
+ {
+ int p[8],k,l,tmp;
+
+ p[0]=in[(i-1)*x_size+j-1];
+ p[1]=in[(i-1)*x_size+j ];
+ p[2]=in[(i-1)*x_size+j+1];
+ p[3]=in[(i )*x_size+j-1];
+ p[4]=in[(i )*x_size+j+1];
+ p[5]=in[(i+1)*x_size+j-1];
+ p[6]=in[(i+1)*x_size+j ];
+ p[7]=in[(i+1)*x_size+j+1];
+
+ for(k=0; k<7; k++)
+ for(l=0; l<(7-k); l++)
+ if (p[l]>p[l+1])
+ {
+ tmp=p[l]; p[l]=p[l+1]; p[l+1]=tmp;
+ }
+
+ return( (p[3]+p[4]) / 2 );
+ }
+
+ /* }}} */
+ /* {{{ enlarge(in,tmp_image,x_size,y_size,border) */
+
+ /* this enlarges "in" so that borders can be dealt with easily */
+
+ enlarge(in,tmp_image,x_size,y_size,border)
+ uchar **in;
+ uchar *tmp_image;
+ int *x_size, *y_size, border;
+ {
+ int i, j;
+
+ for(i=0; i<*y_size; i++) /* copy *in into tmp_image */
+ memcpy(tmp_image+(i+border)*(*x_size+2*border)+border, *in+i* *x_size, *x_size);
+
+ for(i=0; i<border; i++) /* copy top and bottom rows; invert as many as necessary */
+ {
+ memcpy(tmp_image+(border-1-i)*(*x_size+2*border)+border,*in+i* *x_size,*x_size);
+ memcpy(tmp_image+(*y_size+border+i)*(*x_size+2*border)+border,*in+(*y_size-i-1)* *x_size,*x_size);
+ }
+
+ for(i=0; i<border; i++) /* copy left and right columns */
+ for(j=0; j<*y_size+2*border; j++)
+ {
+ tmp_image[j*(*x_size+2*border)+border-1-i]=tmp_image[j*(*x_size+2*border)+border+i];
+ tmp_image[j*(*x_size+2*border)+ *x_size+border+i]=tmp_image[j*(*x_size+2*border)+ *x_size+border-1-i];
+ }
+
+ *x_size+=2*border; /* alter image size */
+ *y_size+=2*border;
+ *in=tmp_image; /* repoint in */
+ }
+
+ /* }}} */
+ /* {{{ void susan_smoothing(three_by_three,in,dt,x_size,y_size,bp) */
+
+ void susan_smoothing(three_by_three,in,dt,x_size,y_size,bp)
+ int three_by_three, x_size, y_size;
+ uchar *in, *bp;
+ float dt;
+ {
+ /* {{{ vars */
+
+ float temp;
+ int n_max, increment, mask_size,
+ i,j,x,y,area,brightness,tmp,centre;
+ uchar *ip, *dp, *dpt, *cp, *out=in,
+ *tmp_image;
+ TOTAL_TYPE total;
+
+ /* }}} */
+
+ /* {{{ setup larger image and border sizes */
+
+ if (three_by_three==0)
+ mask_size = ((int)(1.5 * dt)) + 1;
+ else
+ mask_size = 1;
+
+ total=0.1; /* test for total's type */
+ if ( (dt>15) && (total==0) )
+ {
+ printf("Distance_thresh (%f) too big for integer arithmetic.\n",dt);
+ printf("Either reduce it to <=15 or recompile with variable \"total\"\n");
+ printf("as a float: see top \"defines\" section.\n");
+ exit(0);
+ }
+
+ if ( (2*mask_size+1>x_size) || (2*mask_size+1>y_size) )
+ {
+ printf("Mask size (1.5*distance_thresh+1=%d) too big for image (%dx%d).\n",mask_size,x_size,y_size);
+ exit(0);
+ }
+
+ tmp_image = (uchar *) malloc( (x_size+mask_size*2) * (y_size+mask_size*2) );
+ enlarge(&in,tmp_image,&x_size,&y_size,mask_size);
+
+ /* }}} */
+
+ if (three_by_three==0)
+ { /* large Gaussian masks */
+ /* {{{ setup distance lut */
+
+ n_max = (mask_size*2) + 1;
+
+ increment = x_size - n_max;
+
+ dp = (unsigned char *)malloc(n_max*n_max);
+ dpt = dp;
+ temp = -(dt*dt);
+
+ for(i=-mask_size; i<=mask_size; i++)
+ for(j=-mask_size; j<=mask_size; j++)
+ {
+ x = (int) (100.0 * exp( ((float)((i*i)+(j*j))) / temp ));
+ *dpt++ = (unsigned char)x;
+ }
+
+ /* }}} */
+ /* {{{ main section */
+
+ for (i=mask_size;i<y_size-mask_size;i++)
+ {
+ for (j=mask_size;j<x_size-mask_size;j++)
+ {
+ area = 0;
+ total = 0;
+ dpt = dp;
+ ip = in + ((i-mask_size)*x_size) + j - mask_size;
+ centre = in[i*x_size+j];
+ cp = bp + centre;
+ for(y=-mask_size; y<=mask_size; y++)
+ {
+ for(x=-mask_size; x<=mask_size; x++)
+ {
+ brightness = *ip++;
+ tmp = *dpt++ * *(cp-brightness);
+ area += tmp;
+ total += tmp * brightness;
+ }
+ ip += increment;
+ }
+ tmp = area-10000;
+ if (tmp==0)
+ *out++=median(in,i,j,x_size);
+ else
+ *out++=((total-(centre*10000))/tmp);
+ }
+ }
+
+ /* }}} */
+ }
+ else
+ { /* 3x3 constant mask */
+ /* {{{ main section */
+
+ for (i=1;i<y_size-1;i++)
+ {
+ for (j=1;j<x_size-1;j++)
+ {
+ area = 0;
+ total = 0;
+ ip = in + ((i-1)*x_size) + j - 1;
+ centre = in[i*x_size+j];
+ cp = bp + centre;
+
+ brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
+ brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
+ brightness=*ip; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
+ ip += x_size-2;
+ brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
+ brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
+ brightness=*ip; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
+ ip += x_size-2;
+ brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
+ brightness=*ip++; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
+ brightness=*ip; tmp=*(cp-brightness); area += tmp; total += tmp * brightness;
+
+ tmp = area-100;
+ if (tmp==0)
+ *out++=median(in,i,j,x_size);
+ else
+ *out++=(total-(centre*100))/tmp;
+ }
+ }
+
+ /* }}} */
+ }
+ }
+
+ /* }}} */
+
+ /* }}} */
+ /* {{{ edges */
+
+ /* {{{ edge_draw(in,corner_list,drawing_mode) */
+
+ edge_draw(in,mid,x_size,y_size,drawing_mode)
+ uchar *in, *mid;
+ int x_size, y_size, drawing_mode;
+ {
+ int i;
+ uchar *inp, *midp;
+
+ if (drawing_mode==0)
+ {
+ /* mark 3x3 white block around each edge point */
+ midp=mid;
+ for (i=0; i<x_size*y_size; i++)
+ {
+ if (*midp<8)
+ {
+ inp = in + (midp - mid) - x_size - 1;
+ *inp++=255; *inp++=255; *inp=255; inp+=x_size-2;
+ *inp++=255; *inp++; *inp=255; inp+=x_size-2;
+ *inp++=255; *inp++=255; *inp=255;
+ }
+ midp++;
+ }
+ }
+
+ /* now mark 1 black pixel at each edge point */
+ midp=mid;
+ for (i=0; i<x_size*y_size; i++)
+ {
+ if (*midp<8)
+ *(in + (midp - mid)) = 0;
+ midp++;
+ }
+ }
+
+ /* }}} */
+ /* {{{ susan_thin(r,mid,x_size,y_size) */
+
+ /* only one pass is needed as i,j are decremented if necessary to go
+ back and do bits again */
+
+ susan_thin(r,mid,x_size,y_size)
+ uchar *mid;
+ int *r, x_size, y_size;
+ {
+ int l[9], centre, nlinks, npieces,
+ b01, b12, b21, b10,
+ p1, p2, p3, p4,
+ b00, b02, b20, b22,
+ m, n, a, b, x, y, i, j;
+ uchar *mp;
+
+ for (i=4;i<y_size-4;i++)
+ for (j=4;j<x_size-4;j++)
+ if (mid[i*x_size+j]<8)
+ {
+ centre = r[i*x_size+j];
+ /* {{{ count number of neighbours */
+
+ mp=mid + (i-1)*x_size + j-1;
+
+ n = (*mp<8) +
+ (*(mp+1)<8) +
+ (*(mp+2)<8) +
+ (*(mp+x_size)<8) +
+ (*(mp+x_size+2)<8) +
+ (*(mp+x_size+x_size)<8) +
+ (*(mp+x_size+x_size+1)<8) +
+ (*(mp+x_size+x_size+2)<8);
+
+ /* }}} */
+ /* {{{ n==0 no neighbours - remove point */
+
+ if (n==0)
+ mid[i*x_size+j]=100;
+
+ /* }}} */
+ /* {{{ n==1 - extend line if I can */
+
+ /* extension is only allowed a few times - the value of mid is used to control this */
+
+ if ( (n==1) && (mid[i*x_size+j]<6) )
+ {
+ /* find maximum neighbour weighted in direction opposite the
+ neighbour already present. e.g.
+ have: O O O weight r by 0 2 3
+ X X O 0 0 4
+ O O O 0 2 3 */
+
+ l[0]=r[(i-1)*x_size+j-1]; l[1]=r[(i-1)*x_size+j]; l[2]=r[(i-1)*x_size+j+1];
+ l[3]=r[(i )*x_size+j-1]; l[4]=0; l[5]=r[(i )*x_size+j+1];
+ l[6]=r[(i+1)*x_size+j-1]; l[7]=r[(i+1)*x_size+j]; l[8]=r[(i+1)*x_size+j+1];
+
+ if (mid[(i-1)*x_size+j-1]<8) { l[0]=0; l[1]=0; l[3]=0; l[2]*=2;
+ l[6]*=2; l[5]*=3; l[7]*=3; l[8]*=4; }
+ else { if (mid[(i-1)*x_size+j]<8) { l[1]=0; l[0]=0; l[2]=0; l[3]*=2;
+ l[5]*=2; l[6]*=3; l[8]*=3; l[7]*=4; }
+ else { if (mid[(i-1)*x_size+j+1]<8) { l[2]=0; l[1]=0; l[5]=0; l[0]*=2;
+ l[8]*=2; l[3]*=3; l[7]*=3; l[6]*=4; }
+ else { if (mid[(i)*x_size+j-1]<8) { l[3]=0; l[0]=0; l[6]=0; l[1]*=2;
+ l[7]*=2; l[2]*=3; l[8]*=3; l[5]*=4; }
+ else { if (mid[(i)*x_size+j+1]<8) { l[5]=0; l[2]=0; l[8]=0; l[1]*=2;
+ l[7]*=2; l[0]*=3; l[6]*=3; l[3]*=4; }
+ else { if (mid[(i+1)*x_size+j-1]<8) { l[6]=0; l[3]=0; l[7]=0; l[0]*=2;
+ l[8]*=2; l[1]*=3; l[5]*=3; l[2]*=4; }
+ else { if (mid[(i+1)*x_size+j]<8) { l[7]=0; l[6]=0; l[8]=0; l[3]*=2;
+ l[5]*=2; l[0]*=3; l[2]*=3; l[1]*=4; }
+ else { if (mid[(i+1)*x_size+j+1]<8) { l[8]=0; l[5]=0; l[7]=0; l[6]*=2;
+ l[2]*=2; l[1]*=3; l[3]*=3; l[0]*=4; } }}}}}}}
+
+ m=0; /* find the highest point */
+ for(y=0; y<3; y++)
+ for(x=0; x<3; x++)
+ if (l[y+y+y+x]>m) { m=l[y+y+y+x]; a=y; b=x; }
+
+ if (m>0)
+ {
+ if (mid[i*x_size+j]<4)
+ mid[(i+a-1)*x_size+j+b-1] = 4;
+ else
+ mid[(i+a-1)*x_size+j+b-1] = mid[i*x_size+j]+1;
+ if ( (a+a+b) < 3 ) /* need to jump back in image */
+ {
+ i+=a-1;
+ j+=b-2;
+ if (i<4) i=4;
+ if (j<4) j=4;
+ }
+ }
+ }
+
+ /* }}} */
+ /* {{{ n==2 */
+
+ if (n==2)
+ {
+ /* put in a bit here to straighten edges */
+ b00 = mid[(i-1)*x_size+j-1]<8; /* corners of 3x3 */
+ b02 = mid[(i-1)*x_size+j+1]<8;
+ b20 = mid[(i+1)*x_size+j-1]<8;
+ b22 = mid[(i+1)*x_size+j+1]<8;
+ if ( ((b00+b02+b20+b22)==2) && ((b00|b22)&(b02|b20)))
+ { /* case: move a point back into line.
+ e.g. X O X CAN become X X X
+ O X O O O O
+ O O O O O O */
+ if (b00)
+ {
+ if (b02) { x=0; y=-1; }
+ else { x=-1; y=0; }
+ }
+ else
+ {
+ if (b02) { x=1; y=0; }
+ else { x=0; y=1; }
+ }
+ if (((float)r[(i+y)*x_size+j+x]/(float)centre) > 0.7)
+ {
+ if ( ( (x==0) && (mid[(i+(2*y))*x_size+j]>7) && (mid[(i+(2*y))*x_size+j-1]>7) && (mid[(i+(2*y))*x_size+j+1]>7) ) ||
+ ( (y==0) && (mid[(i)*x_size+j+(2*x)]>7) && (mid[(i+1)*x_size+j+(2*x)]>7) && (mid[(i-1)*x_size+j+(2*x)]>7) ) )
+ {
+ mid[(i)*x_size+j]=100;
+ mid[(i+y)*x_size+j+x]=3; /* no jumping needed */
+ }
+ }
+ }
+ else
+ {
+ b01 = mid[(i-1)*x_size+j ]<8;
+ b12 = mid[(i )*x_size+j+1]<8;
+ b21 = mid[(i+1)*x_size+j ]<8;
+ b10 = mid[(i )*x_size+j-1]<8;
+ /* {{{ right angle ends - not currently used */
+
+ #ifdef IGNORETHIS
+ if ( (b00&b01)|(b00&b10)|(b02&b01)|(b02&b12)|(b20&b10)|(b20&b21)|(b22&b21)|(b22&b12) )
+ { /* case; right angle ends. clean up.
+ e.g.; X X O CAN become X X O
+ O X O O O O
+ O O O O O O */
+ if ( ((b01)&(mid[(i-2)*x_size+j-1]>7)&(mid[(i-2)*x_size+j]>7)&(mid[(i-2)*x_size+j+1]>7)&
+ ((b00&((2*r[(i-1)*x_size+j+1])>centre))|(b02&((2*r[(i-1)*x_size+j-1])>centre)))) |
+ ((b10)&(mid[(i-1)*x_size+j-2]>7)&(mid[(i)*x_size+j-2]>7)&(mid[(i+1)*x_size+j-2]>7)&
+ ((b00&((2*r[(i+1)*x_size+j-1])>centre))|(b20&((2*r[(i-1)*x_size+j-1])>centre)))) |
+ ((b12)&(mid[(i-1)*x_size+j+2]>7)&(mid[(i)*x_size+j+2]>7)&(mid[(i+1)*x_size+j+2]>7)&
+ ((b02&((2*r[(i+1)*x_size+j+1])>centre))|(b22&((2*r[(i-1)*x_size+j+1])>centre)))) |
+ ((b21)&(mid[(i+2)*x_size+j-1]>7)&(mid[(i+2)*x_size+j]>7)&(mid[(i+2)*x_size+j+1]>7)&
+ ((b20&((2*r[(i+1)*x_size+j+1])>centre))|(b22&((2*r[(i+1)*x_size+j-1])>centre)))) )
+ {
+ mid[(i)*x_size+j]=100;
+ if (b10&b20) j-=2;
+ if (b00|b01|b02) { i--; j-=2; }
+ }
+ }
+ #endif
+
+ /* }}} */
+ if ( ((b01+b12+b21+b10)==2) && ((b10|b12)&(b01|b21)) &&
+ ((b01&((mid[(i-2)*x_size+j-1]<8)|(mid[(i-2)*x_size+j+1]<8)))|(b10&((mid[(i-1)*x_size+j-2]<8)|(mid[(i+1)*x_size+j-2]<8)))|
+ (b12&((mid[(i-1)*x_size+j+2]<8)|(mid[(i+1)*x_size+j+2]<8)))|(b21&((mid[(i+2)*x_size+j-1]<8)|(mid[(i+2)*x_size+j+1]<8)))) )
+ { /* case; clears odd right angles.
+ e.g.; O O O becomes O O O
+ X X O X O O
+ O X O O X O */
+ mid[(i)*x_size+j]=100;
+ i--; /* jump back */
+ j-=2;
+ if (i<4) i=4;
+ if (j<4) j=4;
+ }
+ }
+ }
+
+ /* }}} */
+ /* {{{ n>2 the thinning is done here without breaking connectivity */
+
+ if (n>2)
+ {
+ b01 = mid[(i-1)*x_size+j ]<8;
+ b12 = mid[(i )*x_size+j+1]<8;
+ b21 = mid[(i+1)*x_size+j ]<8;
+ b10 = mid[(i )*x_size+j-1]<8;
+ if((b01+b12+b21+b10)>1)
+ {
+ b00 = mid[(i-1)*x_size+j-1]<8;
+ b02 = mid[(i-1)*x_size+j+1]<8;
+ b20 = mid[(i+1)*x_size+j-1]<8;
+ b22 = mid[(i+1)*x_size+j+1]<8;
+ p1 = b00 | b01;
+ p2 = b02 | b12;
+ p3 = b22 | b21;
+ p4 = b20 | b10;
+
+ if( ((p1 + p2 + p3 + p4) - ((b01 & p2)+(b12 & p3)+(b21 & p4)+(b10 & p1))) < 2)
+ {
+ mid[(i)*x_size+j]=100;
+ i--;
+ j-=2;
+ if (i<4) i=4;
+ if (j<4) j=4;
+ }
+ }
+ }
+
+ /* }}} */
+ }
+ }
+
+ /* }}} */
+ /* {{{ susan_edges(in,r,sf,max_no,out) */
+
+ susan_edges(in,r,mid,bp,max_no,x_size,y_size)
+ uchar *in, *bp, *mid;
+ int *r, max_no, x_size, y_size;
+ {
+ float z;
+ int do_symmetry, i, j, m, n, a, b, x, y, w;
+ uchar c,*p,*cp;
+
+ memset (r,0,x_size * y_size * sizeof(int));
+
+ for (i=3;i<y_size-3;i++)
+ for (j=3;j<x_size-3;j++)
+ {
+ n=100;
+ p=in + (i-3)*x_size + j - 1;
+ cp=bp + in[i*x_size+j];
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-3;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-5;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-6;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=2;
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-6;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-5;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-3;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+
+ if (n<=max_no)
+ r[i*x_size+j] = max_no - n;
+ }
+
+ for (i=4;i<y_size-4;i++)
+ for (j=4;j<x_size-4;j++)
+ {
+ if (r[i*x_size+j]>0)
+ {
+ m=r[i*x_size+j];
+ n=max_no - m;
+ cp=bp + in[i*x_size+j];
+
+ if (n>600)
+ {
+ p=in + (i-3)*x_size + j - 1;
+ x=0;y=0;
+
+ c=*(cp-*p++);x-=c;y-=3*c;
+ c=*(cp-*p++);y-=3*c;
+ c=*(cp-*p);x+=c;y-=3*c;
+ p+=x_size-3;
+
+ c=*(cp-*p++);x-=2*c;y-=2*c;
+ c=*(cp-*p++);x-=c;y-=2*c;
+ c=*(cp-*p++);y-=2*c;
+ c=*(cp-*p++);x+=c;y-=2*c;
+ c=*(cp-*p);x+=2*c;y-=2*c;
+ p+=x_size-5;
+
+ c=*(cp-*p++);x-=3*c;y-=c;
+ c=*(cp-*p++);x-=2*c;y-=c;
+ c=*(cp-*p++);x-=c;y-=c;
+ c=*(cp-*p++);y-=c;
+ c=*(cp-*p++);x+=c;y-=c;
+ c=*(cp-*p++);x+=2*c;y-=c;
+ c=*(cp-*p);x+=3*c;y-=c;
+ p+=x_size-6;
+
+ c=*(cp-*p++);x-=3*c;
+ c=*(cp-*p++);x-=2*c;
+ c=*(cp-*p);x-=c;
+ p+=2;
+ c=*(cp-*p++);x+=c;
+ c=*(cp-*p++);x+=2*c;
+ c=*(cp-*p);x+=3*c;
+ p+=x_size-6;
+
+ c=*(cp-*p++);x-=3*c;y+=c;
+ c=*(cp-*p++);x-=2*c;y+=c;
+ c=*(cp-*p++);x-=c;y+=c;
+ c=*(cp-*p++);y+=c;
+ c=*(cp-*p++);x+=c;y+=c;
+ c=*(cp-*p++);x+=2*c;y+=c;
+ c=*(cp-*p);x+=3*c;y+=c;
+ p+=x_size-5;
+
+ c=*(cp-*p++);x-=2*c;y+=2*c;
+ c=*(cp-*p++);x-=c;y+=2*c;
+ c=*(cp-*p++);y+=2*c;
+ c=*(cp-*p++);x+=c;y+=2*c;
+ c=*(cp-*p);x+=2*c;y+=2*c;
+ p+=x_size-3;
+
+ c=*(cp-*p++);x-=c;y+=3*c;
+ c=*(cp-*p++);y+=3*c;
+ c=*(cp-*p);x+=c;y+=3*c;
+
+ z = sqrt((float)((x*x) + (y*y)));
+ if (z > (0.9*(float)n)) /* 0.5 */
+ {
+ do_symmetry=0;
+ if (x==0)
+ z=1000000.0;
+ else
+ z=((float)y) / ((float)x);
+ if (z < 0) { z=-z; w=-1; }
+ else w=1;
+ if (z < 0.5) { /* vert_edge */ a=0; b=1; }
+ else { if (z > 2.0) { /* hor_edge */ a=1; b=0; }
+ else { /* diag_edge */ if (w>0) { a=1; b=1; }
+ else { a=-1; b=1; }}}
+ if ( (m > r[(i+a)*x_size+j+b]) && (m >= r[(i-a)*x_size+j-b]) &&
+ (m > r[(i+(2*a))*x_size+j+(2*b)]) && (m >= r[(i-(2*a))*x_size+j-(2*b)]) )
+ mid[i*x_size+j] = 1;
+ }
+ else
+ do_symmetry=1;
+ }
+ else
+ do_symmetry=1;
+
+ if (do_symmetry==1)
+ {
+ p=in + (i-3)*x_size + j - 1;
+ x=0; y=0; w=0;
+
+ /* | \
+ y -x- w
+ | \ */
+
+ c=*(cp-*p++);x+=c;y+=9*c;w+=3*c;
+ c=*(cp-*p++);y+=9*c;
+ c=*(cp-*p);x+=c;y+=9*c;w-=3*c;
+ p+=x_size-3;
+
+ c=*(cp-*p++);x+=4*c;y+=4*c;w+=4*c;
+ c=*(cp-*p++);x+=c;y+=4*c;w+=2*c;
+ c=*(cp-*p++);y+=4*c;
+ c=*(cp-*p++);x+=c;y+=4*c;w-=2*c;
+ c=*(cp-*p);x+=4*c;y+=4*c;w-=4*c;
+ p+=x_size-5;
+
+ c=*(cp-*p++);x+=9*c;y+=c;w+=3*c;
+ c=*(cp-*p++);x+=4*c;y+=c;w+=2*c;
+ c=*(cp-*p++);x+=c;y+=c;w+=c;
+ c=*(cp-*p++);y+=c;
+ c=*(cp-*p++);x+=c;y+=c;w-=c;
+ c=*(cp-*p++);x+=4*c;y+=c;w-=2*c;
+ c=*(cp-*p);x+=9*c;y+=c;w-=3*c;
+ p+=x_size-6;
+
+ c=*(cp-*p++);x+=9*c;
+ c=*(cp-*p++);x+=4*c;
+ c=*(cp-*p);x+=c;
+ p+=2;
+ c=*(cp-*p++);x+=c;
+ c=*(cp-*p++);x+=4*c;
+ c=*(cp-*p);x+=9*c;
+ p+=x_size-6;
+
+ c=*(cp-*p++);x+=9*c;y+=c;w-=3*c;
+ c=*(cp-*p++);x+=4*c;y+=c;w-=2*c;
+ c=*(cp-*p++);x+=c;y+=c;w-=c;
+ c=*(cp-*p++);y+=c;
+ c=*(cp-*p++);x+=c;y+=c;w+=c;
+ c=*(cp-*p++);x+=4*c;y+=c;w+=2*c;
+ c=*(cp-*p);x+=9*c;y+=c;w+=3*c;
+ p+=x_size-5;
+
+ c=*(cp-*p++);x+=4*c;y+=4*c;w-=4*c;
+ c=*(cp-*p++);x+=c;y+=4*c;w-=2*c;
+ c=*(cp-*p++);y+=4*c;
+ c=*(cp-*p++);x+=c;y+=4*c;w+=2*c;
+ c=*(cp-*p);x+=4*c;y+=4*c;w+=4*c;
+ p+=x_size-3;
+
+ c=*(cp-*p++);x+=c;y+=9*c;w-=3*c;
+ c=*(cp-*p++);y+=9*c;
+ c=*(cp-*p);x+=c;y+=9*c;w+=3*c;
+
+ if (y==0)
+ z = 1000000.0;
+ else
+ z = ((float)x) / ((float)y);
+ if (z < 0.5) { /* vertical */ a=0; b=1; }
+ else { if (z > 2.0) { /* horizontal */ a=1; b=0; }
+ else { /* diagonal */ if (w>0) { a=-1; b=1; }
+ else { a=1; b=1; }}}
+ if ( (m > r[(i+a)*x_size+j+b]) && (m >= r[(i-a)*x_size+j-b]) &&
+ (m > r[(i+(2*a))*x_size+j+(2*b)]) && (m >= r[(i-(2*a))*x_size+j-(2*b)]) )
+ mid[i*x_size+j] = 2;
+ }
+ }
+ }
+ }
+
+ /* }}} */
+ /* {{{ susan_edges_small(in,r,sf,max_no,out) */
+
+ susan_edges_small(in,r,mid,bp,max_no,x_size,y_size)
+ uchar *in, *bp, *mid;
+ int *r, max_no, x_size, y_size;
+ {
+ float z;
+ int do_symmetry, i, j, m, n, a, b, x, y, w;
+ uchar c,*p,*cp;
+
+ memset (r,0,x_size * y_size * sizeof(int));
+
+ max_no = 730; /* ho hum ;) */
+
+ for (i=1;i<y_size-1;i++)
+ for (j=1;j<x_size-1;j++)
+ {
+ n=100;
+ p=in + (i-1)*x_size + j - 1;
+ cp=bp + in[i*x_size+j];
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-2;
+
+ n+=*(cp-*p);
+ p+=2;
+ n+=*(cp-*p);
+ p+=x_size-2;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+
+ if (n<=max_no)
+ r[i*x_size+j] = max_no - n;
+ }
+
+ for (i=2;i<y_size-2;i++)
+ for (j=2;j<x_size-2;j++)
+ {
+ if (r[i*x_size+j]>0)
+ {
+ m=r[i*x_size+j];
+ n=max_no - m;
+ cp=bp + in[i*x_size+j];
+
+ if (n>250)
+ {
+ p=in + (i-1)*x_size + j - 1;
+ x=0;y=0;
+
+ c=*(cp-*p++);x-=c;y-=c;
+ c=*(cp-*p++);y-=c;
+ c=*(cp-*p);x+=c;y-=c;
+ p+=x_size-2;
+
+ c=*(cp-*p);x-=c;
+ p+=2;
+ c=*(cp-*p);x+=c;
+ p+=x_size-2;
+
+ c=*(cp-*p++);x-=c;y+=c;
+ c=*(cp-*p++);y+=c;
+ c=*(cp-*p);x+=c;y+=c;
+
+ z = sqrt((float)((x*x) + (y*y)));
+ if (z > (0.4*(float)n)) /* 0.6 */
+ {
+ do_symmetry=0;
+ if (x==0)
+ z=1000000.0;
+ else
+ z=((float)y) / ((float)x);
+ if (z < 0) { z=-z; w=-1; }
+ else w=1;
+ if (z < 0.5) { /* vert_edge */ a=0; b=1; }
+ else { if (z > 2.0) { /* hor_edge */ a=1; b=0; }
+ else { /* diag_edge */ if (w>0) { a=1; b=1; }
+ else { a=-1; b=1; }}}
+ if ( (m > r[(i+a)*x_size+j+b]) && (m >= r[(i-a)*x_size+j-b]) )
+ mid[i*x_size+j] = 1;
+ }
+ else
+ do_symmetry=1;
+ }
+ else
+ do_symmetry=1;
+
+ if (do_symmetry==1)
+ {
+ p=in + (i-1)*x_size + j - 1;
+ x=0; y=0; w=0;
+
+ /* | \
+ y -x- w
+ | \ */
+
+ c=*(cp-*p++);x+=c;y+=c;w+=c;
+ c=*(cp-*p++);y+=c;
+ c=*(cp-*p);x+=c;y+=c;w-=c;
+ p+=x_size-2;
+
+ c=*(cp-*p);x+=c;
+ p+=2;
+ c=*(cp-*p);x+=c;
+ p+=x_size-2;
+
+ c=*(cp-*p++);x+=c;y+=c;w-=c;
+ c=*(cp-*p++);y+=c;
+ c=*(cp-*p);x+=c;y+=c;w+=c;
+
+ if (y==0)
+ z = 1000000.0;
+ else
+ z = ((float)x) / ((float)y);
+ if (z < 0.5) { /* vertical */ a=0; b=1; }
+ else { if (z > 2.0) { /* horizontal */ a=1; b=0; }
+ else { /* diagonal */ if (w>0) { a=-1; b=1; }
+ else { a=1; b=1; }}}
+ if ( (m > r[(i+a)*x_size+j+b]) && (m >= r[(i-a)*x_size+j-b]) )
+ mid[i*x_size+j] = 2;
+ }
+ }
+ }
+ }
+
+ /* }}} */
+
+ /* }}} */
+ /* {{{ corners */
+
+ /* {{{ corner_draw(in,corner_list,drawing_mode) */
+
+ corner_draw(in,corner_list,x_size,drawing_mode)
+ uchar *in;
+ CORNER_LIST corner_list;
+ int x_size, drawing_mode;
+ {
+ uchar *p;
+ int n=0;
+
+ while(corner_list[n].info != 7)
+ {
+ if (drawing_mode==0)
+ {
+ p = in + (corner_list[n].y-1)*x_size + corner_list[n].x - 1;
+ *p++=255; *p++=255; *p=255; p+=x_size-2;
+ *p++=255; *p++=0; *p=255; p+=x_size-2;
+ *p++=255; *p++=255; *p=255;
+ n++;
+ }
+ else
+ {
+ p = in + corner_list[n].y*x_size + corner_list[n].x;
+ *p=0;
+ n++;
+ }
+ }
+ }
+
+ /* }}} */
+ /* {{{ susan(in,r,sf,max_no,corner_list) */
+
+ susan_corners(in,r,bp,max_no,corner_list,x_size,y_size)
+ uchar *in, *bp;
+ int *r, max_no, x_size, y_size;
+ CORNER_LIST corner_list;
+ {
+ int n,x,y,sq,xx,yy,
+ i,j,*cgx,*cgy;
+ float divide;
+ uchar c,*p,*cp;
+
+ memset (r,0,x_size * y_size * sizeof(int));
+
+ cgx=(int *)malloc(x_size*y_size*sizeof(int));
+ cgy=(int *)malloc(x_size*y_size*sizeof(int));
+
+ for (i=5;i<y_size-5;i++)
+ for (j=5;j<x_size-5;j++) {
+ n=100;
+ p=in + (i-3)*x_size + j - 1;
+ cp=bp + in[i*x_size+j];
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-3;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-5;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-6;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ if (n<max_no){ /* do this test early and often ONLY to save wasted computation */
+ p+=2;
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p);
+ if (n<max_no){
+ p+=x_size-6;
+
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p);
+ if (n<max_no){
+ p+=x_size-5;
+
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p);
+ if (n<max_no){
+ p+=x_size-3;
+
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p);
+
+ if (n<max_no)
+ {
+ x=0;y=0;
+ p=in + (i-3)*x_size + j - 1;
+
+ c=*(cp-*p++);x-=c;y-=3*c;
+ c=*(cp-*p++);y-=3*c;
+ c=*(cp-*p);x+=c;y-=3*c;
+ p+=x_size-3;
+
+ c=*(cp-*p++);x-=2*c;y-=2*c;
+ c=*(cp-*p++);x-=c;y-=2*c;
+ c=*(cp-*p++);y-=2*c;
+ c=*(cp-*p++);x+=c;y-=2*c;
+ c=*(cp-*p);x+=2*c;y-=2*c;
+ p+=x_size-5;
+
+ c=*(cp-*p++);x-=3*c;y-=c;
+ c=*(cp-*p++);x-=2*c;y-=c;
+ c=*(cp-*p++);x-=c;y-=c;
+ c=*(cp-*p++);y-=c;
+ c=*(cp-*p++);x+=c;y-=c;
+ c=*(cp-*p++);x+=2*c;y-=c;
+ c=*(cp-*p);x+=3*c;y-=c;
+ p+=x_size-6;
+
+ c=*(cp-*p++);x-=3*c;
+ c=*(cp-*p++);x-=2*c;
+ c=*(cp-*p);x-=c;
+ p+=2;
+ c=*(cp-*p++);x+=c;
+ c=*(cp-*p++);x+=2*c;
+ c=*(cp-*p);x+=3*c;
+ p+=x_size-6;
+
+ c=*(cp-*p++);x-=3*c;y+=c;
+ c=*(cp-*p++);x-=2*c;y+=c;
+ c=*(cp-*p++);x-=c;y+=c;
+ c=*(cp-*p++);y+=c;
+ c=*(cp-*p++);x+=c;y+=c;
+ c=*(cp-*p++);x+=2*c;y+=c;
+ c=*(cp-*p);x+=3*c;y+=c;
+ p+=x_size-5;
+
+ c=*(cp-*p++);x-=2*c;y+=2*c;
+ c=*(cp-*p++);x-=c;y+=2*c;
+ c=*(cp-*p++);y+=2*c;
+ c=*(cp-*p++);x+=c;y+=2*c;
+ c=*(cp-*p);x+=2*c;y+=2*c;
+ p+=x_size-3;
+
+ c=*(cp-*p++);x-=c;y+=3*c;
+ c=*(cp-*p++);y+=3*c;
+ c=*(cp-*p);x+=c;y+=3*c;
+
+ xx=x*x;
+ yy=y*y;
+ sq=xx+yy;
+ if ( sq > ((n*n)/2) )
+ {
+ if(yy<xx) {
+ divide=(float)y/(float)abs(x);
+ sq=abs(x)/x;
+ sq=*(cp-in[(i+FTOI(divide))*x_size+j+sq]) +
+ *(cp-in[(i+FTOI(2*divide))*x_size+j+2*sq]) +
+ *(cp-in[(i+FTOI(3*divide))*x_size+j+3*sq]);}
+ else {
+ divide=(float)x/(float)abs(y);
+ sq=abs(y)/y;
+ sq=*(cp-in[(i+sq)*x_size+j+FTOI(divide)]) +
+ *(cp-in[(i+2*sq)*x_size+j+FTOI(2*divide)]) +
+ *(cp-in[(i+3*sq)*x_size+j+FTOI(3*divide)]);}
+
+ if(sq>290){
+ r[i*x_size+j] = max_no-n;
+ cgx[i*x_size+j] = (51*x)/n;
+ cgy[i*x_size+j] = (51*y)/n;}
+ }
+ }
+ }}}}}}}}}}}}}}}}}}}
+
+ /* to locate the local maxima */
+ n=0;
+ for (i=5;i<y_size-5;i++)
+ for (j=5;j<x_size-5;j++) {
+ x = r[i*x_size+j];
+ if (x>0) {
+ /* 5x5 mask */
+ #ifdef FIVE_SUPP
+ if (
+ (x>r[(i-1)*x_size+j+2]) &&
+ (x>r[(i )*x_size+j+1]) &&
+ (x>r[(i )*x_size+j+2]) &&
+ (x>r[(i+1)*x_size+j-1]) &&
+ (x>r[(i+1)*x_size+j ]) &&
+ (x>r[(i+1)*x_size+j+1]) &&
+ (x>r[(i+1)*x_size+j+2]) &&
+ (x>r[(i+2)*x_size+j-2]) &&
+ (x>r[(i+2)*x_size+j-1]) &&
+ (x>r[(i+2)*x_size+j ]) &&
+ (x>r[(i+2)*x_size+j+1]) &&
+ (x>r[(i+2)*x_size+j+2]) &&
+ (x>=r[(i-2)*x_size+j-2]) &&
+ (x>=r[(i-2)*x_size+j-1]) &&
+ (x>=r[(i-2)*x_size+j ]) &&
+ (x>=r[(i-2)*x_size+j+1]) &&
+ (x>=r[(i-2)*x_size+j+2]) &&
+ (x>=r[(i-1)*x_size+j-2]) &&
+ (x>=r[(i-1)*x_size+j-1]) &&
+ (x>=r[(i-1)*x_size+j ]) &&
+ (x>=r[(i-1)*x_size+j+1]) &&
+ (x>=r[(i )*x_size+j-2]) &&
+ (x>=r[(i )*x_size+j-1]) &&
+ (x>=r[(i+1)*x_size+j-2]) )
+ #endif
+ #ifdef SEVEN_SUPP
+ if (
+ (x>r[(i-3)*x_size+j-3]) &&
+ (x>r[(i-3)*x_size+j-2]) &&
+ (x>r[(i-3)*x_size+j-1]) &&
+ (x>r[(i-3)*x_size+j ]) &&
+ (x>r[(i-3)*x_size+j+1]) &&
+ (x>r[(i-3)*x_size+j+2]) &&
+ (x>r[(i-3)*x_size+j+3]) &&
+
+ (x>r[(i-2)*x_size+j-3]) &&
+ (x>r[(i-2)*x_size+j-2]) &&
+ (x>r[(i-2)*x_size+j-1]) &&
+ (x>r[(i-2)*x_size+j ]) &&
+ (x>r[(i-2)*x_size+j+1]) &&
+ (x>r[(i-2)*x_size+j+2]) &&
+ (x>r[(i-2)*x_size+j+3]) &&
+
+ (x>r[(i-1)*x_size+j-3]) &&
+ (x>r[(i-1)*x_size+j-2]) &&
+ (x>r[(i-1)*x_size+j-1]) &&
+ (x>r[(i-1)*x_size+j ]) &&
+ (x>r[(i-1)*x_size+j+1]) &&
+ (x>r[(i-1)*x_size+j+2]) &&
+ (x>r[(i-1)*x_size+j+3]) &&
+
+ (x>r[(i)*x_size+j-3]) &&
+ (x>r[(i)*x_size+j-2]) &&
+ (x>r[(i)*x_size+j-1]) &&
+ (x>=r[(i)*x_size+j+1]) &&
+ (x>=r[(i)*x_size+j+2]) &&
+ (x>=r[(i)*x_size+j+3]) &&
+
+ (x>=r[(i+1)*x_size+j-3]) &&
+ (x>=r[(i+1)*x_size+j-2]) &&
+ (x>=r[(i+1)*x_size+j-1]) &&
+ (x>=r[(i+1)*x_size+j ]) &&
+ (x>=r[(i+1)*x_size+j+1]) &&
+ (x>=r[(i+1)*x_size+j+2]) &&
+ (x>=r[(i+1)*x_size+j+3]) &&
+
+ (x>=r[(i+2)*x_size+j-3]) &&
+ (x>=r[(i+2)*x_size+j-2]) &&
+ (x>=r[(i+2)*x_size+j-1]) &&
+ (x>=r[(i+2)*x_size+j ]) &&
+ (x>=r[(i+2)*x_size+j+1]) &&
+ (x>=r[(i+2)*x_size+j+2]) &&
+ (x>=r[(i+2)*x_size+j+3]) &&
+
+ (x>=r[(i+3)*x_size+j-3]) &&
+ (x>=r[(i+3)*x_size+j-2]) &&
+ (x>=r[(i+3)*x_size+j-1]) &&
+ (x>=r[(i+3)*x_size+j ]) &&
+ (x>=r[(i+3)*x_size+j+1]) &&
+ (x>=r[(i+3)*x_size+j+2]) &&
+ (x>=r[(i+3)*x_size+j+3]) )
+ #endif
+ {
+ corner_list[n].info=0;
+ corner_list[n].x=j;
+ corner_list[n].y=i;
+ corner_list[n].dx=cgx[i*x_size+j];
+ corner_list[n].dy=cgy[i*x_size+j];
+ corner_list[n].I=in[i*x_size+j];
+ n++;
+ if(n==MAX_CORNERS){
+ fprintf(stderr,"Too many corners.\n");
+ exit(1);
+ }}}}
+ corner_list[n].info=7;
+
+ free(cgx);
+ free(cgy);
+
+ }
+
+ /* }}} */
+ /* {{{ susan_quick(in,r,sf,max_no,corner_list) */
+
+ susan_corners_quick(in,r,bp,max_no,corner_list,x_size,y_size)
+ uchar *in, *bp;
+ int *r, max_no, x_size, y_size;
+ CORNER_LIST corner_list;
+ {
+ int n,x,y,i,j;
+ uchar *p,*cp;
+
+ memset (r,0,x_size * y_size * sizeof(int));
+
+ for (i=7;i<y_size-7;i++)
+ for (j=7;j<x_size-7;j++) {
+ n=100;
+ p=in + (i-3)*x_size + j - 1;
+ cp=bp + in[i*x_size+j];
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-3;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-5;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ p+=x_size-6;
+
+ n+=*(cp-*p++);
+ n+=*(cp-*p++);
+ n+=*(cp-*p);
+ if (n<max_no){
+ p+=2;
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p);
+ if (n<max_no){
+ p+=x_size-6;
+
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p);
+ if (n<max_no){
+ p+=x_size-5;
+
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p);
+ if (n<max_no){
+ p+=x_size-3;
+
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p++);
+ if (n<max_no){
+ n+=*(cp-*p);
+
+ if (n<max_no)
+ r[i*x_size+j] = max_no-n;
+ }}}}}}}}}}}}}}}}}}}
+
+ /* to locate the local maxima */
+ n=0;
+ for (i=7;i<y_size-7;i++)
+ for (j=7;j<x_size-7;j++) {
+ x = r[i*x_size+j];
+ if (x>0) {
+ /* 5x5 mask */
+ #ifdef FIVE_SUPP
+ if (
+ (x>r[(i-1)*x_size+j+2]) &&
+ (x>r[(i )*x_size+j+1]) &&
+ (x>r[(i )*x_size+j+2]) &&
+ (x>r[(i+1)*x_size+j-1]) &&
+ (x>r[(i+1)*x_size+j ]) &&
+ (x>r[(i+1)*x_size+j+1]) &&
+ (x>r[(i+1)*x_size+j+2]) &&
+ (x>r[(i+2)*x_size+j-2]) &&
+ (x>r[(i+2)*x_size+j-1]) &&
+ (x>r[(i+2)*x_size+j ]) &&
+ (x>r[(i+2)*x_size+j+1]) &&
+ (x>r[(i+2)*x_size+j+2]) &&
+ (x>=r[(i-2)*x_size+j-2]) &&
+ (x>=r[(i-2)*x_size+j-1]) &&
+ (x>=r[(i-2)*x_size+j ]) &&
+ (x>=r[(i-2)*x_size+j+1]) &&
+ (x>=r[(i-2)*x_size+j+2]) &&
+ (x>=r[(i-1)*x_size+j-2]) &&
+ (x>=r[(i-1)*x_size+j-1]) &&
+ (x>=r[(i-1)*x_size+j ]) &&
+ (x>=r[(i-1)*x_size+j+1]) &&
+ (x>=r[(i )*x_size+j-2]) &&
+ (x>=r[(i )*x_size+j-1]) &&
+ (x>=r[(i+1)*x_size+j-2]) )
+ #endif
+ #ifdef SEVEN_SUPP
+ if (
+ (x>r[(i-3)*x_size+j-3]) &&
+ (x>r[(i-3)*x_size+j-2]) &&
+ (x>r[(i-3)*x_size+j-1]) &&
+ (x>r[(i-3)*x_size+j ]) &&
+ (x>r[(i-3)*x_size+j+1]) &&
+ (x>r[(i-3)*x_size+j+2]) &&
+ (x>r[(i-3)*x_size+j+3]) &&
+
+ (x>r[(i-2)*x_size+j-3]) &&
+ (x>r[(i-2)*x_size+j-2]) &&
+ (x>r[(i-2)*x_size+j-1]) &&
+ (x>r[(i-2)*x_size+j ]) &&
+ (x>r[(i-2)*x_size+j+1]) &&
+ (x>r[(i-2)*x_size+j+2]) &&
+ (x>r[(i-2)*x_size+j+3]) &&
+
+ (x>r[(i-1)*x_size+j-3]) &&
+ (x>r[(i-1)*x_size+j-2]) &&
+ (x>r[(i-1)*x_size+j-1]) &&
+ (x>r[(i-1)*x_size+j ]) &&
+ (x>r[(i-1)*x_size+j+1]) &&
+ (x>r[(i-1)*x_size+j+2]) &&
+ (x>r[(i-1)*x_size+j+3]) &&
+
+ (x>r[(i)*x_size+j-3]) &&
+ (x>r[(i)*x_size+j-2]) &&
+ (x>r[(i)*x_size+j-1]) &&
+ (x>=r[(i)*x_size+j+1]) &&
+ (x>=r[(i)*x_size+j+2]) &&
+ (x>=r[(i)*x_size+j+3]) &&
+
+ (x>=r[(i+1)*x_size+j-3]) &&
+ (x>=r[(i+1)*x_size+j-2]) &&
+ (x>=r[(i+1)*x_size+j-1]) &&
+ (x>=r[(i+1)*x_size+j ]) &&
+ (x>=r[(i+1)*x_size+j+1]) &&
+ (x>=r[(i+1)*x_size+j+2]) &&
+ (x>=r[(i+1)*x_size+j+3]) &&
+
+ (x>=r[(i+2)*x_size+j-3]) &&
+ (x>=r[(i+2)*x_size+j-2]) &&
+ (x>=r[(i+2)*x_size+j-1]) &&
+ (x>=r[(i+2)*x_size+j ]) &&
+ (x>=r[(i+2)*x_size+j+1]) &&
+ (x>=r[(i+2)*x_size+j+2]) &&
+ (x>=r[(i+2)*x_size+j+3]) &&
+
+ (x>=r[(i+3)*x_size+j-3]) &&
+ (x>=r[(i+3)*x_size+j-2]) &&
+ (x>=r[(i+3)*x_size+j-1]) &&
+ (x>=r[(i+3)*x_size+j ]) &&
+ (x>=r[(i+3)*x_size+j+1]) &&
+ (x>=r[(i+3)*x_size+j+2]) &&
+ (x>=r[(i+3)*x_size+j+3]) )
+ #endif
+ {
+ corner_list[n].info=0;
+ corner_list[n].x=j;
+ corner_list[n].y=i;
+ x = in[(i-2)*x_size+j-2] + in[(i-2)*x_size+j-1] + in[(i-2)*x_size+j] + in[(i-2)*x_size+j+1] + in[(i-2)*x_size+j+2] +
+ in[(i-1)*x_size+j-2] + in[(i-1)*x_size+j-1] + in[(i-1)*x_size+j] + in[(i-1)*x_size+j+1] + in[(i-1)*x_size+j+2] +
+ in[(i )*x_size+j-2] + in[(i )*x_size+j-1] + in[(i )*x_size+j] + in[(i )*x_size+j+1] + in[(i )*x_size+j+2] +
+ in[(i+1)*x_size+j-2] + in[(i+1)*x_size+j-1] + in[(i+1)*x_size+j] + in[(i+1)*x_size+j+1] + in[(i+1)*x_size+j+2] +
+ in[(i+2)*x_size+j-2] + in[(i+2)*x_size+j-1] + in[(i+2)*x_size+j] + in[(i+2)*x_size+j+1] + in[(i+2)*x_size+j+2];
+
+ corner_list[n].I=x/25;
+ /*corner_list[n].I=in[i*x_size+j];*/
+ x = in[(i-2)*x_size+j+2] + in[(i-1)*x_size+j+2] + in[(i)*x_size+j+2] + in[(i+1)*x_size+j+2] + in[(i+2)*x_size+j+2] -
+ (in[(i-2)*x_size+j-2] + in[(i-1)*x_size+j-2] + in[(i)*x_size+j-2] + in[(i+1)*x_size+j-2] + in[(i+2)*x_size+j-2]);
+ x += x + in[(i-2)*x_size+j+1] + in[(i-1)*x_size+j+1] + in[(i)*x_size+j+1] + in[(i+1)*x_size+j+1] + in[(i+2)*x_size+j+1] -
+ (in[(i-2)*x_size+j-1] + in[(i-1)*x_size+j-1] + in[(i)*x_size+j-1] + in[(i+1)*x_size+j-1] + in[(i+2)*x_size+j-1]);
+
+ y = in[(i+2)*x_size+j-2] + in[(i+2)*x_size+j-1] + in[(i+2)*x_size+j] + in[(i+2)*x_size+j+1] + in[(i+2)*x_size+j+2] -
+ (in[(i-2)*x_size+j-2] + in[(i-2)*x_size+j-1] + in[(i-2)*x_size+j] + in[(i-2)*x_size+j+1] + in[(i-2)*x_size+j+2]);
+ y += y + in[(i+1)*x_size+j-2] + in[(i+1)*x_size+j-1] + in[(i+1)*x_size+j] + in[(i+1)*x_size+j+1] + in[(i+1)*x_size+j+2] -
+ (in[(i-1)*x_size+j-2] + in[(i-1)*x_size+j-1] + in[(i-1)*x_size+j] + in[(i-1)*x_size+j+1] + in[(i-1)*x_size+j+2]);
+ corner_list[n].dx=x/15;
+ corner_list[n].dy=y/15;
+ n++;
+ if(n==MAX_CORNERS){
+ fprintf(stderr,"Too many corners.\n");
+ exit(1);
+ }}}}
+ corner_list[n].info=7;
+ }
+
+ /* }}} */
+
+ /* }}} */
+ /* {{{ main(argc, argv) */
+
+ main(argc, argv)
+ int argc;
+ char *argv [];
+ {
+ /* {{{ vars */
+
+ FILE *ofp;
+ char filename [80],
+ *tcp;
+ uchar *in, *bp, *mid;
+ float dt=4.0;
+ int *r,
+ argindex=3,
+ bt=20,
+ principle=0,
+ thin_post_proc=1,
+ three_by_three=0,
+ drawing_mode=0,
+ susan_quick=0,
+ max_no_corners=1850,
+ max_no_edges=2650,
+ mode = 0, i,
+ x_size, y_size;
+ CORNER_LIST corner_list;
+
+ /* }}} */
+
+ if (argc<3)
+ usage();
+
+ get_image(argv[1],&in,&x_size,&y_size);
+
+ /* {{{ look at options */
+
+ while (argindex < argc)
+ {
+ tcp = argv[argindex];
+ if (*tcp == '-')
+ switch (*++tcp)
+ {
+ case 's': /* smoothing */
+ mode=0;
+ break;
+ case 'e': /* edges */
+ mode=1;
+ break;
+ case 'c': /* corners */
+ mode=2;
+ break;
+ case 'p': /* principle */
+ principle=1;
+ break;
+ case 'n': /* thinning post processing */
+ thin_post_proc=0;
+ break;
+ case 'b': /* simple drawing mode */
+ drawing_mode=1;
+ break;
+ case '3': /* 3x3 flat mask */
+ three_by_three=1;
+ break;
+ case 'q': /* quick susan mask */
+ susan_quick=1;
+ break;
+ case 'd': /* distance threshold */
+ if (++argindex >= argc){
+ printf ("No argument following -d\n");
+ exit(0);}
+ dt=atof(argv[argindex]);
+ if (dt<0) three_by_three=1;
+ break;
+ case 't': /* brightness threshold */
+ if (++argindex >= argc){
+ printf ("No argument following -t\n");
+ exit(0);}
+ bt=atoi(argv[argindex]);
+ break;
+ }
+ else
+ usage();
+ argindex++;
+ }
+
+ if ( (principle==1) && (mode==0) )
+ mode=1;
+
+ /* }}} */
+ /* {{{ main processing */
+
+ switch (mode)
+ {
+ case 0:
+ /* {{{ smoothing */
+
+ setup_brightness_lut(&bp,bt,2);
+ susan_smoothing(three_by_three,in,dt,x_size,y_size,bp);
+ break;
+
+ /* }}} */
+ case 1:
+ /* {{{ edges */
+
+ r = (int *) malloc(x_size * y_size * sizeof(int));
+ setup_brightness_lut(&bp,bt,6);
+
+ if (principle)
+ {
+ if (three_by_three)
+ susan_principle_small(in,r,bp,max_no_edges,x_size,y_size);
+ else
+ susan_principle(in,r,bp,max_no_edges,x_size,y_size);
+ int_to_uchar(r,in,x_size*y_size);
+ }
+ else
+ {
+ mid = (uchar *)malloc(x_size*y_size);
+ memset (mid,100,x_size * y_size); /* note not set to zero */
+
+ if (three_by_three)
+ susan_edges_small(in,r,mid,bp,max_no_edges,x_size,y_size);
+ else
+ susan_edges(in,r,mid,bp,max_no_edges,x_size,y_size);
+ if(thin_post_proc)
+ susan_thin(r,mid,x_size,y_size);
+ edge_draw(in,mid,x_size,y_size,drawing_mode);
+ }
+
+ break;
+
+ /* }}} */
+ case 2:
+ /* {{{ corners */
+
+ r = (int *) malloc(x_size * y_size * sizeof(int));
+ setup_brightness_lut(&bp,bt,6);
+
+ if (principle)
+ {
+ susan_principle(in,r,bp,max_no_corners,x_size,y_size);
+ int_to_uchar(r,in,x_size*y_size);
+ }
+ else
+ {
+ if(susan_quick)
+ susan_corners_quick(in,r,bp,max_no_corners,corner_list,x_size,y_size);
+ else
+ susan_corners(in,r,bp,max_no_corners,corner_list,x_size,y_size);
+ corner_draw(in,corner_list,x_size,drawing_mode);
+ }
+
+ break;
+
+ /* }}} */
+ }
+
+ /* }}} */
+
+ put_image(argv[2],in,x_size,y_size);
+ }
+
+ /* }}} */
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