51 lines
1.2 KiB
C++
51 lines
1.2 KiB
C++
#ifndef __ORB_H__
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#define __ORB_H__
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include <math.h>
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#define MAX_POINTS 40000
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#define FAST_CANDIDATE 16 // fast9 use surrounding 16 points
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#define MAX_CONSECUTIVE 9
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#define PATCH_SIZE 15
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#define HALF_PATCH_SIZE (PATCH_SIZE >> 1)
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#define DESCRIPTOR_SIZE 15
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#define DARKER 1
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#define SIMILAR 2
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#define BRIGHTER 3
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#define ROUND(x) (int)(((x) >= 0)?((x) + 0.5) : ((x) - 0.5))
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class rkisp_orb
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{
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public:
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unsigned char fast9_limit;
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unsigned char cur_limit;
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int feature_size;
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int feature_capacity;
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int non_max_sup_radius;
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unsigned char* imgSrc;
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int width;
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int height;
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int data_bits;
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unsigned short* pXs;
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unsigned short* pYs;
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unsigned char* pDescriptors;
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unsigned char* pScores;
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public:
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int process();
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int fast9_detect();
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int compare_pixel(unsigned char center, unsigned char* compare, unsigned char* candidate);
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int find_9consecutive_pixel(unsigned char* compare);
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int non_max_suppress();
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int orb_feature();
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int get_rotation_value(unsigned char* center_ptr, int* cur_point_pattern, int idx, int cos_value, int sin_value);
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};
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#endif
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