fast_tree_to_C_score_bsearch

#!/usr/bin/env bash
#    This file is part of the FAST-ER machine learning system.
#    Copyright (C) 2008  Edward Rosten and Los Alamos National Laboratory
#
#    This program is free software; you can redistribute it and/or modify
#    it under the terms of the GNU General Public License as published by
#    the Free Software Foundation; either version 2 of the License, or
#    (at your option) any later version.
#
#    This program is distributed in the hope that it will be useful,
#    but WITHOUT ANY WARRANTY; without even the implied warranty of
#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
#    GNU General Public License for more details.
#
#    You should have received a copy of the GNU General Public License along
#    with this program; if not, write to the Free Software Foundation, Inc.,
#    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.

file="$2"
name="$1"
if [ "$#" != 2 ]
then
	echo `basename $0`: error: incorrect arguments.
	echo "Usage:  `basename $0` <function_name> <file>"
	exit 1
fi

debug_use_test_rig=0

num_offsets=$(head -1 $file)


border=$(
      awk '
        NR==1{features = $1}
        NR==2{
          gsub(/[\[\],]/, "")
          if(features != NF/2)
          {
            print "Malformed offsets line"
            exit(1);
          }
		  o=0
          
          for(x=1; x <= NF; x++)
		  	o = ($x > o? $x : o)

		  print o

		  exit(0);
      } ' $file 
)





cat << END
/*This is mechanically generated code*/
#include <stdlib.h>

typedef struct { int x, y; } xy; 
typedef unsigned char byte;

int ${name}_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;


$(
            awk '
                { ind = "        "substr($0, 1, match($0, /[^ ]/)-1)}
                /if_brighter/{print ind "if( p[pixel["$2"]] > cb)"}
                /elsf_darker/ {print ind "else if( p[pixel["$2"]] < c_b)"}
                /if_darker/{print ind "if( p[pixel["$2"]] < c_b)"}
                /if_either/{print ind "if( p[pixel["$2"]] > cb || p[pixel["$2"]] < c_b )"}
                /else/{print ind "else"}
                /corner/{print ind "goto is_a_corner;"}
                /background/{print ind "goto is_not_a_corner;"}
            ' $file
        )

		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)
{
$(
      awk '
        NR==1{features = $1}
        NR==2{
          gsub(/[\[\],]/, "")
          
          for(x=1; x <= features; x++)
            print "        pixel[" (x-1) "] = "$(2*x-1) " + row_stride * " $(2*x)";"

		  exit(0);
      } ' $file 
    )
}



int* ${name}_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[$num_offsets];
	make_offsets(pixel, stride);

    for(n=0; n < num_corners; n++)
        scores[n] = ${name}_corner_score(i + corners[n].y*stride + corners[n].x, pixel, b);

	return scores;
}


xy* ${name}_detect(const byte* im, int xsize, int ysize, int stride, int b, int* ret_num_corners)
{
	int num_corners=0;
	xy* ret_corners;
	int rsize=512;
	int pixel[$num_offsets];
	int x, y;

	ret_corners = (xy*)malloc(sizeof(xy)*rsize);
	make_offsets(pixel, stride);

	for(y=$border; y < ysize - $border; y++)
		for(x=$border; x < xsize - $border; x++)
		{
			const byte* p = im + y*stride + x;
		
			int cb = *p + b;
			int c_b= *p - b;
$(
            awk '
                { ind = "        "substr($0, 1, match($0, /[^ ]/)-1)}
                /if_brighter/{print ind "if(p[pixel["$2"]] > cb)"}
                /elsf_darker/ {print ind "else if(p[pixel["$2"]] < c_b)"}
                /if_darker/ {print ind "if(p[pixel["$2"]] < c_b)"}
                /if_either/{print ind "if(p[pixel["$2"]] > cb || p[pixel["$2"]]<c_b)"}
                /else/{print ind "else"}
                /corner/{print ind "{}"}
                /background/{print ind "continue;"}
            ' $file
)
			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;

}


END

if [ "$debug_use_test_rig" == 1 ]
then
cat<<END
#include <cvd/fast_corner.h>
#include <cvd/image_io.h>
#include <algorithm>

int main(int argc, char** argv)
{	
	for(int i=1; i < argc; i++)
	{
		cerr << argv[i]<< endl;
		Image<byte> im = img_load(argv[i]);
		vector<ImageRef> c1, c2;
		vector<int> s1, s2;
		for(int t=0; t < 256; t++)
		{
			c1.clear();
			c2.clear();
			s1.clear();
			s2.clear();

			${name}_detect(im, c1, t);
			${name}_score(im, c1, t, s1);
			fast_corner_detect_9(im, c2, t);
			fast_corner_score_9(im, c2, t, s2);
			
			cerr << t << endl;
			if(c1.size() != c2.size())
				cerr << "Size mismatch\n";
			else if(!equal(c1.begin(), c1.end(), c2.begin()))
				cerr << "Detection mismatch\n";
			else if(!equal(s1.begin(), s1.end(), s2.begin()))
				cerr << "Score mismatch\n";
		}
	}
}
END
fi