#include?
#include?
#include?“imlib.h“
#include?“xalloc.h“
#include?“fb_alloc.h“
#include?“gc.h“

#define?MAX_ROW?????????（480）
#define?MAX_CORNERS?????（2000）
#define?Compare（X?Y）?（（X）>=（Y））

typedef?struct?{
????uint16_t?x;
????uint16_t?y;
????uint16_t?score;
}?corner_t;

static?int?s_width=-1;
static?int_fast16_t?s_offset0;
static?int_fast16_t?s_offset1;
static?int_fast16_t?s_offset2;
static?int_fast16_t?s_offset3;
static?int_fast16_t?s_offset4;
static?int_fast16_t?s_offset5;
static?int_fast16_t?s_offset6;
static?int_fast16_t?s_offset7;

static?corner_t?*agast58_detect（image_t?*img?int?b?int*?num_corners?rectangle_t?*roi）;
static?int?agast58_score（const?unsigned?char*?p?int?bstart）;
static?void?nonmax_suppression（corner_t?*corners?int?num_corners?array_t?*keypoints）;

static?kp_t?*alloc_keypoint（uint16_t?x?uint16_t?y?uint16_t?score）
{
????//?Note?must?set?keypoint?descriptor?to?zeros
????kp_t?*kpt?=?xalloc0（sizeof*kpt）;
????kpt->x?=?x;
????kpt->y?=?y;
????kpt->score?=?score;
????return?kpt;
}

static?void?init5_8_pattern（int?image_width）
{
	if（image_width==s_width）
		return;

	s_width=image_width;

	s_offset0=（-1）+（0）*s_width;
	s_offset1=（-1）+（-1）*s_width;
	s_offset2=（0）+（-1）*s_width;
	s_offset3=（1）+（-1）*s_width;
	s_offset4=（1）+（0）*s_width;
	s_offset5=（1）+（1）*s_width;
	s_offset6=（0）+（1）*s_width;
	s_offset7=（-1）+（1）*s_width;
}

void?agast_detect（image_t?*image?array_t?*keypoints?int?threshold?rectangle_t?*roi）
{
????int?num_corners=0;
	init5_8_pattern（image->w）;

????//?Find?corners
????corner_t?*corners?=?agast58_detect（image?threshold?&num_corners?roi）;
????if?（num_corners）?{
????????//?Score?corners
????????for（int?i=0;?i????????????corners[i].score?=?agast58_score（image->pixels?+?（corners[i].y*image->w?+?corners[i].x）?threshold）;
????????}
????????//?Non-max?suppression
????????nonmax_suppression（corners?num_corners?keypoints）;
????}

????//?Free?corners;
????fb_free（）;
}

static?void?nonmax_suppression（corner_t?*corners?int?num_corners?array_t?*keypoints）
{
????gc_info_t?info;

	int?last_row;
	int16_t?row_start[MAX_ROW+1];
	const?int?sz?=?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;

	/*?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[sz-1].y;

	for（int?i=0;?i		row_start[i]?=?-1;
????}

????for?（int?i=0?prev_row=-1;?i????????corner_t?*c?=?&corners[i];
????????if?（c->y?!=?prev_row）?{
????????????row_start[c->y]?=?i;
????????????prev_row?=?c->y;
????????}
????}

????for（int?i=0;?i????????corner_t?pos?=?corners[i];
????????uint16_t?score?=?pos.score;

????????/*Check?left?*/
????????if?（i?>?0）?{
????????????if?（corners[i-1].x?==?pos.x-1?&&?corners[i-1].y?==?pos.y?&&?Compare（corners[i-1].score?sco

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????32434??2018-12-10?11:20??img\agast.c

?????文件?????371793??2018-12-10?11:20??img\apriltag.c

?????文件??????35475??2018-12-10?11:20??img\binary.c

?????文件??????48970??2018-12-10?11:20??img\blob.c

?????文件???????9698??2018-12-10?11:20??img\bmp.c

?????文件?????215433??2018-12-10?11:20??img\cascade.h

?????文件??????20811??2018-12-10?11:20??img\clahe.c

?????文件??????10600??2018-12-10?11:20??img\collections.c

?????文件???????3342??2018-12-10?11:20??img\collections.h

?????文件?????194820??2018-12-10?11:20??img\dmtx.c

?????文件??????13132??2018-12-10?11:20??img\draw.c

?????文件???????5043??2018-12-10?11:20??img\edge.c

?????文件???????4222??2018-12-10?11:20??img\eye.c

?????文件?????205469??2018-12-10?11:20??img\fast.c

?????文件??????35735??2018-12-10?11:20??img\fft.c

?????文件???????1873??2018-12-10?11:20??img\fft.h

?????文件??????69042??2018-12-10?11:20??img\filter.c

?????文件???????4031??2018-12-10?11:20??img\fmath.c

?????文件????????697??2018-12-10?11:20??img\fmath.h

?????文件??????11334??2018-12-10?11:20??img\font.c

?????文件????????406??2018-12-10?11:20??img\font.h

?????文件???????7950??2018-12-10?11:20??img\fsort.c

?????文件????????349??2018-12-10?11:20??img\fsort.h

?????文件???????3700??2018-12-10?11:20??img\gif.c

?????文件??????11016??2018-12-10?11:20??img\haar.c

?????文件???????4295??2018-12-10?11:20??img\hog.c

?????文件??????36078??2018-12-10?11:20??img\hough.c

?????文件??????30502??2018-12-10?11:20??img\imlib.c

?????文件??????52985??2018-12-10?11:20??img\imlib.h

?????文件???????3233??2018-12-10?11:20??img\integral.c

............此處省略32個文件信息