Implement global motion parameter computation
This computes global motion parameters between 2 frames by
matching corresponding points using FAST feature and then
fitting a model using RANSAC.
Change-Id: Ib6664df44090e8cfa4db9f2f9e0556931ccfe5c8
diff --git a/third_party/fastfeat/LICENSE b/third_party/fastfeat/LICENSE
new file mode 100644
index 0000000..f347008
--- /dev/null
+++ b/third_party/fastfeat/LICENSE
@@ -0,0 +1,30 @@
+Copyright (c) 2006, 2008 Edward Rosten
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+
+ *Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+
+ *Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+
+ *Neither the name of the University of Cambridge nor the names of
+ its contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
+LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
+NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/fastfeat/README b/third_party/fastfeat/README
new file mode 100644
index 0000000..0355999
--- /dev/null
+++ b/third_party/fastfeat/README
@@ -0,0 +1,34 @@
+This code was taken from http://www.edwardrosten.com/work/fast.html. Fast 10, 11, and 12
+have been deleted.
+
+FAST feature detectors in C Version 2.0
+---------------------------------------
+
+The files are valid C and C++ code, and have no special requirements for
+compiling, and they do not depend on any libraries. Just compile them along with
+the rest of your project.
+
+To use the functions, #include "fast.h"
+
+The corner detectors have the following prototype (where X is 9, 10, 11 or 12):
+
+xy* fastX_detect_nonmax(const unsigned char * data, int xsize, int ysize, int stride, int threshold, int* numcorners)
+
+Where xy is the following simple struct typedef:
+
+typedef struct
+{
+ int x, y;
+} xy;
+
+The image is passed in as a block of data and dimensions, and the list of
+corners is returned as an array of xy structs, and an integer (numcorners)
+with the number of corners returned. The data can be deallocated with free().
+Nonmaximal suppression is performed on the corners. Note that the stride
+is the number of bytes between rows. If your image has no padding, then this
+is the same as xsize.
+
+The detection, scoring and nonmaximal suppression are available as individual
+functions. To see how to use the individual functions, see fast.c
+
+
diff --git a/third_party/fastfeat/fast.c b/third_party/fastfeat/fast.c
new file mode 100644
index 0000000..0d7efc1
--- /dev/null
+++ b/third_party/fastfeat/fast.c
@@ -0,0 +1,22 @@
+// clang-format off
+#include <stdlib.h>
+#include "fast.h"
+
+
+xy* fast9_detect_nonmax(const byte* im, int xsize, int ysize, int stride, int b, int* ret_num_corners)
+{
+ xy* corners;
+ int num_corners;
+ int* scores;
+ xy* nonmax;
+
+ corners = fast9_detect(im, xsize, ysize, stride, b, &num_corners);
+ scores = fast9_score(im, stride, corners, num_corners, b);
+ nonmax = nonmax_suppression(corners, scores, num_corners, ret_num_corners);
+
+ free(corners);
+ free(scores);
+
+ return nonmax;
+}
+// clang-format on
diff --git a/third_party/fastfeat/fast.h b/third_party/fastfeat/fast.h
new file mode 100644
index 0000000..a00730e
--- /dev/null
+++ b/third_party/fastfeat/fast.h
@@ -0,0 +1,20 @@
+// clang-format off
+#ifndef FAST_H
+#define FAST_H
+
+typedef struct { int x, y; } xy;
+typedef unsigned char byte;
+
+int fast9_corner_score(const byte* p, const int pixel[], int bstart);
+
+xy* fast9_detect(const byte* im, int xsize, int ysize, int stride, int b, int* ret_num_corners);
+
+int* fast9_score(const byte* i, int stride, xy* corners, int num_corners, int b);
+
+xy* fast9_detect_nonmax(const byte* im, int xsize, int ysize, int stride, int b, int* ret_num_corners);
+
+xy* nonmax_suppression(const xy* corners, const int* scores, int num_corners, int* ret_num_nonmax);
+
+
+#endif
+// clang-format on
diff --git a/third_party/fastfeat/fast_9.c b/third_party/fastfeat/fast_9.c
new file mode 100644
index 0000000..36aee19
--- /dev/null
+++ b/third_party/fastfeat/fast_9.c
@@ -0,0 +1,5911 @@
+// clang-format off
+/*This is mechanically generated code*/
+#include <stdlib.h>
+
+typedef struct { int x, y; } xy;
+typedef unsigned char byte;
+
+int fast9_corner_score(const byte* p, const int pixel[], int bstart)
+{
+ int bmin = bstart;
+ int bmax = 255;
+ int b = (bmax + bmin)/2;
+
+ /*Compute the score using binary search*/
+ for(;;)
+ {
+ int cb = *p + b;
+ int c_b= *p - b;
+
+
+ if( p[pixel[0]] > cb)
+ if( p[pixel[1]] > cb)
+ if( p[pixel[2]] > cb)
+ if( p[pixel[3]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[7]] < c_b)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[14]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[6]] < c_b)
+ if( p[pixel[15]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[13]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[13]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[5]] < c_b)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[12]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[13]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[14]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[6]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[12]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[6]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[4]] < c_b)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[11]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[12]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[13]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[5]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[11]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[5]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[3]] < c_b)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[10]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[4]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[10]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[4]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[13]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[2]] < c_b)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[3]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[9]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[3]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[3]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[9]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[3]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[12]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[1]] < c_b)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[3]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[2]] > cb)
+ if( p[pixel[3]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[8]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[3]] < c_b)
+ if( p[pixel[2]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[3]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[2]] > cb)
+ if( p[pixel[3]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[8]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[3]] < c_b)
+ if( p[pixel[2]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[11]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[0]] < c_b)
+ if( p[pixel[1]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[3]] > cb)
+ if( p[pixel[2]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[3]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[2]] < c_b)
+ if( p[pixel[3]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[1]] < c_b)
+ if( p[pixel[2]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[3]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[3]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[2]] < c_b)
+ if( p[pixel[3]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[4]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[3]] < c_b)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[5]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[13]] < c_b)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[12]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[6]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[14]] < c_b)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[13]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[6]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[15]] < c_b)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[13]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[6]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[5]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[4]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[13]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[9]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[3]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[12]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[3]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[8]] > cb)
+ if( p[pixel[7]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[10]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[3]] > cb)
+ if( p[pixel[2]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[3]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[2]] < c_b)
+ if( p[pixel[3]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[7]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[7]] > cb)
+ if( p[pixel[8]] > cb)
+ if( p[pixel[9]] > cb)
+ if( p[pixel[6]] > cb)
+ if( p[pixel[5]] > cb)
+ if( p[pixel[4]] > cb)
+ if( p[pixel[3]] > cb)
+ if( p[pixel[2]] > cb)
+ if( p[pixel[1]] > cb)
+ goto is_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] > cb)
+ if( p[pixel[11]] > cb)
+ if( p[pixel[12]] > cb)
+ if( p[pixel[13]] > cb)
+ if( p[pixel[14]] > cb)
+ if( p[pixel[15]] > cb)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else if( p[pixel[7]] < c_b)
+ if( p[pixel[8]] < c_b)
+ if( p[pixel[9]] < c_b)
+ if( p[pixel[6]] < c_b)
+ if( p[pixel[5]] < c_b)
+ if( p[pixel[4]] < c_b)
+ if( p[pixel[3]] < c_b)
+ if( p[pixel[2]] < c_b)
+ if( p[pixel[1]] < c_b)
+ goto is_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ if( p[pixel[10]] < c_b)
+ if( p[pixel[11]] < c_b)
+ if( p[pixel[12]] < c_b)
+ if( p[pixel[13]] < c_b)
+ if( p[pixel[14]] < c_b)
+ if( p[pixel[15]] < c_b)
+ goto is_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+ else
+ goto is_not_a_corner;
+
+ is_a_corner:
+ bmin=b;
+ goto end_if;
+
+ is_not_a_corner:
+ bmax=b;
+ goto end_if;
+
+ end_if:
+
+ if(bmin == bmax - 1 || bmin == bmax)
+ return bmin;
+ b = (bmin + bmax) / 2;
+ }
+}
+
+static void make_offsets(int pixel[], int row_stride)
+{
+ pixel[0] = 0 + row_stride * 3;
+ pixel[1] = 1 + row_stride * 3;
+ pixel[2] = 2 + row_stride * 2;
+ pixel[3] = 3 + row_stride * 1;
+ pixel[4] = 3 + row_stride * 0;
+ pixel[5] = 3 + row_stride * -1;
+ pixel[6] = 2 + row_stride * -2;
+ pixel[7] = 1 + row_stride * -3;
+ pixel[8] = 0 + row_stride * -3;
+ pixel[9] = -1 + row_stride * -3;
+ pixel[10] = -2 + row_stride * -2;
+ pixel[11] = -3 + row_stride * -1;
+ pixel[12] = -3 + row_stride * 0;
+ pixel[13] = -3 + row_stride * 1;
+ pixel[14] = -2 + row_stride * 2;
+ pixel[15] = -1 + row_stride * 3;
+}
+
+
+
+int* fast9_score(const byte* i, int stride, xy* corners, int num_corners, int b)
+{
+ int* scores = (int*)malloc(sizeof(int)* num_corners);
+ int n;
+
+ int pixel[16];
+ make_offsets(pixel, stride);
+
+ for(n=0; n < num_corners; n++)
+ scores[n] = fast9_corner_score(i + corners[n].y*stride + corners[n].x, pixel, b);
+
+ return scores;
+}
+
+
+xy* fast9_detect(const byte* im, int xsize, int ysize, int stride, int b, int* ret_num_corners)
+{
+ int num_corners=0;
+ xy* ret_corners;
+ int rsize=512;
+ int pixel[16];
+ int x, y;
+
+ ret_corners = (xy*)malloc(sizeof(xy)*rsize);
+ make_offsets(pixel, stride);
+
+ for(y=3; y < ysize - 3; y++)
+ for(x=3; x < xsize - 3; x++)
+ {
+ const byte* p = im + y*stride + x;
+
+ int cb = *p + b;
+ int c_b= *p - b;
+ if(p[pixel[0]] > cb)
+ if(p[pixel[1]] > cb)
+ if(p[pixel[2]] > cb)
+ if(p[pixel[3]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ {}
+ else
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else if(p[pixel[7]] < c_b)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else if(p[pixel[14]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[6]] < c_b)
+ if(p[pixel[15]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else if(p[pixel[13]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[13]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[5]] < c_b)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[12]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[13]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[14]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[6]] < c_b)
+ {}
+ else
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[12]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[6]] < c_b)
+ {}
+ else
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[4]] < c_b)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[11]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[12]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[13]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[5]] < c_b)
+ {}
+ else
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[11]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[5]] < c_b)
+ {}
+ else
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[3]] < c_b)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[10]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[4]] < c_b)
+ {}
+ else
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[10]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[4]] < c_b)
+ {}
+ else
+ if(p[pixel[13]] < c_b)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[2]] < c_b)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[3]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[9]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[3]] < c_b)
+ {}
+ else
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[3]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[9]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[3]] < c_b)
+ {}
+ else
+ if(p[pixel[12]] < c_b)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[1]] < c_b)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[3]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[2]] > cb)
+ if(p[pixel[3]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[8]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[3]] < c_b)
+ if(p[pixel[2]] < c_b)
+ {}
+ else
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[3]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[2]] > cb)
+ if(p[pixel[3]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[8]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[3]] < c_b)
+ if(p[pixel[2]] < c_b)
+ {}
+ else
+ if(p[pixel[11]] < c_b)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[0]] < c_b)
+ if(p[pixel[1]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[3]] > cb)
+ if(p[pixel[2]] > cb)
+ {}
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[3]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[2]] < c_b)
+ if(p[pixel[3]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[1]] < c_b)
+ if(p[pixel[2]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[3]] > cb)
+ {}
+ else
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[3]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[2]] < c_b)
+ if(p[pixel[3]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[4]] > cb)
+ {}
+ else
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[3]] < c_b)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[5]] > cb)
+ {}
+ else
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[13]] < c_b)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[12]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[6]] > cb)
+ {}
+ else
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[14]] < c_b)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[13]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[6]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[15]] < c_b)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ {}
+ else
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[13]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[12]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[6]] > cb)
+ {}
+ else
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[5]] > cb)
+ {}
+ else
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[4]] > cb)
+ {}
+ else
+ if(p[pixel[13]] > cb)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[9]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[3]] > cb)
+ {}
+ else
+ if(p[pixel[12]] > cb)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[3]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[8]] > cb)
+ if(p[pixel[7]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[10]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[3]] > cb)
+ if(p[pixel[2]] > cb)
+ {}
+ else
+ if(p[pixel[11]] > cb)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[3]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[2]] < c_b)
+ if(p[pixel[3]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[7]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[7]] > cb)
+ if(p[pixel[8]] > cb)
+ if(p[pixel[9]] > cb)
+ if(p[pixel[6]] > cb)
+ if(p[pixel[5]] > cb)
+ if(p[pixel[4]] > cb)
+ if(p[pixel[3]] > cb)
+ if(p[pixel[2]] > cb)
+ if(p[pixel[1]] > cb)
+ {}
+ else
+ if(p[pixel[10]] > cb)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] > cb)
+ if(p[pixel[11]] > cb)
+ if(p[pixel[12]] > cb)
+ if(p[pixel[13]] > cb)
+ if(p[pixel[14]] > cb)
+ if(p[pixel[15]] > cb)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else if(p[pixel[7]] < c_b)
+ if(p[pixel[8]] < c_b)
+ if(p[pixel[9]] < c_b)
+ if(p[pixel[6]] < c_b)
+ if(p[pixel[5]] < c_b)
+ if(p[pixel[4]] < c_b)
+ if(p[pixel[3]] < c_b)
+ if(p[pixel[2]] < c_b)
+ if(p[pixel[1]] < c_b)
+ {}
+ else
+ if(p[pixel[10]] < c_b)
+ {}
+ else
+ continue;
+ else
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ if(p[pixel[10]] < c_b)
+ if(p[pixel[11]] < c_b)
+ if(p[pixel[12]] < c_b)
+ if(p[pixel[13]] < c_b)
+ if(p[pixel[14]] < c_b)
+ if(p[pixel[15]] < c_b)
+ {}
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ else
+ continue;
+ if(num_corners == rsize)
+ {
+ rsize*=2;
+ ret_corners = (xy*)realloc(ret_corners, sizeof(xy)*rsize);
+ }
+ ret_corners[num_corners].x = x;
+ ret_corners[num_corners].y = y;
+ num_corners++;
+
+ }
+
+ *ret_num_corners = num_corners;
+ return ret_corners;
+
+}
+
+// clang-format on
diff --git a/third_party/fastfeat/nonmax.c b/third_party/fastfeat/nonmax.c
new file mode 100644
index 0000000..e4f2911
--- /dev/null
+++ b/third_party/fastfeat/nonmax.c
@@ -0,0 +1,119 @@
+// clang-format off
+#include <stdlib.h>
+#include "fast.h"
+
+
+#define Compare(X, Y) ((X)>=(Y))
+
+xy* nonmax_suppression(const xy* corners, const int* scores, int num_corners, int* ret_num_nonmax)
+{
+ int num_nonmax=0;
+ int last_row;
+ int* row_start;
+ int i, j;
+ xy* ret_nonmax;
+ const int sz = (int)num_corners;
+
+ /*Point above points (roughly) to the pixel above the one of interest, if there
+ is a feature there.*/
+ int point_above = 0;
+ int point_below = 0;
+
+
+ if(num_corners < 1)
+ {
+ *ret_num_nonmax = 0;
+ return 0;
+ }
+
+ ret_nonmax = (xy*)malloc(num_corners * sizeof(xy));
+
+ /* 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. */
+ last_row = corners[num_corners-1].y;
+ row_start = (int*)malloc((last_row+1)*sizeof(int));
+
+ for(i=0; i < last_row+1; i++)
+ row_start[i] = -1;
+
+ {
+ int prev_row = -1;
+ for(i=0; i< num_corners; i++)
+ if(corners[i].y != prev_row)
+ {
+ row_start[corners[i].y] = i;
+ prev_row = corners[i].y;
+ }
+ }
+
+
+
+ for(i=0; i < sz; 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 && Compare(scores[i-1], score))
+ continue;
+
+ /*Check right*/
+ if(i < (sz - 1))
+ if(corners[i+1].x == pos.x+1 && corners[i+1].y == pos.y && Compare(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) && Compare(scores[j], score))
+ goto cont;
+ }
+
+ }
+
+ /*Check below (if there is anything below)*/
+ if(pos.y != last_row && row_start[pos.y + 1] != -1 && point_below < sz) /*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 < sz && corners[point_below].y == pos.y+1 && corners[point_below].x < pos.x - 1; point_below++)
+ {}
+
+ for(j=point_below; j < sz && corners[j].y == pos.y+1 && corners[j].x <= pos.x + 1; j++)
+ {
+ int x = corners[j].x;
+ if( (x == pos.x - 1 || x ==pos.x || x == pos.x+1) && Compare(scores[j],score))
+ goto cont;
+ }
+ }
+
+ ret_nonmax[num_nonmax++] = corners[i];
+ cont:
+ ;
+ }
+
+ free(row_start);
+ *ret_num_nonmax = num_nonmax;
+ return ret_nonmax;
+}
+
+// clang-format on
diff --git a/vp10/common/mv.h b/vp10/common/mv.h
index 123d013..e379c31 100644
--- a/vp10/common/mv.h
+++ b/vp10/common/mv.h
@@ -52,7 +52,7 @@
// for each parameter. In other words, after a parameter is integerized
// it is clamped between -(1 << ABS_XXX_BITS) and (1 << ABS_XXX_BITS).
//
-// XXX_PREC_DIFF, XXX_ENCODE_FACTOR and XXX_DECODE_FACTOR
+// XXX_PREC_DIFF and XXX_DECODE_FACTOR
// are computed once here to prevent repetitive
// computation on the decoder side. These are
// to allow the global motion parameters to be encoded in a lower
@@ -64,12 +64,10 @@
#define GM_TRANS_PREC_BITS 5
#define GM_TRANS_PREC_DIFF (WARPEDMODEL_PREC_BITS - GM_TRANS_PREC_BITS)
#define GM_TRANS_DECODE_FACTOR (1 << GM_TRANS_PREC_DIFF)
-#define GM_TRANS_ENCODE_FACTOR (1 / (GM_TRANS_DECODE_FACTOR))
#define GM_ALPHA_PREC_BITS 5
#define GM_ALPHA_PREC_DIFF (WARPEDMODEL_PREC_BITS - GM_ALPHA_PREC_BITS)
#define GM_ALPHA_DECODE_FACTOR (1 << GM_ALPHA_PREC_DIFF)
-#define GM_ALPHA_ENCODE_FACTOR (1 / (GM_ALPHA_DECODE_FACTOR))
#define GM_ABS_ALPHA_BITS 8
#define GM_ABS_TRANS_BITS 8
diff --git a/vp10/common/warped_motion.c b/vp10/common/warped_motion.c
index 7d5b7a2..dd9a91e 100644
--- a/vp10/common/warped_motion.c
+++ b/vp10/common/warped_motion.c
@@ -16,32 +16,7 @@
#include "vp10/common/warped_motion.h"
-typedef void (*projectPointsType)(int *mat, int *points, int *proj, const int n,
- const int stride_points,
- const int stride_proj,
- const int subsampling_x,
- const int subsampling_y);
-
-static void projectPointsHomography(int *mat, int *points, int *proj,
- const int n, const int stride_points,
- const int stride_proj,
- const int subsampling_x,
- const int subsampling_y);
-static void projectPointsAffine(int *mat, int *points, int *proj, const int n,
- const int stride_points, const int stride_proj,
- const int subsampling_x,
- const int subsampling_y);
-static void projectPointsRotZoom(int *mat, int *points, int *proj, const int n,
- const int stride_points, const int stride_proj,
- const int subsampling_x,
- const int subsampling_y);
-static void projectPointsTranslation(int *mat, int *points, int *proj,
- const int n, const int stride_points,
- const int stride_proj,
- const int subsampling_x,
- const int subsampling_y);
-
-static projectPointsType get_projectPointsType(TransformationType type) {
+static ProjectPointsType get_project_points_type(TransformationType type) {
switch (type) {
case HOMOGRAPHY: return projectPointsHomography;
case AFFINE: return projectPointsAffine;
@@ -51,11 +26,10 @@
}
}
-static void projectPointsTranslation(int *mat, int *points, int *proj,
- const int n, const int stride_points,
- const int stride_proj,
- const int subsampling_x,
- const int subsampling_y) {
+void projectPointsTranslation(int *mat, int *points, int *proj, const int n,
+ const int stride_points, const int stride_proj,
+ const int subsampling_x,
+ const int subsampling_y) {
int i;
for (i = 0; i < n; ++i) {
const int x = *(points++), y = *(points++);
@@ -105,10 +79,9 @@
}
}
-static void projectPointsAffine(int *mat, int *points, int *proj, const int n,
- const int stride_points, const int stride_proj,
- const int subsampling_x,
- const int subsampling_y) {
+void projectPointsAffine(int *mat, int *points, int *proj, const int n,
+ const int stride_points, const int stride_proj,
+ const int subsampling_x, const int subsampling_y) {
int i;
for (i = 0; i < n; ++i) {
const int x = *(points++), y = *(points++);
@@ -133,11 +106,9 @@
}
}
-static void projectPointsHomography(int *mat, int *points, int *proj,
- const int n, const int stride_points,
- const int stride_proj,
- const int subsampling_x,
- const int subsampling_y) {
+void projectPointsHomography(int *mat, int *points, int *proj, const int n,
+ const int stride_points, const int stride_proj,
+ const int subsampling_x, const int subsampling_y) {
int i;
int64_t x, y, Z;
int64_t xp, yp;
@@ -382,28 +353,6 @@
}
}
-static void warp_plane(WarpedMotionParams *wm, uint8_t *ref, int width,
- int height, int stride, uint8_t *pred, int p_col,
- int p_row, int p_width, int p_height, int p_stride,
- int subsampling_x, int subsampling_y, int x_scale,
- int y_scale) {
- int i, j;
- projectPointsType projectPoints = get_projectPointsType(wm->wmtype);
- if (projectPoints == NULL) return;
- for (i = p_row; i < p_row + p_height; ++i) {
- for (j = p_col; j < p_col + p_width; ++j) {
- int in[2], out[2];
- in[0] = j;
- in[1] = i;
- projectPoints(wm->wmmat, in, out, 1, 2, 2, subsampling_x, subsampling_y);
- out[0] = ROUND_POWER_OF_TWO_SIGNED(out[0] * x_scale, 4);
- out[1] = ROUND_POWER_OF_TWO_SIGNED(out[1] * y_scale, 4);
- pred[(j - p_col) + (i - p_row) * p_stride] =
- warp_interpolate(ref, out[0], out[1], width, height, stride);
- }
- }
-}
-
#if CONFIG_VP9_HIGHBITDEPTH
static INLINE void highbd_get_subcolumn(int taps, uint16_t *ref, int32_t *col,
int stride, int x, int y_start) {
@@ -517,6 +466,38 @@
}
}
+static double highbd_warp_erroradv(WarpedMotionParams *wm, uint8_t *ref8,
+ int width, int height, int stride,
+ uint8_t *dst8, int p_col, int p_row,
+ int p_width, int p_height, int p_stride,
+ int subsampling_x, int subsampling_y,
+ int x_scale, int y_scale, int bd) {
+ int i, j;
+ ProjectPointsType projectpoints = get_project_points_type(wm->wmtype);
+ uint16_t *dst = CONVERT_TO_SHORTPTR(dst8);
+ uint16_t *ref = CONVERT_TO_SHORTPTR(ref8);
+ int gm_err = 0, no_gm_err = 0;
+ int gm_sumerr = 0, no_gm_sumerr = 0;
+ for (i = p_row; i < p_row + p_height; ++i) {
+ for (j = p_col; j < p_col + p_width; ++j) {
+ int in[2], out[2];
+ in[0] = j;
+ in[1] = i;
+ projectpoints(wm->wmmat, in, out, 1, 2, 2, subsampling_x, subsampling_y);
+ out[0] = ROUND_POWER_OF_TWO_SIGNED(out[0] * x_scale, 4);
+ out[1] = ROUND_POWER_OF_TWO_SIGNED(out[1] * y_scale, 4);
+ gm_err = dst[(j - p_col) + (i - p_row) * p_stride] -
+ highbd_warp_interpolate(ref, out[0], out[1], width, height,
+ stride, bd);
+ no_gm_err = dst[(j - p_col) + (i - p_row) * p_stride] -
+ ref[(j - p_col) + (i - p_row) * stride];
+ gm_sumerr += gm_err * gm_err;
+ no_gm_sumerr += no_gm_err * no_gm_err;
+ }
+ }
+ return (double)gm_sumerr / no_gm_sumerr;
+}
+
static void highbd_warp_plane(WarpedMotionParams *wm, uint8_t *ref8, int width,
int height, int stride, uint8_t *pred8, int p_col,
int p_row, int p_width, int p_height,
@@ -524,16 +505,16 @@
int subsampling_y, int x_scale, int y_scale,
int bd) {
int i, j;
- projectPointsType projectPoints = get_projectPointsType(wm->wmtype);
+ ProjectPointsType projectpoints = get_project_points_type(wm->wmtype);
uint16_t *pred = CONVERT_TO_SHORTPTR(pred8);
uint16_t *ref = CONVERT_TO_SHORTPTR(ref8);
- if (projectPoints == NULL) return;
+ if (projectpoints == NULL) return;
for (i = p_row; i < p_row + p_height; ++i) {
for (j = p_col; j < p_col + p_width; ++j) {
int in[2], out[2];
in[0] = j;
in[1] = i;
- projectPoints(wm->wmmat, in, out, 1, 2, 2, subsampling_x, subsampling_y);
+ projectpoints(wm->wmmat, in, out, 1, 2, 2, subsampling_x, subsampling_y);
out[0] = ROUND_POWER_OF_TWO_SIGNED(out[0] * x_scale, 4);
out[1] = ROUND_POWER_OF_TWO_SIGNED(out[1] * y_scale, 4);
pred[(j - p_col) + (i - p_row) * p_stride] = highbd_warp_interpolate(
@@ -543,6 +524,76 @@
}
#endif // CONFIG_VP9_HIGHBITDEPTH
+static double warp_erroradv(WarpedMotionParams *wm, uint8_t *ref, int width,
+ int height, int stride, uint8_t *dst, int p_col,
+ int p_row, int p_width, int p_height, int p_stride,
+ int subsampling_x, int subsampling_y, int x_scale,
+ int y_scale) {
+ int gm_err = 0, no_gm_err = 0;
+ int gm_sumerr = 0, no_gm_sumerr = 0;
+ int i, j;
+ ProjectPointsType projectpoints = get_project_points_type(wm->wmtype);
+ for (i = p_row; i < p_row + p_height; ++i) {
+ for (j = p_col; j < p_col + p_width; ++j) {
+ int in[2], out[2];
+ in[0] = j;
+ in[1] = i;
+ projectpoints(wm->wmmat, in, out, 1, 2, 2, subsampling_x, subsampling_y);
+ out[0] = ROUND_POWER_OF_TWO_SIGNED(out[0] * x_scale, 4);
+ out[1] = ROUND_POWER_OF_TWO_SIGNED(out[1] * y_scale, 4);
+ gm_err = dst[(j - p_col) + (i - p_row) * p_stride] -
+ warp_interpolate(ref, out[0], out[1], width, height, stride);
+ no_gm_err = dst[(j - p_col) + (i - p_row) * p_stride] -
+ ref[(j - p_col) + (i - p_row) * stride];
+ gm_sumerr += gm_err * gm_err;
+ no_gm_sumerr += no_gm_err * no_gm_err;
+ }
+ }
+ return (double)gm_sumerr / no_gm_sumerr;
+}
+
+static void warp_plane(WarpedMotionParams *wm, uint8_t *ref, int width,
+ int height, int stride, uint8_t *pred, int p_col,
+ int p_row, int p_width, int p_height, int p_stride,
+ int subsampling_x, int subsampling_y, int x_scale,
+ int y_scale) {
+ int i, j;
+ ProjectPointsType projectpoints = get_project_points_type(wm->wmtype);
+ if (projectpoints == NULL) return;
+ for (i = p_row; i < p_row + p_height; ++i) {
+ for (j = p_col; j < p_col + p_width; ++j) {
+ int in[2], out[2];
+ in[0] = j;
+ in[1] = i;
+ projectpoints(wm->wmmat, in, out, 1, 2, 2, subsampling_x, subsampling_y);
+ out[0] = ROUND_POWER_OF_TWO_SIGNED(out[0] * x_scale, 4);
+ out[1] = ROUND_POWER_OF_TWO_SIGNED(out[1] * y_scale, 4);
+ pred[(j - p_col) + (i - p_row) * p_stride] =
+ warp_interpolate(ref, out[0], out[1], width, height, stride);
+ }
+ }
+}
+
+double vp10_warp_erroradv(WarpedMotionParams *wm,
+#if CONFIG_VP9_HIGHBITDEPTH
+ int use_hbd, int bd,
+#endif // CONFIG_VP9_HIGHBITDEPTH
+ uint8_t *ref, int width, int height, int stride,
+ uint8_t *dst, int p_col, int p_row, int p_width,
+ int p_height, int p_stride, int subsampling_x,
+ int subsampling_y, int x_scale, int y_scale) {
+#if CONFIG_VP9_HIGHBITDEPTH
+ if (use_hbd)
+ return highbd_warp_erroradv(
+ wm, ref, width, height, stride, dst, p_col, p_row, p_width, p_height,
+ p_stride, subsampling_x, subsampling_y, x_scale, y_scale, bd);
+ else
+#endif // CONFIG_VP9_HIGHBITDEPTH
+ return warp_erroradv(wm, ref, width, height, stride, dst, p_col, p_row,
+ p_width, p_height, p_stride, subsampling_x,
+ subsampling_y, x_scale, y_scale);
+}
+
void vp10_warp_plane(WarpedMotionParams *wm,
#if CONFIG_VP9_HIGHBITDEPTH
int use_hbd, int bd,
diff --git a/vp10/common/warped_motion.h b/vp10/common/warped_motion.h
index 3e566b6..1b317f1 100644
--- a/vp10/common/warped_motion.h
+++ b/vp10/common/warped_motion.h
@@ -37,6 +37,24 @@
#define WARPEDDIFF_PREC_BITS (WARPEDMODEL_PREC_BITS - WARPEDPIXEL_PREC_BITS)
+typedef void (*ProjectPointsType)(int *mat, int *points, int *proj, const int n,
+ const int stride_points,
+ const int stride_proj,
+ const int subsampling_x,
+ const int subsampling_y);
+void projectPointsHomography(int *mat, int *points, int *proj, const int n,
+ const int stride_points, const int stride_proj,
+ const int subsampling_x, const int subsampling_y);
+void projectPointsAffine(int *mat, int *points, int *proj, const int n,
+ const int stride_points, const int stride_proj,
+ const int subsampling_x, const int subsampling_y);
+void projectPointsRotZoom(int *mat, int *points, int *proj, const int n,
+ const int stride_points, const int stride_proj,
+ const int subsampling_x, const int subsampling_y);
+void projectPointsTranslation(int *mat, int *points, int *proj, const int n,
+ const int stride_points, const int stride_proj,
+ const int subsampling_x, const int subsampling_y);
+
typedef enum {
UNKNOWN_TRANSFORM = -1,
HOMOGRAPHY, // homography, 8-parameter
@@ -54,6 +72,15 @@
int wmmat[8]; // For homography wmmat[9] is assumed to be 1
} WarpedMotionParams;
+double vp10_warp_erroradv(WarpedMotionParams *wm,
+#if CONFIG_VP9_HIGHBITDEPTH
+ int use_hbd, int bd,
+#endif // CONFIG_VP9_HIGHBITDEPTH
+ uint8_t *ref, int width, int height, int stride,
+ uint8_t *dst, int p_col, int p_row, int p_width,
+ int p_height, int p_stride, int subsampling_x,
+ int subsampling_y, int x_scale, int y_scale);
+
void vp10_warp_plane(WarpedMotionParams *wm,
#if CONFIG_VP9_HIGHBITDEPTH
int use_hbd, int bd,
diff --git a/vp10/encoder/bitstream.c b/vp10/encoder/bitstream.c
index 5fb11fa..1a9e760 100644
--- a/vp10/encoder/bitstream.c
+++ b/vp10/encoder/bitstream.c
@@ -3203,28 +3203,28 @@
case GLOBAL_ZERO: break;
case GLOBAL_AFFINE:
vp10_write_primitive_symmetric(
- w, params->motion_params.wmmat[4] * GM_ALPHA_ENCODE_FACTOR,
+ w, params->motion_params.wmmat[4] >> GM_ALPHA_PREC_DIFF,
GM_ABS_ALPHA_BITS);
vp10_write_primitive_symmetric(
- w, (params->motion_params.wmmat[5] * GM_ALPHA_ENCODE_FACTOR) -
+ w, (params->motion_params.wmmat[5] >> GM_ALPHA_PREC_DIFF) -
(1 << GM_ALPHA_PREC_BITS),
GM_ABS_ALPHA_BITS);
// fallthrough intended
case GLOBAL_ROTZOOM:
vp10_write_primitive_symmetric(
- w, (params->motion_params.wmmat[2] * GM_ALPHA_ENCODE_FACTOR) -
+ w, (params->motion_params.wmmat[2] >> GM_ALPHA_PREC_DIFF) -
(1 << GM_ALPHA_PREC_BITS),
GM_ABS_ALPHA_BITS);
vp10_write_primitive_symmetric(
- w, params->motion_params.wmmat[3] * GM_ALPHA_ENCODE_FACTOR,
+ w, params->motion_params.wmmat[3] >> GM_ALPHA_PREC_DIFF,
GM_ABS_ALPHA_BITS);
// fallthrough intended
case GLOBAL_TRANSLATION:
vp10_write_primitive_symmetric(
- w, params->motion_params.wmmat[0] * GM_TRANS_ENCODE_FACTOR,
+ w, params->motion_params.wmmat[0] >> GM_TRANS_PREC_DIFF,
GM_ABS_TRANS_BITS);
vp10_write_primitive_symmetric(
- w, params->motion_params.wmmat[1] * GM_TRANS_ENCODE_FACTOR,
+ w, params->motion_params.wmmat[1] >> GM_TRANS_PREC_DIFF,
GM_ABS_TRANS_BITS);
break;
default: assert(0);
diff --git a/vp10/encoder/corner_detect.c b/vp10/encoder/corner_detect.c
new file mode 100644
index 0000000..2b2d82d
--- /dev/null
+++ b/vp10/encoder/corner_detect.c
@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2010 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 <stdlib.h>
+#include <stdio.h>
+#include <memory.h>
+#include <math.h>
+#include <assert.h>
+
+#include "vp10/encoder/corner_detect.h"
+#include "third_party/fastfeat/fast.h"
+
+// 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 = fast9_detect_nonmax(buf, width, height, stride,
+ FAST_BARRIER, &num_points);
+ num_points = (num_points <= max_points ? num_points : max_points);
+ if (num_points > 0 && frm_corners_xy) {
+ memcpy(points, frm_corners_xy, sizeof(xy) * num_points);
+ free(frm_corners_xy);
+ return num_points;
+ } else {
+ return 0;
+ }
+}
diff --git a/vp10/encoder/corner_detect.h b/vp10/encoder/corner_detect.h
new file mode 100644
index 0000000..8db713e
--- /dev/null
+++ b/vp10/encoder/corner_detect.h
@@ -0,0 +1,21 @@
+/*
+ * Copyright (c) 2010 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.
+ */
+
+#ifndef VP10_ENCODER_CORNER_DETECT_H_
+#define VP10_ENCODER_CORNER_DETECT_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <memory.h>
+
+int FastCornerDetect(unsigned char *buf, int width, int height, int stride,
+ int *points, int max_points);
+
+#endif // VP10_ENCODER_CORNER_DETECT_H
diff --git a/vp10/encoder/corner_match.c b/vp10/encoder/corner_match.c
new file mode 100644
index 0000000..6b19d5b
--- /dev/null
+++ b/vp10/encoder/corner_match.c
@@ -0,0 +1,210 @@
+/*
+ * Copyright (c) 2010 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 <stdio.h>
+#include <stdlib.h>
+#include <memory.h>
+#include <math.h>
+
+#include "vp10/encoder/corner_match.h"
+
+#define MATCH_SZ 15
+#define MATCH_SZ_BY2 ((MATCH_SZ - 1) / 2)
+#define MATCH_SZ_SQ (MATCH_SZ * MATCH_SZ)
+#define SEARCH_SZ 9
+#define SEARCH_SZ_BY2 ((SEARCH_SZ - 1) / 2)
+
+#define THRESHOLD_NCC 0.80
+
+static double compute_variance(unsigned char *im, int stride, int x, int y,
+ double *mean) {
+ double sum = 0.0;
+ double sumsq = 0.0;
+ double var;
+ int i, j;
+ for (i = 0; i < MATCH_SZ; ++i)
+ for (j = 0; j < MATCH_SZ; ++j) {
+ sum += im[(i + y - MATCH_SZ_BY2) * stride + (j + x - MATCH_SZ_BY2)];
+ sumsq += im[(i + y - MATCH_SZ_BY2) * stride + (j + x - MATCH_SZ_BY2)] *
+ im[(i + y - MATCH_SZ_BY2) * stride + (j + x - MATCH_SZ_BY2)];
+ }
+ var = (sumsq * MATCH_SZ_SQ - sum * sum) / (MATCH_SZ_SQ * MATCH_SZ_SQ);
+ if (mean) *mean = sum / MATCH_SZ_SQ;
+ return var;
+}
+
+static double compute_cross_correlation(unsigned char *im1, int stride1, int x1,
+ int y1, unsigned char *im2, int stride2,
+ int x2, int y2) {
+ double sum1 = 0;
+ double sum2 = 0;
+ double cross = 0;
+ double corr;
+ int i, j;
+ for (i = 0; i < MATCH_SZ; ++i)
+ for (j = 0; j < MATCH_SZ; ++j) {
+ sum1 += im1[(i + y1 - MATCH_SZ_BY2) * stride1 + (j + x1 - MATCH_SZ_BY2)];
+ sum2 += im2[(i + y2 - MATCH_SZ_BY2) * stride2 + (j + x2 - MATCH_SZ_BY2)];
+ cross +=
+ im1[(i + y1 - MATCH_SZ_BY2) * stride1 + (j + x1 - MATCH_SZ_BY2)] *
+ im2[(i + y2 - MATCH_SZ_BY2) * stride2 + (j + x2 - MATCH_SZ_BY2)];
+ }
+ corr = (cross * MATCH_SZ_SQ - sum1 * sum2) / (MATCH_SZ_SQ * MATCH_SZ_SQ);
+ return corr;
+}
+
+static int is_eligible_point(double pointx, double pointy, int width,
+ int height) {
+ return (pointx >= MATCH_SZ_BY2 && pointy >= MATCH_SZ_BY2 &&
+ pointx + MATCH_SZ_BY2 < width && pointy + MATCH_SZ_BY2 < height);
+}
+
+static int is_eligible_distance(double point1x, double point1y, double point2x,
+ double point2y, int width, int height) {
+ const int thresh = (width < height ? height : width) >> 4;
+ return ((point1x - point2x) * (point1x - point2x) +
+ (point1y - point2y) * (point1y - point2y)) <= thresh * thresh;
+}
+
+static void improve_correspondence(unsigned char *frm, unsigned char *ref,
+ int width, int height, int frm_stride,
+ int ref_stride,
+ correspondence *correspondences,
+ int num_correspondences) {
+ int i;
+ for (i = 0; i < num_correspondences; ++i) {
+ double template_norm =
+ compute_variance(frm, frm_stride, (int)correspondences[i].x,
+ (int)correspondences[i].y, NULL);
+ int x, y, best_x = 0, best_y = 0;
+ double best_match_ncc = 0.0;
+ for (y = -SEARCH_SZ_BY2; y <= SEARCH_SZ_BY2; ++y) {
+ for (x = -SEARCH_SZ_BY2; x <= SEARCH_SZ_BY2; ++x) {
+ double match_ncc;
+ double subimage_norm;
+ if (!is_eligible_point((int)correspondences[i].rx + x,
+ (int)correspondences[i].ry + y, width, height))
+ continue;
+ if (!is_eligible_distance(
+ (int)correspondences[i].x, (int)correspondences[i].y,
+ (int)correspondences[i].rx + x, (int)correspondences[i].ry + y,
+ width, height))
+ continue;
+ subimage_norm =
+ compute_variance(ref, ref_stride, (int)correspondences[i].rx + x,
+ (int)correspondences[i].ry + y, NULL);
+ match_ncc = compute_cross_correlation(
+ frm, frm_stride, (int)correspondences[i].x,
+ (int)correspondences[i].y, ref, ref_stride,
+ (int)correspondences[i].rx + x,
+ (int)correspondences[i].ry + y) /
+ sqrt(template_norm * subimage_norm);
+ if (match_ncc > best_match_ncc) {
+ best_match_ncc = match_ncc;
+ best_y = y;
+ best_x = x;
+ }
+ }
+ }
+ correspondences[i].rx += (double)best_x;
+ correspondences[i].ry += (double)best_y;
+ }
+ for (i = 0; i < num_correspondences; ++i) {
+ double template_norm =
+ compute_variance(ref, ref_stride, (int)correspondences[i].rx,
+ (int)correspondences[i].ry, NULL);
+ int x, y, best_x = 0, best_y = 0;
+ double best_match_ncc = 0.0;
+ for (y = -SEARCH_SZ_BY2; y <= SEARCH_SZ_BY2; ++y)
+ for (x = -SEARCH_SZ_BY2; x <= SEARCH_SZ_BY2; ++x) {
+ double match_ncc;
+ double subimage_norm;
+ if (!is_eligible_point((int)correspondences[i].x + x,
+ (int)correspondences[i].y + y, width, height))
+ continue;
+ if (!is_eligible_distance((int)correspondences[i].x + x,
+ (int)correspondences[i].y + y,
+ (int)correspondences[i].rx,
+ (int)correspondences[i].ry, width, height))
+ continue;
+ subimage_norm =
+ compute_variance(frm, frm_stride, (int)correspondences[i].x + x,
+ (int)correspondences[i].y + y, NULL);
+ match_ncc =
+ compute_cross_correlation(
+ frm, frm_stride, (int)correspondences[i].x + x,
+ (int)correspondences[i].y + y, ref, ref_stride,
+ (int)correspondences[i].rx, (int)correspondences[i].ry) /
+ sqrt(template_norm * subimage_norm);
+ if (match_ncc > best_match_ncc) {
+ best_match_ncc = match_ncc;
+ best_y = y;
+ best_x = x;
+ }
+ }
+ correspondences[i].x += best_x;
+ correspondences[i].y += best_y;
+ }
+}
+
+int determine_correspondence(unsigned char *frm, int *frm_corners,
+ int num_frm_corners, unsigned char *ref,
+ int *ref_corners, int num_ref_corners, int width,
+ int height, int frm_stride, int ref_stride,
+ double *correspondence_pts) {
+ // TODO(sarahparker) Improve this to include 2-way match
+ int i, j;
+ correspondence *correspondences = (correspondence *)correspondence_pts;
+ int num_correspondences = 0;
+ for (i = 0; i < num_frm_corners; ++i) {
+ double best_match_ncc = 0.0;
+ double template_norm;
+ int best_match_j = -1;
+ if (!is_eligible_point(frm_corners[2 * i], frm_corners[2 * i + 1], width,
+ height))
+ continue;
+ template_norm = compute_variance(frm, frm_stride, frm_corners[2 * i],
+ frm_corners[2 * i + 1], NULL);
+ for (j = 0; j < num_ref_corners; ++j) {
+ double match_ncc;
+ double subimage_norm;
+ if (!is_eligible_point(ref_corners[2 * j], ref_corners[2 * j + 1], width,
+ height))
+ continue;
+ if (!is_eligible_distance(frm_corners[2 * i], frm_corners[2 * i + 1],
+ ref_corners[2 * j], ref_corners[2 * j + 1],
+ width, height))
+ continue;
+ subimage_norm = compute_variance(ref, ref_stride, ref_corners[2 * j],
+ ref_corners[2 * j + 1], NULL);
+ match_ncc = compute_cross_correlation(frm, frm_stride, frm_corners[2 * i],
+ frm_corners[2 * i + 1], ref,
+ ref_stride, ref_corners[2 * j],
+ ref_corners[2 * j + 1]) /
+ sqrt(template_norm * subimage_norm);
+ if (match_ncc > best_match_ncc) {
+ best_match_ncc = match_ncc;
+ best_match_j = j;
+ }
+ }
+ if (best_match_ncc > THRESHOLD_NCC) {
+ correspondences[num_correspondences].x = (double)frm_corners[2 * i];
+ correspondences[num_correspondences].y = (double)frm_corners[2 * i + 1];
+ correspondences[num_correspondences].rx =
+ (double)ref_corners[2 * best_match_j];
+ correspondences[num_correspondences].ry =
+ (double)ref_corners[2 * best_match_j + 1];
+ num_correspondences++;
+ }
+ }
+ improve_correspondence(frm, ref, width, height, frm_stride, ref_stride,
+ correspondences, num_correspondences);
+ return num_correspondences;
+}
diff --git a/vp10/encoder/corner_match.h b/vp10/encoder/corner_match.h
new file mode 100644
index 0000000..3bc8cb9
--- /dev/null
+++ b/vp10/encoder/corner_match.h
@@ -0,0 +1,29 @@
+/*
+ * Copyright (c) 2010 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.
+ */
+
+#ifndef VP10_ENCODER_CORNER_MATCH_H_
+#define VP10_ENCODER_CORNER_MATCH_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <memory.h>
+
+typedef struct {
+ double x, y;
+ double rx, ry;
+} correspondence;
+
+int determine_correspondence(unsigned char *frm, int *frm_corners,
+ int num_frm_corners, unsigned char *ref,
+ int *ref_corners, int num_ref_corners, int width,
+ int height, int frm_stride, int ref_stride,
+ double *correspondence_pts);
+
+#endif // VP10_ENCODER_CORNER_MATCH_H
diff --git a/vp10/encoder/encodeframe.c b/vp10/encoder/encodeframe.c
index cf3b002..e458959 100644
--- a/vp10/encoder/encodeframe.c
+++ b/vp10/encoder/encodeframe.c
@@ -4407,6 +4407,7 @@
#if CONFIG_GLOBAL_MOTION
#define MIN_TRANS_THRESH 8
+#define GLOBAL_MOTION_ADVANTAGE_THRESH 0.60
#define GLOBAL_MOTION_MODEL ROTZOOM
static void convert_to_params(double *H, TransformationType type,
Global_Motion_Params *model) {
@@ -4472,20 +4473,36 @@
rdc->ex_search_count = 0; // Exhaustive mesh search hits.
#if CONFIG_GLOBAL_MOTION
- // TODO(sarahparker) this is a placeholder for gm computation
vpx_clear_system_state();
vp10_zero(cpi->global_motion_used);
if (cpi->common.frame_type == INTER_FRAME && cpi->Source) {
YV12_BUFFER_CONFIG *ref_buf;
int frame;
- double H[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 1 };
+ double H[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 0 };
for (frame = LAST_FRAME; frame <= ALTREF_FRAME; ++frame) {
ref_buf = get_ref_frame_buffer(cpi, frame);
if (ref_buf) {
- if (compute_global_motion_feature_based(cpi, GLOBAL_MOTION_MODEL,
- cpi->Source, ref_buf, 0.5, H))
+ if (compute_global_motion_feature_based(GLOBAL_MOTION_MODEL,
+ cpi->Source, ref_buf, H)) {
convert_model_to_params(H, GLOBAL_MOTION_MODEL,
&cm->global_motion[frame]);
+ if (get_gmtype(&cm->global_motion[frame]) > GLOBAL_ZERO) {
+ // compute the advantage of using gm parameters over 0 motion
+ double erroradvantage = vp10_warp_erroradv(
+ &cm->global_motion[frame].motion_params,
+#if CONFIG_VP9_HIGHBITDEPTH
+ xd->cur_buf->flags & YV12_FLAG_HIGHBITDEPTH, xd->bd,
+#endif // CONFIG_VP9_HIGHBITDEPTH
+ ref_buf->y_buffer, ref_buf->y_width, ref_buf->y_height,
+ ref_buf->y_stride, cpi->Source->y_buffer, 0, 0,
+ cpi->Source->y_width, cpi->Source->y_height,
+ cpi->Source->y_stride, 0, 0, 16, 16);
+ if (erroradvantage > GLOBAL_MOTION_ADVANTAGE_THRESH)
+ // Not enough advantage in using a global model. Make 0.
+ memset(&cm->global_motion[frame], 0,
+ sizeof(cm->global_motion[frame]));
+ }
+ }
}
}
}
diff --git a/vp10/encoder/global_motion.c b/vp10/encoder/global_motion.c
index 88f344f..6001624 100644
--- a/vp10/encoder/global_motion.c
+++ b/vp10/encoder/global_motion.c
@@ -18,17 +18,71 @@
#include "vp10/encoder/segmentation.h"
#include "vp10/encoder/global_motion.h"
+#include "vp10/encoder/corner_detect.h"
+#include "vp10/encoder/corner_match.h"
+#include "vp10/encoder/ransac.h"
-int compute_global_motion_feature_based(struct VP10_COMP *cpi,
- TransformationType type,
+#define MAX_CORNERS 4096
+#define MIN_INLIER_PROB 0.1
+
+INLINE RansacType get_ransac_type(TransformationType type) {
+ switch (type) {
+ case HOMOGRAPHY: return ransacHomography;
+ case AFFINE: return ransacAffine;
+ case ROTZOOM: return ransacRotZoom;
+ case TRANSLATION: return ransacTranslation;
+ default: assert(0); return NULL;
+ }
+}
+
+// computes global motion parameters by fitting a model using RANSAC
+static int compute_global_motion_params(TransformationType type,
+ double *correspondences,
+ int num_correspondences, double *params,
+ int *inlier_map) {
+ int result;
+ int num_inliers = 0;
+ RansacType ransac = get_ransac_type(type);
+ if (ransac == NULL) return 0;
+
+ result = ransac(correspondences, num_correspondences, &num_inliers,
+ inlier_map, params);
+ if (!result && num_inliers < MIN_INLIER_PROB * num_correspondences) {
+ result = 1;
+ num_inliers = 0;
+ }
+ return num_inliers;
+}
+
+int compute_global_motion_feature_based(TransformationType type,
YV12_BUFFER_CONFIG *frm,
YV12_BUFFER_CONFIG *ref,
- double inlier_prob, double *H) {
- (void)cpi;
- (void)type;
- (void)frm;
- (void)ref;
- (void)inlier_prob;
- (void)H;
- return 0;
+ double *params) {
+ int num_frm_corners, num_ref_corners;
+ int num_correspondences;
+ double *correspondences;
+ int num_inliers;
+ int frm_corners[2 * MAX_CORNERS], ref_corners[2 * MAX_CORNERS];
+ int *inlier_map = NULL;
+
+ // compute interest points in images using FAST features
+ num_frm_corners = FastCornerDetect(frm->y_buffer, frm->y_width, frm->y_height,
+ frm->y_stride, frm_corners, MAX_CORNERS);
+ num_ref_corners = FastCornerDetect(ref->y_buffer, ref->y_width, ref->y_height,
+ ref->y_stride, ref_corners, MAX_CORNERS);
+
+ // find correspondences between the two images
+ correspondences =
+ (double *)malloc(num_frm_corners * 4 * sizeof(*correspondences));
+ num_correspondences = determine_correspondence(
+ frm->y_buffer, (int *)frm_corners, num_frm_corners, ref->y_buffer,
+ (int *)ref_corners, num_ref_corners, frm->y_width, frm->y_height,
+ frm->y_stride, ref->y_stride, correspondences);
+
+ inlier_map = (int *)malloc(num_correspondences * sizeof(*inlier_map));
+ num_inliers = compute_global_motion_params(
+ type, correspondences, num_correspondences, params, inlier_map);
+ free(correspondences);
+ free(inlier_map);
+ return (num_inliers > 0);
}
diff --git a/vp10/encoder/global_motion.h b/vp10/encoder/global_motion.h
index 5832b61..ac79930 100644
--- a/vp10/encoder/global_motion.h
+++ b/vp10/encoder/global_motion.h
@@ -17,11 +17,11 @@
extern "C" {
#endif
-int compute_global_motion_feature_based(struct VP10_COMP *cpi,
- TransformationType type,
+// compute global motion parameters between two frames
+int compute_global_motion_feature_based(TransformationType type,
YV12_BUFFER_CONFIG *frm,
YV12_BUFFER_CONFIG *ref,
- double inlier_prob, double *H);
+ double *params);
#ifdef __cplusplus
} // extern "C"
#endif
diff --git a/vp10/encoder/ransac.c b/vp10/encoder/ransac.c
new file mode 100644
index 0000000..e925068
--- /dev/null
+++ b/vp10/encoder/ransac.c
@@ -0,0 +1,940 @@
+/*
+ * (c) 2010 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 "vp10/encoder/ransac.h"
+
+#define MAX_PARAMDIM 9
+#define MAX_MINPTS 4
+
+#define MAX_DEGENERATE_ITER 10
+#define MINPTS_MULTIPLIER 5
+
+// 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);
+ }
+}
+
+int IMIN(int a, int b) { return (((a) < (b)) ? (a) : (b)); }
+
+int IMAX(int a, int b) { return (((a) < (b)) ? (b) : (a)); }
+
+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(*rv1) * (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(*nrU));
+ nrV = (double **)malloc((N) * sizeof(*nrV));
+ 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(*matx));
+ }
+
+ /* 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(*matx));
+ W = (double *)malloc(N * sizeof(*matx));
+ V = (double *)malloc(N * N * sizeof(*matx));
+
+ 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;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// 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);
+
+static int get_rand_indices(int npoints, int minpts, int *indices) {
+ int i, j;
+ unsigned int seed = (unsigned int)npoints;
+ int ptr = rand_r(&seed) % npoints;
+ if (minpts > npoints) return 0;
+ indices[0] = ptr;
+ ptr = (ptr == npoints - 1 ? 0 : ptr + 1);
+ i = 1;
+ while (i < minpts) {
+ int index = rand_r(&seed) % npoints;
+ while (index) {
+ ptr = (ptr == npoints - 1 ? 0 : ptr + 1);
+ for (j = 0; j < i; ++j) {
+ if (indices[j] == ptr) break;
+ }
+ if (j == i) index--;
+ }
+ indices[i++] = ptr;
+ }
+ return 1;
+}
+
+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, TransformationType type) {
+ static const double INLIER_THRESHOLD_NORMALIZED = 0.1;
+ static const double INLIER_THRESHOLD_UNNORMALIZED = 1.0;
+ 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;
+ int ret_val = 0;
+
+ int max_inliers = 0;
+ double best_variance = 0.0;
+ double H[MAX_PARAMDIM];
+ WarpedMotionParams wm;
+ double points1[2 * MAX_MINPTS];
+ double points2[2 * MAX_MINPTS];
+ int indices[MAX_MINPTS];
+
+ double *best_inlier_set1;
+ double *best_inlier_set2;
+ double *inlier_set1;
+ double *inlier_set2;
+ double *corners1;
+ int *corners1_int;
+ double *corners2;
+ int *image1_coord;
+ int *inlier_mask;
+
+ double *cnp1, *cnp2;
+ double T1[9], T2[9];
+
+ // srand((unsigned)time(NULL)) ;
+ // better to make this deterministic for a given sequence for ease of testing
+ srand(npoints);
+
+ *number_of_inliers = 0;
+ if (npoints < minpts * MINPTS_MULTIPLIER) {
+ printf("Cannot find motion with %d matches\n", npoints);
+ return 1;
+ }
+
+ memset(&wm, 0, sizeof(wm));
+ best_inlier_set1 = (double *)malloc(sizeof(*best_inlier_set1) * npoints * 2);
+ best_inlier_set2 = (double *)malloc(sizeof(*best_inlier_set2) * npoints * 2);
+ inlier_set1 = (double *)malloc(sizeof(*inlier_set1) * npoints * 2);
+ inlier_set2 = (double *)malloc(sizeof(*inlier_set2) * npoints * 2);
+ corners1 = (double *)malloc(sizeof(*corners1) * npoints * 2);
+ corners1_int = (int *)malloc(sizeof(*corners1_int) * npoints * 2);
+ corners2 = (double *)malloc(sizeof(*corners2) * npoints * 2);
+ image1_coord = (int *)malloc(sizeof(*image1_coord) * npoints * 2);
+ inlier_mask = (int *)malloc(sizeof(*inlier_mask) * 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;
+ int num_degenerate_iter = 0;
+ while (degenerate) {
+ num_degenerate_iter++;
+ if (!get_rand_indices(npoints, minpts, indices)) {
+ ret_val = 1;
+ goto finish_ransac;
+ }
+ i = 0;
+ while (i < minpts) {
+ int index = indices[i];
+ // 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 (num_degenerate_iter > MAX_DEGENERATE_ITER) {
+ ret_val = 1;
+ goto finish_ransac;
+ }
+ }
+
+ if (findTransformation(minpts, points1, points2, H)) {
+ trial_count++;
+ continue;
+ }
+
+ for (i = 0; i < npoints; ++i) {
+ corners1_int[2 * i] = (int)corners1[i * 2];
+ corners1_int[2 * i + 1] = (int)corners1[i * 2 + 1];
+ }
+
+ vp10_integerize_model(H, type, &wm);
+ projectpoints(wm.wmmat, corners1_int, image1_coord, npoints, 2, 2, 0, 0);
+
+ for (i = 0; i < npoints; ++i) {
+ double dx =
+ (image1_coord[i * 2] >> WARPEDPIXEL_PREC_BITS) - corners2[i * 2];
+ double dy = (image1_coord[i * 2 + 1] >> WARPEDPIXEL_PREC_BITS) -
+ 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(*bestH));
+ memcpy(best_inlier_set1, inlier_set1,
+ num_inliers * 2 * sizeof(*best_inlier_set1));
+ memcpy(best_inlier_set2, inlier_set2,
+ num_inliers * 2 * sizeof(*best_inlier_set2));
+ memcpy(best_inlier_mask, inlier_mask,
+ npoints * sizeof(*best_inlier_mask));
+
+ 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++;
+ }
+ findTransformation(max_inliers, best_inlier_set1, best_inlier_set2, bestH);
+ if (normalize && denormalize) {
+ denormalize(bestH, T1, T2);
+ }
+ *number_of_inliers = max_inliers;
+finish_ransac:
+ free(best_inlier_set1);
+ free(best_inlier_set2);
+ free(inlier_set1);
+ free(inlier_set2);
+ free(corners1);
+ free(corners2);
+ free(image1_coord);
+ free(inlier_mask);
+ return ret_val;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+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[2];
+ H[1] = Ha[5];
+ H[2] = Ha[0];
+ H[3] = Ha[1];
+ H[4] = Ha[3];
+ H[5] = Ha[4];
+}
+
+static void denormalizeRotZoom(double *H, double *T1, double *T2) {
+ double Ha[MAX_PARAMDIM];
+ 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[2];
+ H[1] = Ha[5];
+ H[2] = Ha[0];
+ H[3] = Ha[1];
+}
+
+static void denormalizeTranslation(double *H, double *T1, double *T2) {
+ double Ha[MAX_PARAMDIM];
+ Ha[0] = 1;
+ Ha[1] = 0;
+ Ha[2] = H[0];
+ Ha[3] = 0;
+ Ha[4] = 1;
+ Ha[5] = H[1];
+ Ha[6] = Ha[7] = 0;
+ Ha[8] = 1;
+ denormalizeHomography(Ha, T1, T2);
+ H[0] = Ha[2];
+ H[1] = 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 isDegenerateTranslation(double *p) {
+ return (p[0] - p[2]) * (p[0] - p[2]) + (p[1] - p[3]) * (p[1] - p[3]) <= 2;
+}
+
+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);
+}
+
+int findTranslation(const int np, double *pts1, double *pts2, double *mat) {
+ int i;
+ double sx, sy, dx, dy;
+ double sumx, sumy;
+
+ double T1[9], T2[9];
+ normalizeHomography(pts1, np, T1);
+ normalizeHomography(pts2, np, T2);
+
+ sumx = 0;
+ sumy = 0;
+ for (i = 0; i < np; ++i) {
+ dx = *(pts2++);
+ dy = *(pts2++);
+ sx = *(pts1++);
+ sy = *(pts1++);
+
+ sumx += dx - sx;
+ sumy += dy - sy;
+ }
+ mat[0] = sumx / np;
+ mat[1] = sumy / np;
+ denormalizeTranslation(mat, T1, T2);
+ return 0;
+}
+
+int findRotZoom(const int np, double *pts1, double *pts2, double *mat) {
+ const int np2 = np * 2;
+ double *a = (double *)malloc(sizeof(*a) * 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(*a) * 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(*a) * 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);
+ free(a);
+ if (mat[8] == 0.0) {
+ return 1;
+ }
+ 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(*a) * 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 ransacTranslation(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, 2, isDegenerateTranslation,
+ NULL, // normalizeHomography,
+ NULL, // denormalizeRotZoom,
+ findTranslation, projectPointsTranslation, TRANSLATION);
+}
+
+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, ROTZOOM);
+}
+
+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, AFFINE);
+}
+
+int ransacHomography(double *matched_points, int npoints,
+ int *number_of_inliers, int *best_inlier_mask,
+ double *bestH) {
+ int result = ransac_(matched_points, npoints, number_of_inliers,
+ best_inlier_mask, bestH, 4, 8, isDegenerateHomography,
+ NULL, // normalizeHomography,
+ NULL, // denormalizeHomography,
+ findHomography, projectPointsHomography, HOMOGRAPHY);
+ if (!result) {
+ // normalize so that H33 = 1
+ int i;
+ double m = 1.0 / bestH[8];
+ for (i = 0; i < 8; ++i) bestH[i] *= m;
+ bestH[8] = 1.0;
+ }
+ return result;
+}
diff --git a/vp10/encoder/ransac.h b/vp10/encoder/ransac.h
new file mode 100644
index 0000000..0b14ecf
--- /dev/null
+++ b/vp10/encoder/ransac.h
@@ -0,0 +1,37 @@
+/*
+ * Copyright (c) 2010 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.
+ */
+
+#ifndef VP10_ENCODER_RANSAC_H_
+#define VP10_ENCODER_RANSAC_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+#include <memory.h>
+
+#include "vp10/common/warped_motion.h"
+
+typedef int (*RansacType)(double *matched_points, int npoints,
+ int *number_of_inliers, int *best_inlier_mask,
+ double *bestH);
+
+/* Each of these functions fits a motion model from a set of
+corresponding points in 2 frames using RANSAC.*/
+int ransacHomography(double *matched_points, int npoints,
+ int *number_of_inliers, int *best_inlier_indices,
+ double *bestH);
+int ransacAffine(double *matched_points, int npoints, int *number_of_inliers,
+ int *best_inlier_indices, double *bestH);
+int ransacRotZoom(double *matched_points, int npoints, int *number_of_inliers,
+ int *best_inlier_indices, double *bestH);
+int ransacTranslation(double *matched_points, int npoints,
+ int *number_of_inliers, int *best_inlier_indices,
+ double *bestH);
+#endif // VP10_ENCODER_RANSAC_H
diff --git a/vp10/vp10cx.mk b/vp10/vp10cx.mk
index 6764ac8..e4d40c8 100644
--- a/vp10/vp10cx.mk
+++ b/vp10/vp10cx.mk
@@ -36,8 +36,18 @@
VP10_CX_SRCS-yes += encoder/ethread.c
VP10_CX_SRCS-yes += encoder/extend.c
VP10_CX_SRCS-yes += encoder/firstpass.c
+VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += ../third_party/fastfeat/fast.h
+VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += ../third_party/fastfeat/nonmax.c
+VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += ../third_party/fastfeat/fast_9.c
+VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += ../third_party/fastfeat/fast.c
+VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += encoder/corner_match.c
+VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += encoder/corner_match.h
+VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += encoder/corner_detect.c
+VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += encoder/corner_detect.h
VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += encoder/global_motion.c
VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += encoder/global_motion.h
+VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += encoder/ransac.c
+VP10_CX_SRCS-$(CONFIG_GLOBAL_MOTION) += encoder/ransac.h
VP10_CX_SRCS-yes += encoder/block.h
VP10_CX_SRCS-yes += encoder/bitstream.h
VP10_CX_SRCS-yes += encoder/encodemb.h
