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125 @ E <? & B C ; TT +0 M 0 2 F G /'> L - B C ]/ FG] /'> % TT G 1)H void YUVtoRGB(int width, int height, unsigned char *yuvbuf, unsigned char *rgbbuf) { int line, col, linewidth; int y, u, v, yy, vr, ug, vg, ub; int r, g, b; const unsigned char *py, *pu, *pv; linewidth = width >> 1; py = yuvbuf; pu = py + (width * height); pv = pu + (width * height) / 4; y = *py++; yy = y << 8;

126 @ 126 u = *pu - 128; ug = 88 * u; ub = 454 * u; v = *pv - 128; vg = 183 * v; vr = 359 * v; for (line = 0; line < height; line++) { for (col = 0; col < width; col++) { r = (yy + vr) >> 8; g = (yy - ug - vg) >> 8; b = (yy + ub ) >> 8; if (r < 0) r = 0; if (r > 255) r = 255; if (g < 0) g = 0; if (g > 255) g = 255; if (b < 0) b = 0; if (b > 255) b = 255; *rgbbuf++ = b; *rgbbuf++ = g; *rgbbuf++ = r; y = *py++; yy = y << 8; if (col & 1) { pu++; pv++; } } u = *pu - 128; ug = 88 * u; ub = 454 * u; v = *pv - 128; vg = 183 * v; vr = 359 * v; } } if ((line & 1) == 0) { pu -= linewidth; pv -= linewidth; }

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130 @ 130 int cluster::harris() { //[ ] //costruzione matrice di lavoro *my for (ry = 0; ry < myheight; ry++) { for (rx = 0; rx < mywidth; rx++) { my[rx][ry] = (int)y[rx + ry * mywidth]; } } //Sobel Filtering for (ry = 1; ry < (myheight-1); ry++) { for (rx = 1; rx < (mywidth-1); rx++) { zerozero = my[rx-1][ry-1]; zerouno = my[rx-1][ry]; zerodue = my[rx-1][ry+1]; unozero = my[rx][ry-1]; unouno = my[rx][ry]; unodue = my[rx][ry+1]; duezero = my[rx+1][ry-1]; dueuno = my[rx+1][ry]; duedue = my[rx+1][ry+1]; my[rx][ry] = (zerozero + 2 * unozero + duezero - zerodue - 2 * unodue - duedue)/4; } }

131 @ 131 for (ry = 1; ry < (myheight-1); ry++) { for (rx = 1; rx < (mywidth-1); rx++) { zerozero = my[rx-1][ry-1]; zerouno = my[rx-1][ry]; zerodue = my[rx-1][ry+1]; unozero = my[rx][ry-1]; unouno = my[rx][ry]; unodue = my[rx][ry+1]; duezero = my[rx+1][ry-1]; dueuno = my[rx+1][ry]; duedue = my[rx+1][ry+1]; my[rx][ry] = (zerozero + 2 * zerouno + zerodue - duezero - 2 * dueuno - duedue)/4; } } //Roberts-Cross Operator, per ottenere i gradienti velocemente, viene calcolato subito anche il quadrato for (ry = 1; ry < (myheight-1); ry++) { for (rx = 1; rx < (mywidth-1); rx++) { Grad_x = my[rx][ry] - my[rx+1][ry+1]; Grad_y = my[rx][ry+1] - my[rx+1][ry]; Gradient_x[rx][ry] = Grad_x * Grad_x; Gradient_y[rx][ry] = Grad_y * Grad_y; Gradient_xy[rx][ry] = Grad_x * Grad_y; } } //reset ricerca last = Hthr;

132 @ 132 //[ ] //harris corner detection su neighbourhood 3x3 for (ry = 30; ry < (myheight-30); ry++) { for (rx = 30; rx < (mywidth-30); rx++) { sommax = Gradient_x[rx-1][ry-1] + Gradient_x[rx][ry-1] + Gradient_x[rx+1][ry-1] + Gradient_x[rx-1][ry] + Gradient_x[rx][ry] + Gradient_x[rx+1][ry] + Gradient_x[rx- 1][ry+1] + Gradient_x[rx][ry+1] + Gradient_x[rx+1][ry+1]; sommaxy = Gradient_xy[rx-1][ry-1] + Gradient_xy[rx][ry- 1] + Gradient_xy[rx+1][ry-1] + Gradient_xy[rx-1][ry] + Gradient_xy[rx][ry] + Gradient_xy[rx+1][ry] + Gradient_xy[rx- 1][ry+1] + Gradient_xy[rx][ry+1] + Gradient_xy[rx+1][ry+1]; sommay = Gradient_y[rx-1][ry-1] + Gradient_y[rx][ry-1] + Gradient_y[rx+1][ry-1] + Gradient_y[rx-1][ry] + Gradient_y[rx][ry] + Gradient_y[rx+1][ry] + Gradient_y[rx- 1][ry+1] + Gradient_y[rx][ry+1]+ Gradient_y[rx+1][ry+1]; //calcolo H per il punto (rx,ry) lambda1 = 0.5 * (sommax + sommay - sqrt((sommax - sommay) * (sommax - sommay) + 4 * (sommaxy * sommaxy))); lambda2 = 0.5 * (sommax + sommay + sqrt((sommax - sommay) * (sommax - sommay) + 4 * (sommaxy * sommaxy))); H[rx][ry] = (lambda1 * lambda2) - alpha * (lambda1 + lambda2) * (lambda1 + lambda2); // memorizza il punto a valore maggiore if (H[rx][ry] > last) { last = H[rx][ry]; temp_rx = rx; temp_ry = ry;

133 @ 133 } } } //prendo solo il valore più alto if (last > Hthr) { harriscross[temp_rx + temp_ry * mywidth] = nero; } else { cout << harris(): No corner << endl; } } return 1;

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