--- /dev/null
+/*
+ * Copyright (c) 2015 The WebM project authors. All Rights Reserved.
+ *
+ * Use of this source code is governed by a BSD-style license
+ * that can be found in the LICENSE file in the root of the source
+ * tree. An additional intellectual property rights grant can be
+ * found in the file PATENTS. All contributing project authors may
+ * be found in the AUTHORS file in the root of the source tree.
+ */
+
+////////////////////////////////////////////////////////////////////
+/*
+ * The code for FAST in this file is taken from
+ * http://www.edwardrosten.com/work/fast.html with the following
+ * copyright notice:
+ *
+ * Copyright (c) 2006, 2008, 2009, 2010 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
+ */
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <memory.h>
+#include <math.h>
+
+#include "vp9_corner_detect.h"
+
+typedef struct {
+ int x, y;
+} xy;
+typedef unsigned char byte;
+
+xy* fast_nonmax(const byte* im, int xsize, int ysize, int stride,
+ xy* corners, int numcorners, int barrier, int* numnx);
+xy* fast_corner_detect_9(const byte* im, int xsize, int ysize, int stride,
+ int barrier, int* numcorners);
+
+xy* fast_corner_detect_9(const byte* im, int xsize, int ysize, int stride,
+ int barrier, int* num) {
+ int boundary = 3, y, cb, c_b;
+ const byte *line_max, *line_min;
+ int rsize=512, total=0;
+ xy *ret = (xy*)malloc(rsize*sizeof(xy));
+ const byte* cache_0;
+ const byte* cache_1;
+ const byte* cache_2;
+ int pixel[16];
+ pixel[0] = 0 + 3 * stride;
+ pixel[1] = 1 + 3 * stride;
+ pixel[2] = 2 + 2 * stride;
+ pixel[3] = 3 + 1 * stride;
+ pixel[4] = 3 + 0 * stride;
+ pixel[5] = 3 + -1 * stride;
+ pixel[6] = 2 + -2 * stride;
+ pixel[7] = 1 + -3 * stride;
+ pixel[8] = 0 + -3 * stride;
+ pixel[9] = -1 + -3 * stride;
+ pixel[10] = -2 + -2 * stride;
+ pixel[11] = -3 + -1 * stride;
+ pixel[12] = -3 + 0 * stride;
+ pixel[13] = -3 + 1 * stride;
+ pixel[14] = -2 + 2 * stride;
+ pixel[15] = -1 + 3 * stride;
+ for(y = boundary ; y < ysize - boundary; y++)
+ {
+ cache_0 = im + boundary + y*stride;
+ line_min = cache_0 - boundary;
+ line_max = im + xsize - boundary + y * stride;
+
+ cache_1 = cache_0 + pixel[5];
+ cache_2 = cache_0 + pixel[14];
+
+ for(; cache_0 < line_max;cache_0++, cache_1++, cache_2++)
+ {
+ cb = *cache_0 + barrier;
+ c_b = *cache_0 - barrier;
+ if(*cache_1 > cb)
+ if(*cache_2 > cb)
+ if(*(cache_0+3) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[15]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[10]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ continue;
+ else
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[7]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ continue;
+ else
+ if(*(cache_0+-3) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ continue;
+ else
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_1+-6) > cb)
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_1+-6) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_1+-6) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ continue;
+ else
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ continue;
+ else
+ if(*(cache_2+4) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[7]) > cb || *(cache_0 + pixel[7]) < c_b)
+ continue;
+ else
+ goto success;
+ else
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ continue;
+ else
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[6]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ continue;
+ else
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[6]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0+3) < c_b)
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+-3) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[6]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ continue;
+ else
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*cache_2 < c_b)
+ if(*(cache_0+3) > cb)
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ continue;
+ else
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_2+4) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ continue;
+ else
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0 + pixel[15]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_2+4) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[15]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0 + pixel[15]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ continue;
+ else
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ continue;
+ else
+ if(*(cache_0+-3) > cb)
+ if(*(cache_1+-6) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[15]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[15]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[8]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ if(*(cache_0 + pixel[1]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_2+4) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[1]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[15]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[15]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_2+4) < c_b)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[15]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0+-3) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0+3) < c_b)
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[13]) < c_b)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ goto success;
+ else
+ if(*(cache_0 + pixel[6]) > cb || *(cache_0 + pixel[6]) < c_b)
+ continue;
+ else
+ if(*(cache_2+4) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_0+-3) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[15]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[15]) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[0]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[6]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_2+4) > cb)
+ continue;
+ else if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[1]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[15]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[1]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[1]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_2+4) < c_b)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[15]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[15]) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[6]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[15]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[7]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[15]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[15]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[6]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0+3) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ if(*(cache_1+-6) > cb)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0+3) < c_b)
+ continue;
+ else
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0+3) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[15]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[0]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0+3) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0+3) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_2+4) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[15]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_2+4) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[13]) < c_b)
+ continue;
+ else
+ if(*(cache_0+3) > cb)
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0+3) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*cache_1 < c_b)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*cache_2 > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[7]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*cache_2 > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*cache_2 > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_0+-3) > cb)
+ if(*cache_2 > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0+-3) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0+3) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[3]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*cache_2 > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0+-3) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*cache_2 > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*cache_2 > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0+3) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0+-3) < c_b)
+ if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+3) < c_b)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0+3) > cb)
+ continue;
+ else if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[1]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[13]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0+3) > cb)
+ continue;
+ else if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_2+4) > cb)
+ if(*(cache_0+3) > cb)
+ if(*(cache_0+-3) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[3]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[15]) < c_b)
+ if(*(cache_0+3) > cb)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[7]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*cache_2 > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_2+4) < c_b)
+ if(*cache_2 < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*cache_2 < c_b)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[10]) < c_b)
+ goto success;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[1]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[0]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*cache_2 < c_b)
+ if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[1]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[8]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[7]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ if(*(cache_0 + pixel[13]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_2+4) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[7]) > cb || *(cache_0 + pixel[7]) < c_b)
+ continue;
+ else
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_2+4) > cb)
+ continue;
+ else if(*(cache_2+4) < c_b)
+ if(*cache_2 < c_b)
+ if(*(cache_0 + pixel[3]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0 + pixel[0]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[1]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[1]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ goto success;
+ else
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[0]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[0]) < c_b)
+ if(*cache_2 < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[1]) > cb || *(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_2+4) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[7]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ if(*cache_2 > cb || *cache_2 < c_b)
+ goto success;
+ else
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[1]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ if(*cache_2 < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ if(*cache_2 < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*cache_2 < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*cache_2 > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+3) < c_b)
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_2+4) > cb)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0+3) > cb)
+ continue;
+ else if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[1]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ goto success;
+ else
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0+3) > cb)
+ continue;
+ else if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0+3) < c_b)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+-3) > cb)
+ if(*cache_2 > cb)
+ if(*(cache_0 + pixel[7]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[6]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ continue;
+ else
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[6]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[8]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ continue;
+ else
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ continue;
+ else
+ if(*(cache_0+3) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_2+4) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[3]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ if(*(cache_0+3) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+3) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_1+-6) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) > cb)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ continue;
+ else
+ if(*(cache_0+3) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[3]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_1+-6) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ continue;
+ else
+ if(*(cache_0 + pixel[8]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0+3) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0+3) < c_b)
+ continue;
+ else
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[3]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) > cb)
+ if(*(cache_1+-6) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ if(*(cache_0+3) > cb)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0+3) > cb)
+ if(*(cache_0 + pixel[13]) > cb)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_2+4) > cb)
+ if(*(cache_0 + pixel[15]) > cb)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0+-3) < c_b)
+ if(*(cache_0 + pixel[15]) > cb)
+ if(*cache_2 < c_b)
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[15]) < c_b)
+ if(*(cache_0 + pixel[10]) > cb)
+ if(*(cache_0+3) > cb)
+ continue;
+ else if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[3]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else if(*(cache_0 + pixel[10]) < c_b)
+ if(*cache_2 < c_b)
+ if(*(cache_0 + pixel[9]) > cb)
+ if(*(cache_2+4) < c_b)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_1+-6) > cb)
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[1]) > cb)
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[0]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ if(*(cache_0 + pixel[7]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[7]) > cb)
+ continue;
+ else if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[0]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[3]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_2+4) < c_b)
+ if(*(cache_1+-6) > cb)
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+3) < c_b)
+ if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[3]) < c_b)
+ if(*(cache_1+-6) > cb)
+ continue;
+ else if(*(cache_1+-6) < c_b)
+ if(*(cache_2+4) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*cache_2 < c_b)
+ if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0+3) < c_b)
+ if(*(cache_2+4) < c_b)
+ if(*cache_2 < c_b)
+ if(*(cache_0 + pixel[1]) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[0]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(*(cache_0 + pixel[6]) < c_b)
+ if(*cache_2 < c_b)
+ if(*(cache_0 + pixel[7]) < c_b)
+ if(*(cache_1+-6) < c_b)
+ if(*(cache_0 + pixel[13]) < c_b)
+ if(*(cache_0 + pixel[10]) < c_b)
+ if(*(cache_0 + pixel[9]) < c_b)
+ if(*(cache_0 + pixel[8]) < c_b)
+ goto success;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+success:
+ if(total >= rsize) {
+ rsize *=2;
+ ret=(xy*)realloc(ret, rsize*sizeof(xy));
+ }
+ ret[total].x = cache_0-line_min;
+ ret[total++].y = y;
+ }
+ }
+ *num = total;
+ return ret;
+}
+
+int corner_score(const byte* imp, const int *pointer_dir, int barrier) {
+ /*The score for a positive feature is sum of the difference between the pixels
+ and the barrier if the difference is positive. Negative is similar.
+ The score is the max of those two.
+
+ B = {x | x = points on the Bresenham circle around c}
+ Sp = { I(x) - t | x E B , I(x) - t > 0 }
+ Sn = { t - I(x) | x E B, t - I(x) > 0}
+
+ Score = max sum(Sp), sum(Sn)*/
+
+ int cb = *imp + barrier;
+ int c_b = *imp - barrier;
+ int sp=0, sn = 0;
+
+ int i=0;
+
+ for(i=0; i<16; i++)
+ {
+ int p = imp[pointer_dir[i]];
+
+ if(p > cb)
+ sp += p-cb;
+ else if(p < c_b)
+ sn += c_b-p;
+ }
+
+ if(sp > sn)
+ return sp;
+ else
+ return sn;
+}
+
+xy* fast_nonmax(const byte* im, int xsize, int ysize, int stride,
+ xy* corners, int numcorners, int barrier, int* numnx) {
+ /*Create a list of integer pointer offstes, corresponding to the */
+ /*direction offsets in dir[]*/
+ int pointer_dir[16];
+ int* row_start = (int*) malloc(ysize * sizeof(int));
+ int* scores = (int*) malloc(numcorners * sizeof(int));
+ xy* nonmax_corners=(xy*)malloc(numcorners* sizeof(xy));
+ int num_nonmax=0;
+ int prev_row = -1;
+ int i, j;
+ int point_above = 0;
+ int point_below = 0;
+ (void) xsize;
+
+ pointer_dir[0] = 0 + 3 * stride;
+ pointer_dir[1] = 1 + 3 * stride;
+ pointer_dir[2] = 2 + 2 * stride;
+ pointer_dir[3] = 3 + 1 * stride;
+ pointer_dir[4] = 3 + 0 * stride;
+ pointer_dir[5] = 3 + -1 * stride;
+ pointer_dir[6] = 2 + -2 * stride;
+ pointer_dir[7] = 1 + -3 * stride;
+ pointer_dir[8] = 0 + -3 * stride;
+ pointer_dir[9] = -1 + -3 * stride;
+ pointer_dir[10] = -2 + -2 * stride;
+ pointer_dir[11] = -3 + -1 * stride;
+ pointer_dir[12] = -3 + 0 * stride;
+ pointer_dir[13] = -3 + 1 * stride;
+ pointer_dir[14] = -2 + 2 * stride;
+ pointer_dir[15] = -1 + 3 * stride;
+
+ if (numcorners < 5) {
+ free(row_start);
+ free(scores);
+ free(nonmax_corners);
+ return 0;
+ }
+
+ /*xsize ysize numcorners corners*/
+ /*Compute the score for each detected corner, and 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.*/
+
+
+ for (i = 0; i < ysize; i++)
+ row_start[i] = -1;
+
+
+ for (i = 0; i< numcorners; i++) {
+ if (corners[i].y != prev_row) {
+ row_start[corners[i].y] = i;
+ prev_row = corners[i].y;
+ }
+ scores[i] = corner_score(im + corners[i].x + corners[i].y * stride,
+ pointer_dir, barrier);
+ }
+ /*Point above points (roughly) to the pixel above the one of interest, if there*/
+ /*is a feature there.*/
+ for (i = 0; i < numcorners; i++) {
+ int score = scores[i];
+ xy pos = corners[i];
+
+ //Check left
+ if (i > 0)
+ if (corners[i-1].x == pos.x-1 && corners[i-1].y == pos.y &&
+ scores[i-1] > score)
+ continue;
+
+ //Check right
+ if (i < (numcorners - 1))
+ if (corners[i+1].x == pos.x+1 && corners[i+1].y == pos.y && scores[i+1] > score)
+ continue;
+
+ //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) && (scores[j] > score))
+ goto cont;
+ }
+ }
+
+ //Check below (if there is anything below)
+ if (pos.y != ysize-1 && row_start[pos.y + 1] != -1 &&
+ point_below < numcorners) { // 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 < numcorners && corners[point_below].y == pos.y+1 &&
+ corners[point_below].x < pos.x - 1; point_below++) {}
+
+ for(j = point_below;
+ j < numcorners && 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) && (scores[j] >score))
+ goto cont;
+ }
+ }
+
+ nonmax_corners[num_nonmax].x = corners[i].x;
+ nonmax_corners[num_nonmax].y = corners[i].y;
+ num_nonmax++;
+
+cont:
+ ;
+ }
+ *numnx = num_nonmax;
+ free(row_start);
+ free(scores);
+ return nonmax_corners;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+// Nonmax suppression wrapper
+
+#define NONMAX_BARRIER 5
+int NonmaxSuppression(unsigned char *frmbuf, int width, int height, int stride,
+ int *frm_corners, int num_frm_corners) {
+ int num_frm_corners_nonmax;
+ xy *frm_corners_nonmax_xy;
+ frm_corners_nonmax_xy = fast_nonmax(frmbuf, width, height, stride,
+ (xy *)frm_corners, num_frm_corners,
+ NONMAX_BARRIER, &num_frm_corners_nonmax);
+ memcpy(frm_corners, frm_corners_nonmax_xy,
+ sizeof(int) * 2 * num_frm_corners_nonmax);
+ free(frm_corners_nonmax_xy);
+ return num_frm_corners_nonmax;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+// Fast_9 wrapper
+
+#define FAST_BARRIER 40
+int FastCornerDetect(unsigned char *buf, int width, int height, int stride,
+ int *points, int max_points) {
+ int num_points;
+ xy *frm_corners_xy;
+ frm_corners_xy = fast_corner_detect_9(buf, width, height, stride,
+ FAST_BARRIER, &num_points);
+ num_points =
+ (num_points <= max_points ? num_points : max_points);
+ memcpy(points, frm_corners_xy, sizeof(int) * num_points * 2);
+ free(frm_corners_xy);
+ return NonmaxSuppression(buf, width, height, stride, points, num_points);
+}
+
+//////////////////////////////////////////////////////////////////////////////////
+// Harris Corner detector
+
+#define HARRIS_THRESH 50
+
+#define GAUSS_FILT_SZ 7
+#define GAUSS_FILT_SZ_BY2 ((GAUSS_FILT_SZ - 1) / 2)
+
+double GaussianKernel[GAUSS_FILT_SZ_BY2 + 1][GAUSS_FILT_SZ_BY2 + 1] = {
+ {0.046701777738928, 0.041214174199798, 0.028326060061745, 0.01516184737296,},
+ {0.041214174199798, 0.036371381073904, 0.024997660266915, 0.013380283344101},
+ {0.028326060061745, 0.024997660266915, 0.017180623896310, 0.009196125289586},
+ {0.015161847372964, 0.013380283344101, 0.009196125289586, 0.004922331159344},
+};
+
+int HarrisCornerDetect(unsigned char *buf, int width, int height, int stride,
+ int *points, int max_points) {
+ const double eps = 1e-6;
+ int i, j, num_points = 0;
+ double *gx2 = (double *)malloc(width * height * sizeof(double));
+ double *gy2 = (double *)malloc(width * height * sizeof(double));
+ double *gxy = (double *)malloc(width * height * sizeof(double));
+ double *met = (double *)malloc(width * height * sizeof(double));
+ double max_met = 0;
+ double thresh;
+ if (width < GAUSS_FILT_SZ + 2 || height < GAUSS_FILT_SZ + 2)
+ return 0;
+ // Sobel operator
+ for (i = 1; i < height - 1; ++i) {
+ for (j = 1; j < width - 1; ++j) {
+ gx2[i * width + j] = (buf[(i + 1) * stride + j] - buf[(i - 1) * stride + j]) * 2 +
+ (buf[(i + 1) * stride + j - 1] - buf[(i - 1) * stride + j - 1]) +
+ (buf[(i + 1) * stride + j + 1] - buf[(i - 1) * stride + j + 1]);
+ gy2[i * width + j] = (buf[i * stride + j + 1] - buf[i * stride + j - 1]) * 2 +
+ (buf[(i - 1) * stride + j + 1] - buf[(i - 1) * stride + j - 1]) +
+ (buf[(i + 1) * stride + j + 1] - buf[(i + 1) * stride + j - 1]);
+ gx2[i * width + j] /= 8;
+ gy2[i * width + j] /= 8;
+ gxy[i * width + j] = gx2[i * width + j] * gy2[i * width + j];
+ gx2[i * width + j] *= gx2[i * width + j];
+ gy2[i * width + j] *= gy2[i * width + j];
+ }
+ }
+ // Gaussian filter and metric computation
+ for (i = 1 + GAUSS_FILT_SZ_BY2; i < height - 1 - GAUSS_FILT_SZ_BY2; ++i) {
+ for (j = 1 + GAUSS_FILT_SZ_BY2; j < width - 1 - GAUSS_FILT_SZ_BY2; ++j) {
+ double valx2 = 0;
+ double valy2 = 0;
+ double valxy = 0;
+ int k, l;
+ valx2 = GaussianKernel[0][0] * gx2[i * width + j];
+ valy2 = GaussianKernel[0][0] * gy2[i * width + j];
+ valxy = GaussianKernel[0][0] * gxy[i * width + j];
+ for (k = 1; k <= GAUSS_FILT_SZ_BY2; k++) {
+ valx2 += GaussianKernel[k][0] * (gx2[(i + k) * width + j] +
+ gx2[(i - k) * width + j]);
+ valy2 += GaussianKernel[k][0] * (gy2[(i + k) * width + j] +
+ gy2[(i - k) * width + j]);
+ valxy += GaussianKernel[k][0] * (gxy[(i + k) * width + j] +
+ gxy[(i - k) * width + j]);
+ }
+ for (l = 1; l <= GAUSS_FILT_SZ_BY2; l++) {
+ valx2 += GaussianKernel[0][l] * (gx2[i * width + j + l] +
+ gx2[i * width + j - l]);
+ valy2 += GaussianKernel[0][l] * (gy2[i * width + j + l] +
+ gy2[i * width + j - l]);
+ valxy += GaussianKernel[0][l] * (gxy[i * width + j + l] +
+ gxy[i * width + j - l]);
+ }
+ for (k = 1; k <= GAUSS_FILT_SZ_BY2; k++) {
+ for (l = 1; l <= GAUSS_FILT_SZ_BY2; ++l) {
+ valx2 += GaussianKernel[k][l] * (gx2[(i + k) * width + (j + l)] +
+ gx2[(i - k) * width + (j + l)] +
+ gx2[(i + k) * width + (j - l)] +
+ gx2[(i - k) * width + (j - l)]);
+ valy2 += GaussianKernel[k][l] * (gy2[(i + k) * width + (j + l)] +
+ gy2[(i - k) * width + (j + l)] +
+ gy2[(i + k) * width + (j - l)] +
+ gy2[(i - k) * width + (j - l)]);
+ valxy += GaussianKernel[k][l] * (gxy[(i + k) * width + (j + l)] +
+ gxy[(i - k) * width + (j + l)] +
+ gxy[(i + k) * width + (j - l)] +
+ gxy[(i - k) * width + (j - l)]);
+ }
+ }
+ met[i * width + j] = (valx2 * valy2 - valxy * valxy)/(valx2 + valy2 + eps);
+ if (met[i * width + j] > max_met) max_met = met[i * width + j];
+ }
+ }
+ thresh = max_met < 2*HARRIS_THRESH ? max_met/2 : HARRIS_THRESH;
+ free(gx2);
+ free(gy2);
+ free(gxy);
+ for (i = 1 + GAUSS_FILT_SZ_BY2; i < height - 1 - GAUSS_FILT_SZ_BY2; ++i) {
+ for (j = 1 + GAUSS_FILT_SZ_BY2; j < width - 1 - GAUSS_FILT_SZ_BY2; ++j) {
+ if (met[i * width + j] > thresh) {
+ points[num_points * 2] = j;
+ points[num_points * 2 + 1] = i;
+ num_points++;
+ if (num_points == max_points) {
+ free(met);
+ return num_points;
+ }
+ }
+ }
+ }
+ free(met);
+ return NonmaxSuppression(buf, width, height, stride, points, num_points);
+}
--- /dev/null
+/*
+ * Copyright (c) 2015 The WebM project authors. All Rights Reserved.
+ *
+ * Use of this source code is governed by a BSD-style license
+ * that can be found in the LICENSE file in the root of the source
+ * tree. An additional intellectual property rights grant can be
+ * found in the file PATENTS. All contributing project authors may
+ * be found in the AUTHORS file in the root of the source tree.
+ */
+
+#include <memory.h>
+#include <math.h>
+#include <time.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <assert.h>
+
+#include "vp9_ransac.h"
+
+#define MAX_PARAMDIM 9
+#define MAX_MINPTS 4
+
+// svdcmp
+// Adopted from Numerical Recipes in C
+
+static const double TINY_NEAR_ZERO = 1.0E-12;
+
+static inline double SIGN(double a, double b) {
+ return ((b) >= 0 ? fabs(a) : -fabs(a));
+}
+
+static inline double PYTHAG(double a, double b) {
+ double absa, absb, ct;
+ absa = fabs(a);
+ absb = fabs(b);
+
+ if(absa > absb) {
+ ct = absb/absa;
+ return absa * sqrt(1.0 + ct*ct);
+ } else {
+ ct = absa/absb;
+ return (absb == 0) ? 0 : absb * sqrt(1.0 + ct*ct);
+ }
+}
+
+inline int IMIN(int a, int b) {
+ return (((a) < (b)) ? (a) : (b));
+}
+
+inline int IMAX(int a, int b) {
+ return (((a) < (b)) ? (b) : (a));
+}
+
+static void MultiplyMat(double *m1, double *m2, double *res,
+ const int M1, const int N1, const int N2) {
+ int timesInner = N1;
+ int timesRows = M1;
+ int timesCols = N2;
+ double sum;
+
+ int row, col, inner;
+ for( row = 0; row < timesRows; ++row ) {
+ for( col = 0; col < timesCols; ++col ) {
+ sum = 0;
+ for (inner = 0; inner < timesInner; ++inner )
+ sum += m1[row*N1 + inner] * m2[inner*N2 + col];
+ *(res++) = sum;
+ }
+ }
+}
+
+static int svdcmp_(double **u, int m, int n, double w[], double **v) {
+ const int max_its = 30;
+ int flag, i, its, j, jj, k, l, nm;
+ double anorm, c, f, g, h, s, scale, x, y, z;
+ double *rv1 = (double *)malloc(sizeof(double) * (n + 1));
+ g = scale = anorm = 0.0;
+ for (i=0;i<n;i++) {
+ l=i+1;
+ rv1[i]=scale*g;
+ g=s=scale=0.0;
+ if (i < m) {
+ for (k=i;k<m;k++) scale += fabs(u[k][i]);
+ if (scale) {
+ for (k=i; k<m; k++) {
+ u[k][i] /= scale;
+ s += u[k][i]*u[k][i];
+ }
+ f = u[i][i];
+ g = -SIGN(sqrt(s), f);
+ h=f*g-s;
+ u[i][i]=f-g;
+ for (j=l;j<n;j++) {
+ for (s=0.0,k=i;k<m;k++) s += u[k][i]*u[k][j];
+ f=s/h;
+ for (k=i;k<m;k++) u[k][j] += f*u[k][i];
+ }
+ for (k=i;k<m;k++) u[k][i] *= scale;
+ }
+ }
+ w[i]=scale *g;
+ g=s=scale=0.0;
+ if (i < m && i != n - 1) {
+ for (k=l;k<n;k++) scale += fabs(u[i][k]);
+ if (scale) {
+ for (k=l;k<n;k++) {
+ u[i][k] /= scale;
+ s += u[i][k]*u[i][k];
+ }
+ f=u[i][l];
+ g = -SIGN(sqrt(s),f);
+ h=f*g-s;
+ u[i][l]=f-g;
+ for (k=l;k<n;k++) rv1[k]=u[i][k]/h;
+ for (j=l;j<m;j++) {
+ for (s=0.0,k=l;k<n;k++) s += u[j][k]*u[i][k];
+ for (k=l;k<n;k++) u[j][k] += s*rv1[k];
+ }
+ for (k=l;k<n;k++) u[i][k] *= scale;
+ }
+ }
+ anorm=fmax(anorm,(fabs(w[i])+fabs(rv1[i])));
+ }
+
+ for (i=n-1;i>=0;i--) {
+ if (i < n - 1) {
+ if (g) {
+ for (j=l;j<n;j++) v[j][i]=(u[i][j]/u[i][l])/g;
+ for (j=l;j<n;j++) {
+ for (s=0.0,k=l;k<n;k++) s += u[i][k]*v[k][j];
+ for (k=l;k<n;k++) v[k][j] += s*v[k][i];
+ }
+ }
+ for (j=l;j<n;j++) v[i][j]=v[j][i]=0.0;
+ }
+ v[i][i]=1.0;
+ g=rv1[i];
+ l=i;
+ }
+
+ for (i = IMIN(m,n) - 1; i>=0; i--) {
+ l=i+1;
+ g=w[i];
+ for (j=l;j<n;j++) u[i][j]=0.0;
+ if (g) {
+ g=1.0/g;
+ for (j=l;j<n;j++) {
+ for (s=0.0,k=l;k<m;k++) s += u[k][i]*u[k][j];
+ f = (s/u[i][i])*g;
+ for (k=i;k<m;k++) u[k][j] += f*u[k][i];
+ }
+ for (j=i;j<m;j++) u[j][i] *= g;
+ } else for (j=i;j<m;j++) u[j][i]=0.0;
+ ++u[i][i];
+ }
+ for (k=n-1;k>=0;k--) {
+ for (its=0;its<max_its;its++) {
+ flag=1;
+ for (l=k;l>=0;l--) {
+ nm=l-1;
+ if ((double)(fabs(rv1[l])+anorm) == anorm || nm < 0) {
+ flag=0;
+ break;
+ }
+ if ((double)(fabs(w[nm])+anorm) == anorm) break;
+ }
+ if (flag) {
+ c=0.0;
+ s=1.0;
+ for (i=l;i<=k;i++) {
+ f=s*rv1[i];
+ rv1[i]=c*rv1[i];
+ if ((double)(fabs(f)+anorm) == anorm) break;
+ g=w[i];
+ h=PYTHAG(f,g);
+ w[i]=h;
+ h=1.0/h;
+ c=g*h;
+ s = -f*h;
+ for (j=0;j<m;j++) {
+ y=u[j][nm];
+ z=u[j][i];
+ u[j][nm]=y*c+z*s;
+ u[j][i]=z*c-y*s;
+ }
+ }
+ }
+ z=w[k];
+ if (l == k) {
+ if (z < 0.0) {
+ w[k] = -z;
+ for (j=0;j<n;j++) v[j][k] = -v[j][k];
+ }
+ break;
+ }
+ if (its == max_its - 1) {
+ return 1;
+ }
+ assert(k > 0);
+ x=w[l];
+ nm=k-1;
+ y=w[nm];
+ g=rv1[nm];
+ h=rv1[k];
+ f=((y-z)*(y+z)+(g-h)*(g+h))/(2.0*h*y);
+ g=PYTHAG(f,1.0);
+ f=((x-z)*(x+z)+h*((y/(f+SIGN(g,f)))-h))/x;
+ c=s=1.0;
+ for (j=l;j<=nm;j++) {
+ i=j+1;
+ g=rv1[i];
+ y=w[i];
+ h=s*g;
+ g=c*g;
+ z=PYTHAG(f,h);
+ rv1[j]=z;
+ c=f/z;
+ s=h/z;
+ f=x*c+g*s;
+ g = g*c-x*s;
+ h=y*s;
+ y *= c;
+ for (jj=0;jj<n;jj++) {
+ x=v[jj][j];
+ z=v[jj][i];
+ v[jj][j]=x*c+z*s;
+ v[jj][i]=z*c-x*s;
+ }
+ z=PYTHAG(f,h);
+ w[j]=z;
+ if (z) {
+ z=1.0/z;
+ c=f*z;
+ s=h*z;
+ }
+ f=c*g+s*y;
+ x=c*y-s*g;
+ for (jj=0;jj<m;jj++) {
+ y=u[jj][j];
+ z=u[jj][i];
+ u[jj][j]=y*c+z*s;
+ u[jj][i]=z*c-y*s;
+ }
+ }
+ rv1[l]=0.0;
+ rv1[k]=f;
+ w[k]=x;
+ }
+ }
+ free(rv1);
+ return 0;
+}
+
+static int SVD(double *U, double *W, double *V, double *matx, int M, int N) {
+ // Assumes allocation for U is MxN
+ double **nrU, **nrV;
+ int problem, i;
+
+ nrU = (double **)malloc((M)*sizeof(double*));
+ nrV = (double **)malloc((N)*sizeof(double*));
+ problem = !(nrU && nrV);
+ if (!problem) {
+ problem = 0;
+ for (i=0; i<M; i++) {
+ nrU[i] = &U[i * N];
+ }
+ for(i=0; i<N; i++) {
+ nrV[i] = &V[i * N];
+ }
+ }
+ if (problem) {
+ return 1;
+ }
+
+ /* copy from given matx into nrU */
+ for (i=0; i<M; i++) {
+ memcpy(&(nrU[i][0]), matx + N*i, N*sizeof(double));
+ }
+
+ /* HERE IT IS: do SVD */
+ if (svdcmp_(nrU, M, N, W, nrV)) {
+ return 1;
+ }
+
+ /* free Numerical Recipes arrays */
+ free(nrU);
+ free(nrV);
+
+ return 0;
+}
+
+int PseudoInverse(double *inv, double *matx, const int M, const int N) {
+ double *U, *W, *V, ans;
+ int i, j, k;
+ U = (double *)malloc(M*N*sizeof(double));
+ W = (double *)malloc(N*sizeof(double));
+ V = (double *)malloc(N*N*sizeof(double));
+
+ if (!(U && W && V)) {
+ return 1;
+ }
+ if (SVD(U, W, V, matx, M, N)) {
+ return 1;
+ }
+ for (i=0; i<N; i++) {
+ if (fabs(W[i]) < TINY_NEAR_ZERO) {
+ return 1;
+ }
+ }
+
+ for (i=0; i<N; i++) {
+ for (j=0; j<M; j++) {
+ ans = 0;
+ for (k=0; k<N; k++) {
+ ans += V[k + N*i]*U[k + N*j]/W[k];
+ }
+ inv[j + M*i] = ans;
+ }
+ }
+ free(U);
+ free(W);
+ free(V);
+ return 0;
+}
+
+static double compute_error(projectPointsType projectPoints,
+ double *points1, int stride1,
+ double *points2, int stride2,
+ int npoints, double *H, int *mask) {
+ int i, n = 0;
+ double pt[2];
+ double *mp1 = points1;
+ double *mp2 = points2;
+ double sqerr = 0.0;
+
+ if (projectPoints == NULL) return -1.0;
+ if (mask) {
+ for (i = 0; i < npoints; ++i, mp1+=stride1, mp2+=stride2) {
+ if (mask[i]) {
+ projectPoints(H, mp1, pt, 1, stride1, stride2);
+ sqerr += (pt[0] - mp2[0]) * (pt[0] - mp2[0]) +
+ (pt[1] - mp2[1]) * (pt[1] - mp2[1]);
+ n++;
+ }
+ }
+ } else {
+ for (i = 0; i < npoints; ++i, mp1+=stride1, mp2+=stride2) {
+ projectPoints(H, mp1, pt, 1, stride1, stride2);
+ sqerr += (pt[0] - mp2[0]) * (pt[0] - mp2[0]) +
+ (pt[1] - mp2[1]) * (pt[1] - mp2[1]);
+ n++;
+ }
+ }
+ return sqrt(sqerr / n);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// ransac
+typedef int (*isDegenerateType)(double *p);
+typedef void (*normalizeType)(double *p, int np, double *T);
+typedef void (*denormalizeType)(double *H, double *T1, double *T2);
+typedef int (*findTransformationType)(int points,
+ double *points1,
+ double *points2,
+ double *H);
+
+int ransac_(double *matched_points,
+ int npoints,
+ int *number_of_inliers,
+ int *best_inlier_mask,
+ double *bestH,
+ const int minpts,
+ const int paramdim,
+ isDegenerateType isDegenerate,
+ normalizeType normalize,
+ denormalizeType denormalize,
+ findTransformationType findTransformation,
+ projectPointsType projectPoints) {
+
+ static const double INLIER_THRESHOLD_NORMALIZED = 0.1;
+ static const double INLIER_THRESHOLD_UNNORMALIZED = 1.5;
+ static const double PROBABILITY_REQUIRED = 0.9;
+ static const double EPS = 1e-12;
+ static const int MIN_TRIALS = 20;
+
+ const double inlier_threshold = (normalize && denormalize ?
+ INLIER_THRESHOLD_NORMALIZED :
+ INLIER_THRESHOLD_UNNORMALIZED);
+ int N = 10000, trial_count = 0;
+ int i, j;
+
+ int max_inliers = 0;
+ double best_variance = 0.0;
+ double H[MAX_PARAMDIM];
+ double points1[2 * MAX_MINPTS];
+ double points2[2 * MAX_MINPTS];
+
+ double *best_inlier_set1;
+ double *best_inlier_set2;
+ double *inlier_set1;
+ double *inlier_set2;
+ double *corners1;
+ double *corners2;
+ double *image1_coord;
+ double *image2_coord;
+ int *inlier_mask;
+
+ double *cnp1, *cnp2;
+ double T1[9], T2[9];
+
+ srand((unsigned)time(NULL)) ;
+ // srand( 12345 ) ;
+ //
+ *number_of_inliers = 0;
+ if (npoints < minpts) {
+ printf("Cannot find motion with %d matches\n", npoints);
+ return 1;
+ }
+
+ best_inlier_set1 = (double *)malloc(sizeof(double) * npoints * 2);
+ best_inlier_set2 = (double *)malloc(sizeof(double) * npoints * 2);
+ inlier_set1 = (double *)malloc(sizeof(double) * npoints * 2);
+ inlier_set2 = (double *)malloc(sizeof(double) * npoints * 2);
+ corners1 = (double *)malloc(sizeof(double) * npoints * 2);
+ corners2 = (double *)malloc(sizeof(double) * npoints * 2);
+ image1_coord = (double *)malloc(sizeof(double) * npoints * 2);
+ image2_coord = (double *)malloc(sizeof(double) * npoints * 2);
+ inlier_mask = (int*)malloc(sizeof(int) * npoints);
+
+ for(cnp1 = corners1, cnp2 = corners2, i = 0; i < npoints; ++i) {
+ *(cnp1++) = *(matched_points++);
+ *(cnp1++) = *(matched_points++);
+ *(cnp2++) = *(matched_points++);
+ *(cnp2++) = *(matched_points++);
+ }
+ matched_points -= 4 * npoints;
+
+ if (normalize && denormalize) {
+ normalize(corners1, npoints, T1);
+ normalize(corners2, npoints, T2);
+ }
+
+ while (N > trial_count) {
+ int num_inliers = 0;
+ double sum_distance = 0.0;
+ double sum_distance_squared = 0.0;
+
+ int degenerate = 1;
+ while (degenerate) {
+ i = 0;
+ while (i < minpts) {
+ int index = rand() % npoints;
+ int duplicate = 0;
+ for (j = 0; j < i; ++j) {
+ if (points1[j*2] == corners1[index*2] &&
+ points1[j*2+1] == corners1[index*2+1]) {
+ duplicate = 1;
+ break;
+ }
+ }
+ if(duplicate) continue;
+ // add to list
+ points1[i*2] = corners1[index*2];
+ points1[i*2+1] = corners1[index*2+1];
+ points2[i*2] = corners2[index*2];
+ points2[i*2+1] = corners2[index*2+1];
+ i++;
+ }
+ degenerate = isDegenerate(points1);
+ }
+
+ if (findTransformation(minpts, points1, points2, H)) {
+ trial_count++;
+ continue;
+ }
+
+ projectPoints(H, corners1, image1_coord, npoints, 2, 2);
+
+ for( i = 0; i < npoints; ++i ) {
+ double dx = image1_coord[i*2] - corners2[i*2];
+ double dy = image1_coord[i*2 + 1] - corners2[i*2 + 1];
+ double distance = sqrt(dx*dx + dy*dy);
+
+ inlier_mask[i] = distance < inlier_threshold;
+ if (inlier_mask[i]) {
+ inlier_set1[num_inliers*2] = corners1[i*2];
+ inlier_set1[num_inliers*2 + 1] = corners1[i*2 + 1];
+ inlier_set2[num_inliers*2] = corners2[i*2];
+ inlier_set2[num_inliers*2 + 1] = corners2[i*2 + 1];
+ num_inliers++;
+ sum_distance += distance;
+ sum_distance_squared += distance*distance;
+ }
+ }
+
+ if (num_inliers >= max_inliers) {
+ double mean_distance = sum_distance / ((double)num_inliers);
+ double variance = sum_distance_squared / ((double)num_inliers - 1.0) -
+ mean_distance * mean_distance *
+ ((double)num_inliers) / ((double)num_inliers - 1.0);
+ if ((num_inliers > max_inliers) ||
+ (num_inliers==max_inliers && variance < best_variance)) {
+ best_variance = variance;
+ max_inliers = num_inliers;
+ memcpy(bestH, H, paramdim * sizeof(double));
+ memcpy(best_inlier_set1, inlier_set1, num_inliers*2 * sizeof(double));
+ memcpy(best_inlier_set2, inlier_set2, num_inliers*2 * sizeof(double));
+ memcpy(best_inlier_mask, inlier_mask, npoints * sizeof(int));
+
+ if (num_inliers > 0) {
+ double fracinliers = (double)num_inliers/(double)npoints;
+ double pNoOutliers = 1 - pow(fracinliers, minpts);
+ int temp;
+ pNoOutliers = fmax(EPS, pNoOutliers);
+ pNoOutliers = fmin(1 - EPS, pNoOutliers);
+ temp = (int)(log(1.0 - PROBABILITY_REQUIRED)/log(pNoOutliers));
+ if (temp > 0 && temp < N) {
+ N = IMAX(temp, MIN_TRIALS);
+ }
+ }
+ }
+ }
+ trial_count++;
+ }
+ // printf("Number of trials = %d\n", trial_count);
+ findTransformation(max_inliers, best_inlier_set1, best_inlier_set2, bestH);
+ if (normalize && denormalize) {
+ denormalize(bestH, T1, T2);
+ }
+ *number_of_inliers = max_inliers;
+ /*
+ printf("Error score (all) = %g\n",
+ compute_error(projectPoints, matched_points, 4,
+ matched_points + 2, 4,
+ npoints, bestH, NULL));
+ printf("Error score (inliers) = %g\n",
+ compute_error(projectPoints, matched_points, 4,
+ matched_points + 2, 4,
+ npoints, bestH,
+ best_inlier_mask));
+ */
+ free(best_inlier_set1);
+ free(best_inlier_set2);
+ free(inlier_set1);
+ free(inlier_set2);
+ free(corners1);
+ free(corners2);
+ free(image1_coord);
+ free(image2_coord);
+ free(inlier_mask);
+ return 0;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+static void normalizeHomography(double *pts, int n, double *T) {
+ // Assume the points are 2d coordinates with scale = 1
+ double *p = pts;
+ double mean[2] = {0, 0};
+ double msqe = 0;
+ double scale;
+ int i;
+ for (i = 0; i < n; ++i, p+=2) {
+ mean[0] += p[0];
+ mean[1] += p[1];
+ }
+ mean[0] /= n;
+ mean[1] /= n;
+ for (p = pts, i = 0; i < n; ++i, p+=2) {
+ p[0] -= mean[0];
+ p[1] -= mean[1];
+ msqe += sqrt(p[0] * p[0] + p[1] * p[1]);
+ }
+ msqe /= n;
+ scale = sqrt(2)/msqe;
+ T[0] = scale;
+ T[1] = 0;
+ T[2] = -scale * mean[0];
+ T[3] = 0;
+ T[4] = scale;
+ T[5] = -scale * mean[1];
+ T[6] = 0;
+ T[7] = 0;
+ T[8] = 1;
+ for (p = pts, i = 0; i < n; ++i, p+=2) {
+ p[0] *= scale;
+ p[1] *= scale;
+ }
+}
+
+static void invnormalize_mat(double *T, double *iT) {
+ double is = 1.0/T[0];
+ double m0 = -T[2]*is;
+ double m1 = -T[5]*is;
+ iT[0] = is;
+ iT[1] = 0;
+ iT[2] = m0;
+ iT[3] = 0;
+ iT[4] = is;
+ iT[5] = m1;
+ iT[6] = 0;
+ iT[7] = 0;
+ iT[8] = 1;
+}
+
+static void denormalizeHomography(double *H, double *T1, double *T2) {
+ double iT2[9];
+ double H2[9];
+ invnormalize_mat(T2, iT2);
+ MultiplyMat(H, T1, H2, 3, 3, 3);
+ MultiplyMat(iT2, H2, H, 3, 3, 3);
+}
+
+static void denormalizeAffine(double *H, double *T1, double *T2) {
+ double Ha[MAX_PARAMDIM];
+ Ha[0] = H[0];
+ Ha[1] = H[1];
+ Ha[2] = H[4];
+ Ha[3] = H[2];
+ Ha[4] = H[3];
+ Ha[5] = H[5];
+ Ha[6] = Ha[7] = 0;
+ Ha[8] = 1;
+ denormalizeHomography(Ha, T1, T2);
+ H[0] = Ha[0];
+ H[1] = Ha[1];
+ H[2] = Ha[3];
+ H[3] = Ha[4];
+ H[4] = Ha[2];
+ H[5] = Ha[5];
+}
+
+static void denormalizeRotZoom(double *H, double *T1, double *T2) {
+ double Ha[MAX_PARAMDIM];
+ memcpy(Ha, H, 6 * sizeof(*H));
+ Ha[0] = H[0];
+ Ha[1] = H[1];
+ Ha[2] = H[2];
+ Ha[3] = -H[1];
+ Ha[4] = H[0];
+ Ha[5] = H[3];
+ Ha[6] = Ha[7] = 0;
+ Ha[8] = 1;
+ denormalizeHomography(Ha, T1, T2);
+ H[0] = Ha[0];
+ H[1] = Ha[1];
+ H[2] = Ha[2];
+ H[3] = Ha[5];
+}
+
+static int is_collinear3(double *p1, double *p2, double *p3) {
+ static const double collinear_eps = 1e-3;
+ const double v = (p2[0] - p1[0]) * (p3[1] - p1[1]) - (p2[1] - p1[1]) * (p3[0] - p1[0]);
+ return fabs(v) < collinear_eps;
+}
+
+static int isDegenerateAffine(double *p) {
+ return is_collinear3(p, p + 2, p + 4);
+}
+
+static int isDegenerateHomography(double *p) {
+ return is_collinear3(p, p + 2, p + 4) ||
+ is_collinear3(p, p + 2, p + 6) ||
+ is_collinear3(p, p + 4, p + 6) ||
+ is_collinear3(p + 2, p + 4, p + 6);
+}
+
+void projectPointsRotZoom(double *mat, double *points, double *proj, const int n,
+ const int stride_points, const int stride_proj) {
+ int i;
+ for (i = 0; i < n; ++i) {
+ const double x = *(points++), y = *(points++);
+ *(proj++) = mat[0]*x + mat[1]*y + mat[2];
+ *(proj++) = -mat[1]*x + mat[0]*y + mat[3];
+ points += stride_points - 2;
+ proj += stride_proj - 2;
+ }
+}
+
+void projectPointsAffine(double *mat, double *points, double *proj, const int n,
+ const int stride_points, const int stride_proj) {
+ int i;
+ for (i = 0; i < n; ++i) {
+ const double x = *(points++), y = *(points++);
+ *(proj++) = mat[0]*x + mat[1]*y + mat[4];
+ *(proj++) = mat[2]*x + mat[3]*y + mat[5];
+ points += stride_points - 2;
+ proj += stride_proj - 2;
+ }
+}
+
+void projectPointsHomography(double *mat, double *points, double *proj, const int n,
+ const int stride_points, const int stride_proj) {
+ int i;
+ double x, y, Z;
+ for (i = 0; i < n; ++i) {
+ x = *(points++), y = *(points++);
+ Z = 1./(mat[6]*x + mat[7]*y + mat[8]);
+ *(proj++) = (mat[0]*x + mat[1]*y + mat[2])*Z;
+ *(proj++) = (mat[3]*x + mat[4]*y + mat[5])*Z;
+ points += stride_points - 2;
+ proj += stride_proj - 2;
+ }
+}
+
+int findRotZoom(const int np, double *pts1, double *pts2, double *mat) {
+ const int np2 = np * 2;
+ double *a = (double *)malloc(sizeof(double) * np2 * 9);
+ double *b = a + np2 * 4;
+ double *temp = b + np2;
+ int i;
+ double sx, sy, dx, dy;
+
+ double T1[9], T2[9];
+ normalizeHomography(pts1, np, T1);
+ normalizeHomography(pts2, np, T2);
+
+ for (i = 0; i < np; ++i) {
+ dx = *(pts2++);
+ dy = *(pts2++);
+ sx = *(pts1++);
+ sy = *(pts1++);
+
+ a[i * 2 * 4 + 0] = sx;
+ a[i * 2 * 4 + 1] = sy;
+ a[i * 2 * 4 + 2] = 1;
+ a[i * 2 * 4 + 3] = 0;
+ a[(i * 2 + 1) * 4 + 0] = sy;
+ a[(i * 2 + 1) * 4 + 1] = -sx;
+ a[(i * 2 + 1) * 4 + 2] = 0;
+ a[(i * 2 + 1) * 4 + 3] = 1;
+
+ b[2 * i] = dx;
+ b[2 * i + 1] = dy;
+ }
+ if (PseudoInverse(temp, a, np2, 4)){
+ free(a);
+ return 1;
+ }
+ MultiplyMat(temp, b, mat, 4, np2, 1);
+ denormalizeRotZoom(mat, T1, T2);
+ free(a);
+ return 0;
+}
+
+int findAffine(const int np, double *pts1, double *pts2, double *mat) {
+ const int np2 = np * 2;
+ double *a = (double *)malloc(sizeof(double) * np2 * 13);
+ double *b = a + np2 * 6;
+ double *temp = b + np2;
+ int i;
+ double sx, sy, dx, dy;
+
+ double T1[9], T2[9];
+ normalizeHomography(pts1, np, T1);
+ normalizeHomography(pts2, np, T2);
+
+ for (i = 0; i < np; ++i) {
+ dx = *(pts2++);
+ dy = *(pts2++);
+ sx = *(pts1++);
+ sy = *(pts1++);
+
+ a[i * 2 * 6 + 0] = sx;
+ a[i * 2 * 6 + 1] = sy;
+ a[i * 2 * 6 + 2] = 0;
+ a[i * 2 * 6 + 3] = 0;
+ a[i * 2 * 6 + 4] = 1;
+ a[i * 2 * 6 + 5] = 0;
+ a[(i * 2 + 1) * 6 + 0] = 0;
+ a[(i * 2 + 1) * 6 + 1] = 0;
+ a[(i * 2 + 1) * 6 + 2] = sx;
+ a[(i * 2 + 1) * 6 + 3] = sy;
+ a[(i * 2 + 1) * 6 + 4] = 0;
+ a[(i * 2 + 1) * 6 + 5] = 1;
+
+ b[2 * i] = dx;
+ b[2 * i + 1] = dy;
+ }
+ if (PseudoInverse(temp, a, np2, 6)){
+ free(a);
+ return 1;
+ }
+ MultiplyMat(temp, b, mat, 6, np2, 1);
+ denormalizeAffine(mat, T1, T2);
+ free(a);
+ return 0;
+}
+
+int findHomography(const int np, double *pts1, double *pts2, double *mat) {
+ // Implemented from Peter Kovesi's normalized implementation
+ const int np3 = np * 3;
+ double *a = (double *)malloc(sizeof(double) * np3 * 18);
+ double *U = a + np3 * 9;
+ double S[9], V[9 * 9];
+ int i, mini;
+ double sx, sy, dx, dy;
+ double T1[9], T2[9];
+
+ normalizeHomography(pts1, np, T1);
+ normalizeHomography(pts2, np, T2);
+
+ for (i = 0; i < np; ++i) {
+ dx = *(pts2++);
+ dy = *(pts2++);
+ sx = *(pts1++);
+ sy = *(pts1++);
+
+ a[i * 3 * 9 + 0] = a[i * 3 * 9 + 1] = a[i * 3 * 9 + 2] = 0;
+ a[i * 3 * 9 + 3] = -sx;
+ a[i * 3 * 9 + 4] = -sy;
+ a[i * 3 * 9 + 5] = -1;
+ a[i * 3 * 9 + 6] = dy * sx;
+ a[i * 3 * 9 + 7] = dy * sy;
+ a[i * 3 * 9 + 8] = dy;
+
+ a[(i * 3 + 1) * 9 + 0] = sx;
+ a[(i * 3 + 1) * 9 + 1] = sy;
+ a[(i * 3 + 1) * 9 + 2] = 1;
+ a[(i * 3 + 1) * 9 + 3] = a[(i * 3 + 1) * 9 + 4] =
+ a[(i * 3 + 1) * 9 + 5] = 0;
+ a[(i * 3 + 1) * 9 + 6] = -dx * sx;
+ a[(i * 3 + 1) * 9 + 7] = -dx * sy;
+ a[(i * 3 + 1) * 9 + 8] = -dx;
+
+ a[(i * 3 + 2) * 9 + 0] = -dy * sx;
+ a[(i * 3 + 2) * 9 + 1] = -dy * sy;
+ a[(i * 3 + 2) * 9 + 2] = -dy;
+ a[(i * 3 + 2) * 9 + 3] = dx * sx;
+ a[(i * 3 + 2) * 9 + 4] = dx * sy;
+ a[(i * 3 + 2) * 9 + 5] = dx;
+ a[(i * 3 + 2) * 9 + 6] = a[(i * 3 + 2) * 9 + 7] =
+ a[(i * 3 + 2) * 9 + 8] = 0;
+ }
+
+ if (SVD(U, S, V, a, np3, 9)) {
+ free(a);
+ return 1;
+ } else {
+ double minS = 1e12;
+ mini = -1;
+ for (i = 0; i < 9; ++i) {
+ if (S[i] < minS) {
+ minS = S[i];
+ mini = i;
+ }
+ }
+ }
+
+ for (i = 0; i < 9; i++) mat[i] = V[i * 9 + mini];
+ denormalizeHomography(mat, T1, T2);
+ // if (mat[8] == 0.0) return 1;
+ // for (i = 0; i < 9; i++) mat[i] /= mat[8];
+ free(a);
+ return 0;
+}
+
+int findHomographyScale1(const int np, double *pts1, double *pts2,
+ double *mat) {
+ // This implementation assumes h33 = 1, but does not seem to give good results
+ const int np2 = np * 2;
+ double *a = (double *)malloc(sizeof(double) * np2 * 17);
+ double *b = a + np2 * 8;
+ double *temp = b + np2;
+ int i, j;
+ double sx, sy, dx, dy;
+ double T1[9], T2[9];
+
+ normalizeHomography(pts1, np, T1);
+ normalizeHomography(pts2, np, T2);
+
+ for (i = 0, j = np; i < np; ++i, ++j) {
+ dx = *(pts2++);
+ dy = *(pts2++);
+ sx = *(pts1++);
+ sy = *(pts1++);
+ a[i * 8 + 0] = a[j * 8 + 3] = sx;
+ a[i * 8 + 1] = a[j * 8 + 4] = sy;
+ a[i * 8 + 2] = a[j * 8 + 5] = 1;
+ a[i * 8 + 3] = a[i * 8 + 4] = a[i * 8 + 5] =
+ a[j * 8 + 0] = a[j * 8 + 1] = a[j * 8 + 2] = 0;
+ a[i * 8 + 6] = -dx * sx;
+ a[i * 8 + 7] = -dx * sy;
+ a[j * 8 + 6] = -dy * sx;
+ a[j * 8 + 7] = -dy * sy;
+ b[i] = dx;
+ b[j] = dy;
+ }
+
+ if (PseudoInverse(temp, a, np2, 8)) {
+ free(a);
+ return 1;
+ }
+ MultiplyMat(temp, b, &*mat, 8, np2, 1);
+ mat[8] = 1;
+
+ denormalizeHomography(mat, T1, T2);
+ free(a);
+ return 0;
+}
+
+int ransacRotZoom(double *matched_points, int npoints,
+ int *number_of_inliers,
+ int *best_inlier_mask, double *bestH) {
+ return ransac_(matched_points,
+ npoints,
+ number_of_inliers,
+ best_inlier_mask,
+ bestH,
+ 3,
+ 4,
+ isDegenerateAffine,
+ NULL, // normalizeHomography,
+ NULL, // denormalizeRotZoom,
+ findRotZoom,
+ projectPointsRotZoom);
+}
+
+int ransacAffine(double *matched_points, int npoints,
+ int *number_of_inliers,
+ int *best_inlier_mask, double *bestH) {
+ return ransac_(matched_points,
+ npoints,
+ number_of_inliers,
+ best_inlier_mask,
+ bestH,
+ 3,
+ 6,
+ isDegenerateAffine,
+ NULL, // normalizeHomography,
+ NULL, // denormalizeAffine,
+ findAffine,
+ projectPointsAffine);
+}
+
+int ransacHomography(double *matched_points, int npoints,
+ int *number_of_inliers,
+ int *best_inlier_mask, double *bestH) {
+ return ransac_(matched_points,
+ npoints,
+ number_of_inliers,
+ best_inlier_mask,
+ bestH,
+ 4,
+ 8,
+ isDegenerateHomography,
+ NULL, // normalizeHomography,
+ NULL, // denormalizeHomography,
+ findHomography,
+ projectPointsHomography);
+}
projects / libvpx / commitdiff