FAST算法实践

看了FAST算法，用C#实践一遍，先理解，再优化

效果如图：

提取关键点只是第一步，还有特征计算和透视变换，任重道远，慢慢来

部分代码：

using UnityEngine;
using System.Collections;
using System.Collections.Generic;
/// <summary>
/// 加速区域测试_关键点
/// </summary>
public class FAST : AKeyPoint {
    float Threshold = 0.1f;
    public override void Init(params object[] p) {
        Threshold = Mathf.Clamp(0.1f, int.Parse(p[0].ToString()), 0.9f);
    }
    public override  IList<AKeyPoint> GetKeyPoint(Texture2D src) {

        Color[] inCol = src.GetPixels();
        List<AKeyPoint> lst_kp = new List<AKeyPoint>();

        int cw = src.width;
        int ch = src.height;

        Texture2D outTex = new Texture2D(cw,ch);

        for (int h = 0; h < ch;h++ ) {
            for (int w = 0; w < cw; w++ ) {
                int index = h * cw + w;
                Color cCol = CVTools.GetCell<Color>(inCol, cw, ch, new CVTools.IntV2(w, h), CVTools.GetCellType.Repeat, Color.black);

                var cFast_12 = FAST_12(new CVTools.IntV2(w, h));
                int suitCount = 0;

                for (int i = 0; i < cFast_12.Length;i++ ) {
                    Color tKPC = CVTools.GetCell<Color>(inCol, cw, ch, cFast_12[i], CVTools.GetCellType.Repeat, Color.black);
                    float cDelta = Mathf.Abs(cCol.grayscale - tKPC.grayscale);
                    if (cDelta > Threshold)
                        suitCount++;
                }

                if (suitCount >= cFast_12.Length * 0.75f) {
                    lst_kp.Add(new FAST(){x = w,y = h});
                }
            }
        }
        return lst_kp;
    }
    public static CVTools.IntV2[] FAST_12(CVTools.IntV2 point) {
        CVTools.IntV2[] fast_12 = new CVTools.IntV2[12];
        int ix = point.x;
        int iy = point.y;

        fast_12[0] = new CVTools.IntV2(ix - 1, iy - 3);
        fast_12[1] = new CVTools.IntV2(ix, iy - 3);
        fast_12[2] = new CVTools.IntV2(ix + 1, iy - 3);

        fast_12[3] = new CVTools.IntV2(ix + 3, iy - 1);
        fast_12[4] = new CVTools.IntV2(ix + 3, iy);
        fast_12[5] = new CVTools.IntV2(ix + 3, iy + 1);

        fast_12[6] = new CVTools.IntV2(ix - 1, iy + 3);
        fast_12[7] = new CVTools.IntV2(ix, iy + 3);
        fast_12[8] = new CVTools.IntV2(ix + 1, iy + 3);

        fast_12[9] = new CVTools.IntV2(ix - 3, iy - 1);
        fast_12[10] = new CVTools.IntV2(ix - 3, iy);
        fast_12[11] = new CVTools.IntV2(ix - 3, iy + 1);

        return fast_12;
    }
}