| /* |
| * Copyright (C) 2011 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| /*$Id: db_feature_matching.cpp,v 1.4 2011/06/17 14:03:30 mbansal Exp $*/ |
| |
| /***************************************************************** |
| * Lean and mean begins here * |
| *****************************************************************/ |
| |
| #include "db_utilities.h" |
| #include "db_feature_matching.h" |
| #ifdef _VERBOSE_ |
| #include <iostream> |
| #endif |
| |
| |
| int AffineWarpPoint_NN_LUT_x[11][11]; |
| int AffineWarpPoint_NN_LUT_y[11][11]; |
| |
| float AffineWarpPoint_BL_LUT_x[11][11]; |
| float AffineWarpPoint_BL_LUT_y[11][11]; |
| |
| |
| inline float db_SignedSquareNormCorr7x7_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) |
| { |
| unsigned char *pf,*pg; |
| float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| int xm_f,xm_g; |
| |
| xm_f=x_f-3; |
| xm_g=x_g-3; |
| fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| |
| pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| fg_corr=49.0f*fgsum-fsum*gsum; |
| den=(49.0f*f2sum-fsum*fsum)*(49.0f*g2sum-gsum*gsum); |
| if(den!=0.0) |
| { |
| if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| return(-fg_corr*fg_corr/den); |
| } |
| return(0.0); |
| } |
| |
| inline float db_SignedSquareNormCorr9x9_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) |
| { |
| unsigned char *pf,*pg; |
| float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| int xm_f,xm_g; |
| |
| xm_f=x_f-4; |
| xm_g=x_g-4; |
| fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| |
| pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| fg_corr=81.0f*fgsum-fsum*gsum; |
| den=(81.0f*f2sum-fsum*fsum)*(81.0f*g2sum-gsum*gsum); |
| if(den!=0.0) |
| { |
| if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| return(-fg_corr*fg_corr/den); |
| } |
| return(0.0); |
| } |
| |
| inline float db_SignedSquareNormCorr11x11_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) |
| { |
| unsigned char *pf,*pg; |
| float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| int xm_f,xm_g; |
| |
| xm_f=x_f-5; |
| xm_g=x_g-5; |
| fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| |
| pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| fg_corr=121.0f*fgsum-fsum*gsum; |
| den=(121.0f*f2sum-fsum*fsum)*(121.0f*g2sum-gsum*gsum); |
| if(den!=0.0) |
| { |
| if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| return(-fg_corr*fg_corr/den); |
| } |
| return(0.0); |
| } |
| |
| inline void db_SignedSquareNormCorr11x11_Pre_u(unsigned char **f_img,int x_f,int y_f,float *sum,float *recip) |
| { |
| unsigned char *pf; |
| float den; |
| int f,f2sum,fsum; |
| int xm_f; |
| |
| xm_f=x_f-5; |
| |
| pf=f_img[y_f-5]+xm_f; |
| f= *pf++; f2sum=f*f; fsum=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f-4]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f-3]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f-2]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f-1]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f+1]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f+2]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f+3]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f+4]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f+5]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| *sum= (float) fsum; |
| den=(121.0f*f2sum-fsum*fsum); |
| *recip=(float)(((den!=0.0)?1.0/den:0.0)); |
| } |
| |
| inline void db_SignedSquareNormCorr5x5_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) |
| { |
| float den; |
| int f2sum,fsum; |
| int xm_f=x_f-2; |
| |
| #ifndef DB_USE_SSE2 |
| const unsigned char *pf; |
| short f; |
| |
| pf=f_img[y_f-2]+xm_f; |
| f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f-1]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+1]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+2]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| //int xwi; |
| //int ywi; |
| //f2sum=0; |
| //fsum=0; |
| //for (int r=-5;r<=5;r++){ |
| // ywi=y_f+r; |
| // for (int c=-5;c<=5;c++){ |
| // xwi=x_f+c; |
| // f=f_img[ywi][xwi]; |
| // f2sum+=f*f; |
| // fsum+=f; |
| // (*patch++)=f; |
| // } |
| //} |
| (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; |
| (*patch++)=0; (*patch++)=0; |
| #endif /* DB_USE_SSE2 */ |
| |
| *sum= (float) fsum; |
| den=(25.0f*f2sum-fsum*fsum); |
| *recip= (float)((den!=0.0)?1.0/den:0.0); |
| } |
| |
| inline void db_SignedSquareNormCorr21x21_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) |
| { |
| float den; |
| int f2sum,fsum; |
| int xm_f=x_f-10; |
| short f; |
| |
| int xwi; |
| int ywi; |
| f2sum=0; |
| fsum=0; |
| for (int r=-10;r<=10;r++){ |
| ywi=y_f+r; |
| for (int c=-10;c<=10;c++){ |
| xwi=x_f+c; |
| f=f_img[ywi][xwi]; |
| f2sum+=f*f; |
| fsum+=f; |
| (*patch++)=f; |
| } |
| } |
| |
| for(int i=442; i<512; i++) |
| (*patch++)=0; |
| |
| *sum= (float) fsum; |
| den=(441.0f*f2sum-fsum*fsum); |
| *recip= (float)((den!=0.0)?1.0/den:0.0); |
| |
| |
| } |
| |
| /* Lay out the image in the patch, computing norm and |
| */ |
| inline void db_SignedSquareNormCorr11x11_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) |
| { |
| float den; |
| int f2sum,fsum; |
| int xm_f=x_f-5; |
| |
| #ifndef DB_USE_SSE2 |
| const unsigned char *pf; |
| short f; |
| |
| pf=f_img[y_f-5]+xm_f; |
| f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f-4]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f-3]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f-2]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f-1]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+1]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+2]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+3]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+4]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+5]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| //int xwi; |
| //int ywi; |
| //f2sum=0; |
| //fsum=0; |
| //for (int r=-5;r<=5;r++){ |
| // ywi=y_f+r; |
| // for (int c=-5;c<=5;c++){ |
| // xwi=x_f+c; |
| // f=f_img[ywi][xwi]; |
| // f2sum+=f*f; |
| // fsum+=f; |
| // (*patch++)=f; |
| // } |
| //} |
| |
| (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; |
| (*patch++)=0; (*patch++)=0; |
| #else |
| const unsigned char *pf0 =f_img[y_f-5]+xm_f; |
| const unsigned char *pf1 =f_img[y_f-4]+xm_f; |
| const unsigned char *pf2 =f_img[y_f-3]+xm_f; |
| const unsigned char *pf3 =f_img[y_f-2]+xm_f; |
| const unsigned char *pf4 =f_img[y_f-1]+xm_f; |
| const unsigned char *pf5 =f_img[y_f ]+xm_f; |
| const unsigned char *pf6 =f_img[y_f+1]+xm_f; |
| const unsigned char *pf7 =f_img[y_f+2]+xm_f; |
| const unsigned char *pf8 =f_img[y_f+3]+xm_f; |
| const unsigned char *pf9 =f_img[y_f+4]+xm_f; |
| const unsigned char *pf10=f_img[y_f+5]+xm_f; |
| |
| /* pixel mask */ |
| const unsigned char pm[16] = { |
| 0xFF,0xFF, |
| 0xFF,0xFF, |
| 0xFF,0xFF, |
| 0,0,0,0,0, |
| 0,0,0,0,0}; |
| const unsigned char * pm_p = pm; |
| |
| _asm |
| { |
| mov ecx,patch /* load patch pointer */ |
| mov ebx, pm_p /* load pixel mask pointer */ |
| movdqu xmm1,[ebx] /* load pixel mask */ |
| |
| pxor xmm5,xmm5 /* set xmm5 to 0 accumulator for sum squares */ |
| pxor xmm4,xmm4 /* set xmm4 to 0 accumulator for sum */ |
| pxor xmm0,xmm0 /* set xmm0 to 0 */ |
| |
| /* row 0 */ |
| mov eax,pf0 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqa [ecx+0*22],xmm7 /* move short values to patch */ |
| movdqa [ecx+0*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* row 1 */ |
| mov eax,pf1 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqu [ecx+1*22],xmm7 /* move short values to patch */ |
| movdqu [ecx+1*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* row 2 */ |
| mov eax,pf2 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqu [ecx+2*22],xmm7 /* move short values to patch */ |
| movdqu [ecx+2*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* row 3 */ |
| mov eax,pf3 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqu [ecx+3*22],xmm7 /* move short values to patch */ |
| movdqu [ecx+3*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* row 4 */ |
| mov eax,pf4 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqu [ecx+4*22],xmm7 /* move short values to patch */ |
| movdqu [ecx+4*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* row 5 */ |
| mov eax,pf5 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqu [ecx+5*22],xmm7 /* move short values to patch */ |
| movdqu [ecx+5*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* row 6 */ |
| mov eax,pf6 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqu [ecx+6*22],xmm7 /* move short values to patch */ |
| movdqu [ecx+6*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* row 7 */ |
| mov eax,pf7 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqu [ecx+7*22],xmm7 /* move short values to patch */ |
| movdqu [ecx+7*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* row 8 */ |
| mov eax,pf8 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqa [ecx+8*22],xmm7 /* move short values to patch */ |
| movdqa [ecx+8*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* row 9 */ |
| mov eax,pf9 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqu [ecx+9*22],xmm7 /* move short values to patch */ |
| movdqu [ecx+9*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* row 10 */ |
| mov eax,pf10 /* load image pointer */ |
| movdqu xmm7,[eax] /* load 16 pixels */ |
| movdqa xmm6,xmm7 |
| |
| punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| |
| pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| |
| movdqu [ecx+10*22],xmm7 /* move short values to patch */ |
| movdqu [ecx+10*22+16],xmm6 /* move short values to patch */ |
| |
| paddusw xmm4,xmm7 /* accumulate sums */ |
| pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm7 /* accumulate sum squares */ |
| |
| paddw xmm4,xmm6 /* accumulate sums */ |
| pmaddwd xmm6,xmm6 /* multiply 16 bit ints and add into 32 bit ints */ |
| paddd xmm5,xmm6 /* accumulate sum squares */ |
| |
| /* add up the sum squares */ |
| movhlps xmm0,xmm5 /* high half to low half */ |
| paddd xmm5,xmm0 /* add high to low */ |
| pshuflw xmm0,xmm5, 0xE /* reshuffle */ |
| paddd xmm5,xmm0 /* add remaining */ |
| movd f2sum,xmm5 |
| |
| /* add up the sum */ |
| movhlps xmm0,xmm4 |
| paddw xmm4,xmm0 /* halves added */ |
| pshuflw xmm0,xmm4,0xE |
| paddw xmm4,xmm0 /* quarters added */ |
| pshuflw xmm0,xmm4,0x1 |
| paddw xmm4,xmm0 /* eighth added */ |
| movd fsum, xmm4 |
| |
| emms |
| } |
| |
| fsum = fsum & 0xFFFF; |
| |
| patch[126] = 0; |
| patch[127] = 0; |
| #endif /* DB_USE_SSE2 */ |
| |
| *sum= (float) fsum; |
| den=(121.0f*f2sum-fsum*fsum); |
| *recip= (float)((den!=0.0)?1.0/den:0.0); |
| } |
| |
| void AffineWarpPointOffset(float &r_w,float &c_w,double Hinv[9],int r,int c) |
| { |
| r_w=(float)(Hinv[3]*c+Hinv[4]*r); |
| c_w=(float)(Hinv[0]*c+Hinv[1]*r); |
| } |
| |
| |
| |
| /*! |
| Prewarp the patches with given affine transform. For a given homogeneous point "x", "H*x" is |
| the warped point and for any displacement "d" in the warped image resulting in point "y", the |
| corresponding point in the original image is given by "Hinv*y", which can be simplified for affine H. |
| If "affine" is 1, then nearest neighbor method is used, else if it is 2, then |
| bilinear method is used. |
| */ |
| inline void db_SignedSquareNormCorr11x11_PreAlign_AffinePatchWarp_u(short *patch,const unsigned char * const *f_img, |
| int xi,int yi,float *sum,float *recip, |
| const double Hinv[9],int affine) |
| { |
| float den; |
| short f; |
| int f2sum,fsum; |
| |
| f2sum=0; |
| fsum=0; |
| |
| if (affine==1) |
| { |
| for (int r=0;r<11;r++){ |
| for (int c=0;c<11;c++){ |
| f=f_img[yi+AffineWarpPoint_NN_LUT_y[r][c]][xi+AffineWarpPoint_NN_LUT_x[r][c]]; |
| f2sum+=f*f; |
| fsum+=f; |
| (*patch++)=f; |
| } |
| } |
| } |
| else if (affine==2) |
| { |
| for (int r=0;r<11;r++){ |
| for (int c=0;c<11;c++){ |
| f=db_BilinearInterpolation(yi+AffineWarpPoint_BL_LUT_y[r][c] |
| ,xi+AffineWarpPoint_BL_LUT_x[r][c],f_img); |
| f2sum+=f*f; |
| fsum+=f; |
| (*patch++)=f; |
| } |
| } |
| } |
| |
| |
| |
| (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; |
| (*patch++)=0; (*patch++)=0; |
| |
| *sum= (float) fsum; |
| den=(121.0f*f2sum-fsum*fsum); |
| *recip= (float)((den!=0.0)?1.0/den:0.0); |
| } |
| |
| |
| inline float db_SignedSquareNormCorr11x11_Post_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g, |
| float fsum_gsum,float f_recip_g_recip) |
| { |
| unsigned char *pf,*pg; |
| int fgsum; |
| float fg_corr; |
| int xm_f,xm_g; |
| |
| xm_f=x_f-5; |
| xm_g=x_g-5; |
| |
| pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| fgsum=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| fg_corr=121.0f*fgsum-fsum_gsum; |
| if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| return(-fg_corr*fg_corr*f_recip_g_recip); |
| } |
| |
| float db_SignedSquareNormCorr21x21Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) |
| { |
| float fgsum,fg_corr; |
| |
| fgsum= (float) db_ScalarProduct512_s(f_patch,g_patch); |
| |
| fg_corr=441.0f*fgsum-fsum_gsum; |
| if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| return(-fg_corr*fg_corr*f_recip_g_recip); |
| } |
| |
| |
| float db_SignedSquareNormCorr11x11Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) |
| { |
| float fgsum,fg_corr; |
| |
| fgsum= (float) db_ScalarProduct128_s(f_patch,g_patch); |
| |
| fg_corr=121.0f*fgsum-fsum_gsum; |
| if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| return(-fg_corr*fg_corr*f_recip_g_recip); |
| } |
| |
| float db_SignedSquareNormCorr5x5Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) |
| { |
| float fgsum,fg_corr; |
| |
| fgsum= (float) db_ScalarProduct32_s(f_patch,g_patch); |
| |
| fg_corr=25.0f*fgsum-fsum_gsum; |
| if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| return(-fg_corr*fg_corr*f_recip_g_recip); |
| } |
| |
| |
| inline float db_SignedSquareNormCorr15x15_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) |
| { |
| unsigned char *pf,*pg; |
| float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| int xm_f,xm_g; |
| |
| xm_f=x_f-7; |
| xm_g=x_g-7; |
| fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| |
| pf=f_img[y_f-7]+xm_f; pg=g_img[y_g-7]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-6]+xm_f; pg=g_img[y_g-6]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+6]+xm_f; pg=g_img[y_g+6]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+7]+xm_f; pg=g_img[y_g+7]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| fg_corr=225.0f*fgsum-fsum*gsum; |
| den=(225.0f*f2sum-fsum*fsum)*(225.0f*g2sum-gsum*gsum); |
| if(den!=0.0) |
| { |
| if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| return(-fg_corr*fg_corr/den); |
| } |
| return(0.0); |
| } |
| |
| inline float db_SignedSquareNormCorr7x7_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) |
| { |
| float f,g,*pf,*pg,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| int xm_f,xm_g; |
| |
| xm_f=x_f-3; |
| xm_g=x_g-3; |
| fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| |
| pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| fg_corr=49.0f*fgsum-fsum*gsum; |
| den=(49.0f*f2sum-fsum*fsum)*(49.0f*g2sum-gsum*gsum); |
| if(den!=0.0) |
| { |
| if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| return(-fg_corr*fg_corr/den); |
| } |
| return(0.0); |
| } |
| |
| inline float db_SignedSquareNormCorr9x9_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) |
| { |
| float f,g,*pf,*pg,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| int xm_f,xm_g; |
| |
| xm_f=x_f-4; |
| xm_g=x_g-4; |
| fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| |
| pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| fg_corr=81.0f*fgsum-fsum*gsum; |
| den=(81.0f*f2sum-fsum*fsum)*(81.0f*g2sum-gsum*gsum); |
| if(den!=0.0) |
| { |
| if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| return(-fg_corr*fg_corr/den); |
| } |
| return(0.0); |
| } |
| |
| inline float db_SignedSquareNormCorr11x11_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) |
| { |
| float *pf,*pg; |
| float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| int xm_f,xm_g; |
| |
| xm_f=x_f-5; |
| xm_g=x_g-5; |
| fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| |
| pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| fg_corr=121.0f*fgsum-fsum*gsum; |
| den=(121.0f*f2sum-fsum*fsum)*(121.0f*g2sum-gsum*gsum); |
| if(den!=0.0) |
| { |
| if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| return(-fg_corr*fg_corr/den); |
| } |
| return(0.0); |
| } |
| |
| inline void db_SignedSquareNormCorr11x11_Pre_f(float **f_img,int x_f,int y_f,float *sum,float *recip) |
| { |
| float *pf,den; |
| float f,f2sum,fsum; |
| int xm_f; |
| |
| xm_f=x_f-5; |
| |
| pf=f_img[y_f-5]+xm_f; |
| f= *pf++; f2sum=f*f; fsum=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f-4]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f-3]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f-2]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f-1]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f+1]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f+2]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f+3]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f+4]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| pf=f_img[y_f+5]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; |
| f= *pf; f2sum+=f*f; fsum+=f; |
| |
| *sum=fsum; |
| den=(121.0f*f2sum-fsum*fsum); |
| *recip= (float) ((den!=0.0)?1.0/den:0.0); |
| } |
| |
| inline void db_SignedSquareNormCorr11x11_PreAlign_f(float *patch,const float * const *f_img,int x_f,int y_f,float *sum,float *recip) |
| { |
| const float *pf; |
| float den,f,f2sum,fsum; |
| int xm_f; |
| |
| xm_f=x_f-5; |
| |
| pf=f_img[y_f-5]+xm_f; |
| f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f-4]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f-3]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f-2]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f-1]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+1]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+2]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+3]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+4]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| pf=f_img[y_f+5]+xm_f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| |
| (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; |
| (*patch++)=0.0; (*patch++)=0.0; |
| |
| *sum=fsum; |
| den=(121.0f*f2sum-fsum*fsum); |
| *recip= (float) ((den!=0.0)?1.0/den:0.0); |
| } |
| |
| inline float db_SignedSquareNormCorr11x11_Post_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g, |
| float fsum_gsum,float f_recip_g_recip) |
| { |
| float *pf,*pg; |
| float fgsum,fg_corr; |
| int xm_f,xm_g; |
| |
| xm_f=x_f-5; |
| xm_g=x_g-5; |
| |
| pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| fgsum=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| |
| fg_corr=121.0f*fgsum-fsum_gsum; |
| if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| return(-fg_corr*fg_corr*f_recip_g_recip); |
| } |
| |
| inline float db_SignedSquareNormCorr11x11Aligned_Post_f(const float *f_patch,const float *g_patch,float fsum_gsum,float f_recip_g_recip) |
| { |
| float fgsum,fg_corr; |
| |
| fgsum=db_ScalarProduct128Aligned16_f(f_patch,g_patch); |
| |
| fg_corr=121.0f*fgsum-fsum_gsum; |
| if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| return(-fg_corr*fg_corr*f_recip_g_recip); |
| } |
| |
| inline float db_SignedSquareNormCorr15x15_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) |
| { |
| float *pf,*pg; |
| float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| int xm_f,xm_g; |
| |
| xm_f=x_f-7; |
| xm_g=x_g-7; |
| fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| |
| pf=f_img[y_f-7]+xm_f; pg=g_img[y_g-7]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-6]+xm_f; pg=g_img[y_g-6]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+6]+xm_f; pg=g_img[y_g+6]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| pf=f_img[y_f+7]+xm_f; pg=g_img[y_g+7]+xm_g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| |
| fg_corr=225.0f*fgsum-fsum*gsum; |
| den=(225.0f*f2sum-fsum*fsum)*(225.0f*g2sum-gsum*gsum); |
| if(den!=0.0) |
| { |
| if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| return(-fg_corr*fg_corr/den); |
| } |
| return(0.0); |
| } |
| |
| db_Bucket_f** db_AllocBuckets_f(int nr_h,int nr_v,int bd) |
| { |
| int i,j; |
| db_Bucket_f **bp,*b; |
| |
| b=new db_Bucket_f [(nr_h+2)*(nr_v+2)]; |
| bp=new db_Bucket_f* [(nr_v+2)]; |
| bp=bp+1; |
| for(i= -1;i<=nr_v;i++) |
| { |
| bp[i]=b+1+(nr_h+2)*(i+1); |
| for(j= -1;j<=nr_h;j++) |
| { |
| bp[i][j].ptr=new db_PointInfo_f [bd]; |
| } |
| } |
| |
| return(bp); |
| } |
| |
| db_Bucket_u** db_AllocBuckets_u(int nr_h,int nr_v,int bd) |
| { |
| int i,j; |
| db_Bucket_u **bp,*b; |
| |
| b=new db_Bucket_u [(nr_h+2)*(nr_v+2)]; |
| bp=new db_Bucket_u* [(nr_v+2)]; |
| bp=bp+1; |
| for(i= -1;i<=nr_v;i++) |
| { |
| bp[i]=b+1+(nr_h+2)*(i+1); |
| for(j= -1;j<=nr_h;j++) |
| { |
| bp[i][j].ptr=new db_PointInfo_u [bd]; |
| } |
| } |
| |
| return(bp); |
| } |
| |
| void db_FreeBuckets_f(db_Bucket_f **bp,int nr_h,int nr_v) |
| { |
| int i,j; |
| |
| for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) |
| { |
| delete [] bp[i][j].ptr; |
| } |
| delete [] (bp[-1]-1); |
| delete [] (bp-1); |
| } |
| |
| void db_FreeBuckets_u(db_Bucket_u **bp,int nr_h,int nr_v) |
| { |
| int i,j; |
| |
| for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) |
| { |
| delete [] bp[i][j].ptr; |
| } |
| delete [] (bp[-1]-1); |
| delete [] (bp-1); |
| } |
| |
| void db_EmptyBuckets_f(db_Bucket_f **bp,int nr_h,int nr_v) |
| { |
| int i,j; |
| for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) bp[i][j].nr=0; |
| } |
| |
| void db_EmptyBuckets_u(db_Bucket_u **bp,int nr_h,int nr_v) |
| { |
| int i,j; |
| for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) bp[i][j].nr=0; |
| } |
| |
| float* db_FillBuckets_f(float *patch_space,const float * const *f_img,db_Bucket_f **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners) |
| { |
| int i,xi,yi,xpos,ypos,nr; |
| db_Bucket_f *br; |
| db_PointInfo_f *pir; |
| |
| db_EmptyBuckets_f(bp,nr_h,nr_v); |
| for(i=0;i<nr_corners;i++) |
| { |
| xi=(int) x[i]; |
| yi=(int) y[i]; |
| xpos=xi/bw; |
| ypos=yi/bh; |
| if(xpos>=0 && xpos<nr_h && ypos>=0 && ypos<nr_v) |
| { |
| br=&bp[ypos][xpos]; |
| nr=br->nr; |
| if(nr<bd) |
| { |
| pir=&(br->ptr[nr]); |
| pir->x=xi; |
| pir->y=yi; |
| pir->id=i; |
| pir->pir=0; |
| pir->patch=patch_space; |
| br->nr=nr+1; |
| |
| db_SignedSquareNormCorr11x11_PreAlign_f(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| patch_space+=128; |
| } |
| } |
| } |
| return(patch_space); |
| } |
| |
| short* db_FillBuckets_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners,int use_smaller_matching_window, int use_21) |
| { |
| int i,xi,yi,xpos,ypos,nr; |
| db_Bucket_u *br; |
| db_PointInfo_u *pir; |
| |
| db_EmptyBuckets_u(bp,nr_h,nr_v); |
| for(i=0;i<nr_corners;i++) |
| { |
| xi=(int)db_roundi(x[i]); |
| yi=(int)db_roundi(y[i]); |
| xpos=xi/bw; |
| ypos=yi/bh; |
| if(xpos>=0 && xpos<nr_h && ypos>=0 && ypos<nr_v) |
| { |
| br=&bp[ypos][xpos]; |
| nr=br->nr; |
| if(nr<bd) |
| { |
| pir=&(br->ptr[nr]); |
| pir->x=xi; |
| pir->y=yi; |
| pir->id=i; |
| pir->pir=0; |
| pir->patch=patch_space; |
| br->nr=nr+1; |
| |
| if(use_21) |
| { |
| db_SignedSquareNormCorr21x21_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| patch_space+=512; |
| } |
| else |
| { |
| if(!use_smaller_matching_window) |
| { |
| db_SignedSquareNormCorr11x11_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| patch_space+=128; |
| } |
| else |
| { |
| db_SignedSquareNormCorr5x5_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| patch_space+=32; |
| } |
| } |
| } |
| } |
| } |
| return(patch_space); |
| } |
| |
| |
| |
| float* db_FillBucketsPrewarped_f(float *patch_space,const float *const *f_img,db_Bucket_f **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners,const double H[9]) |
| { |
| int i,xi,yi,xpos,ypos,nr,wxi,wyi; |
| db_Bucket_f *br; |
| db_PointInfo_f *pir; |
| double xd[2],wx[2]; |
| |
| db_EmptyBuckets_f(bp,nr_h,nr_v); |
| for(i=0;i<nr_corners;i++) |
| { |
| xd[0]=x[i]; |
| xd[1]=y[i]; |
| xi=(int) xd[0]; |
| yi=(int) xd[1]; |
| db_ImageHomographyInhomogenous(wx,H,xd); |
| wxi=(int) wx[0]; |
| wyi=(int) wx[1]; |
| |
| xpos=((wxi+bw)/bw)-1; |
| ypos=((wyi+bh)/bh)-1; |
| if(xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) |
| { |
| br=&bp[ypos][xpos]; |
| nr=br->nr; |
| if(nr<bd) |
| { |
| pir=&(br->ptr[nr]); |
| pir->x=wxi; |
| pir->y=wyi; |
| pir->id=i; |
| pir->pir=0; |
| pir->patch=patch_space; |
| br->nr=nr+1; |
| |
| db_SignedSquareNormCorr11x11_PreAlign_f(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| patch_space+=128; |
| } |
| } |
| } |
| return(patch_space); |
| } |
| |
| short* db_FillBucketsPrewarped_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp, |
| int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y, |
| int nr_corners,const double H[9]) |
| { |
| int i,xi,yi,xpos,ypos,nr,wxi,wyi; |
| db_Bucket_u *br; |
| db_PointInfo_u *pir; |
| double xd[2],wx[2]; |
| |
| db_EmptyBuckets_u(bp,nr_h,nr_v); |
| for(i=0;i<nr_corners;i++) |
| { |
| xd[0]=x[i]; |
| xd[1]=y[i]; |
| xi=(int) db_roundi(xd[0]); |
| yi=(int) db_roundi(xd[1]); |
| db_ImageHomographyInhomogenous(wx,H,xd); |
| wxi=(int) wx[0]; |
| wyi=(int) wx[1]; |
| |
| xpos=((wxi+bw)/bw)-1; |
| ypos=((wyi+bh)/bh)-1; |
| if(xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) |
| { |
| br=&bp[ypos][xpos]; |
| nr=br->nr; |
| if(nr<bd) |
| { |
| pir=&(br->ptr[nr]); |
| pir->x=wxi; |
| pir->y=wyi; |
| pir->id=i; |
| pir->pir=0; |
| pir->patch=patch_space; |
| br->nr=nr+1; |
| |
| db_SignedSquareNormCorr11x11_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| patch_space+=128; |
| } |
| } |
| } |
| return(patch_space); |
| } |
| |
| |
| |
| short* db_FillBucketsPrewarpedAffine_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp, |
| int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y, |
| int nr_corners,const double H[9],const double Hinv[9],const int warpboundsp[4], |
| int affine) |
| { |
| int i,xi,yi,xpos,ypos,nr,wxi,wyi; |
| db_Bucket_u *br; |
| db_PointInfo_u *pir; |
| double xd[2],wx[2]; |
| |
| db_EmptyBuckets_u(bp,nr_h,nr_v); |
| for(i=0;i<nr_corners;i++) |
| { |
| xd[0]=x[i]; |
| xd[1]=y[i]; |
| xi=(int) db_roundi(xd[0]); |
| yi=(int) db_roundi(xd[1]); |
| db_ImageHomographyInhomogenous(wx,H,xd); |
| wxi=(int) wx[0]; |
| wyi=(int) wx[1]; |
| |
| xpos=((wxi+bw)/bw)-1; |
| ypos=((wyi+bh)/bh)-1; |
| |
| |
| if (xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) |
| { |
| if( xi>warpboundsp[0] && xi<warpboundsp[1] && yi>warpboundsp[2] && yi<warpboundsp[3]) |
| { |
| |
| br=&bp[ypos][xpos]; |
| nr=br->nr; |
| if(nr<bd) |
| { |
| pir=&(br->ptr[nr]); |
| pir->x=wxi; |
| pir->y=wyi; |
| pir->id=i; |
| pir->pir=0; |
| pir->patch=patch_space; |
| br->nr=nr+1; |
| |
| db_SignedSquareNormCorr11x11_PreAlign_AffinePatchWarp_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip),Hinv,affine); |
| patch_space+=128; |
| } |
| } |
| } |
| } |
| return(patch_space); |
| } |
| |
| |
| |
| inline void db_MatchPointPair_f(db_PointInfo_f *pir_l,db_PointInfo_f *pir_r, |
| unsigned long kA,unsigned long kB) |
| { |
| int x_l,y_l,x_r,y_r,xm,ym; |
| double score; |
| |
| x_l=pir_l->x; |
| y_l=pir_l->y; |
| x_r=pir_r->x; |
| y_r=pir_r->y; |
| xm=x_l-x_r; |
| ym=y_l-y_r; |
| /*Check if disparity is within the maximum disparity |
| with the formula xm^2*256+ym^2*kA<kB |
| where kA=256*w^2/h^2 |
| and kB=256*max_disp^2*w^2*/ |
| if(((xm*xm)<<8)+ym*ym*kA<kB) |
| { |
| /*Correlate*/ |
| score=db_SignedSquareNormCorr11x11Aligned_Post_f(pir_l->patch,pir_r->patch, |
| (pir_l->sum)*(pir_r->sum), |
| (pir_l->recip)*(pir_r->recip)); |
| |
| if((!(pir_l->pir)) || (score>pir_l->s)) |
| { |
| /*Update left corner*/ |
| pir_l->s=score; |
| pir_l->pir=pir_r; |
| } |
| if((!(pir_r->pir)) || (score>pir_r->s)) |
| { |
| /*Update right corner*/ |
| pir_r->s=score; |
| pir_r->pir=pir_l; |
| } |
| } |
| } |
| |
| inline void db_MatchPointPair_u(db_PointInfo_u *pir_l,db_PointInfo_u *pir_r, |
| unsigned long kA,unsigned long kB, unsigned int rect_window,bool use_smaller_matching_window, int use_21) |
| { |
| int xm,ym; |
| double score; |
| bool compute_score; |
| |
| |
| if( rect_window ) |
| compute_score = ((unsigned)db_absi(pir_l->x - pir_r->x)<kA && (unsigned)db_absi(pir_l->y - pir_r->y)<kB); |
| else |
| { /*Check if disparity is within the maximum disparity |
| with the formula xm^2*256+ym^2*kA<kB |
| where kA=256*w^2/h^2 |
| and kB=256*max_disp^2*w^2*/ |
| xm= pir_l->x - pir_r->x; |
| ym= pir_l->y - pir_r->y; |
| compute_score = ((xm*xm)<<8)+ym*ym*kA < kB; |
| } |
| |
| if ( compute_score ) |
| { |
| if(use_21) |
| { |
| score=db_SignedSquareNormCorr21x21Aligned_Post_s(pir_l->patch,pir_r->patch, |
| (pir_l->sum)*(pir_r->sum), |
| (pir_l->recip)*(pir_r->recip)); |
| } |
| else |
| { |
| /*Correlate*/ |
| if(!use_smaller_matching_window) |
| { |
| score=db_SignedSquareNormCorr11x11Aligned_Post_s(pir_l->patch,pir_r->patch, |
| (pir_l->sum)*(pir_r->sum), |
| (pir_l->recip)*(pir_r->recip)); |
| } |
| else |
| { |
| score=db_SignedSquareNormCorr5x5Aligned_Post_s(pir_l->patch,pir_r->patch, |
| (pir_l->sum)*(pir_r->sum), |
| (pir_l->recip)*(pir_r->recip)); |
| } |
| } |
| |
| if((!(pir_l->pir)) || (score>pir_l->s)) |
| { |
| /*Update left corner*/ |
| pir_l->s=score; |
| pir_l->pir=pir_r; |
| } |
| if((!(pir_r->pir)) || (score>pir_r->s)) |
| { |
| /*Update right corner*/ |
| pir_r->s=score; |
| pir_r->pir=pir_l; |
| } |
| } |
| } |
| |
| inline void db_MatchPointAgainstBucket_f(db_PointInfo_f *pir_l,db_Bucket_f *b_r, |
| unsigned long kA,unsigned long kB) |
| { |
| int p_r,nr; |
| db_PointInfo_f *pir_r; |
| |
| nr=b_r->nr; |
| pir_r=b_r->ptr; |
| for(p_r=0;p_r<nr;p_r++) db_MatchPointPair_f(pir_l,pir_r+p_r,kA,kB); |
| } |
| |
| inline void db_MatchPointAgainstBucket_u(db_PointInfo_u *pir_l,db_Bucket_u *b_r, |
| unsigned long kA,unsigned long kB,int rect_window, bool use_smaller_matching_window, int use_21) |
| { |
| int p_r,nr; |
| db_PointInfo_u *pir_r; |
| |
| nr=b_r->nr; |
| pir_r=b_r->ptr; |
| |
| for(p_r=0;p_r<nr;p_r++) db_MatchPointPair_u(pir_l,pir_r+p_r,kA,kB, rect_window, use_smaller_matching_window, use_21); |
| |
| } |
| |
| void db_MatchBuckets_f(db_Bucket_f **bp_l,db_Bucket_f **bp_r,int nr_h,int nr_v, |
| unsigned long kA,unsigned long kB) |
| { |
| int i,j,k,a,b,br_nr; |
| db_Bucket_f *br; |
| db_PointInfo_f *pir_l; |
| |
| /*For all buckets*/ |
| for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) |
| { |
| br=&bp_l[i][j]; |
| br_nr=br->nr; |
| /*For all points in bucket*/ |
| for(k=0;k<br_nr;k++) |
| { |
| pir_l=br->ptr+k; |
| for(a=i-1;a<=i+1;a++) |
| { |
| for(b=j-1;b<=j+1;b++) |
| { |
| db_MatchPointAgainstBucket_f(pir_l,&bp_r[a][b],kA,kB); |
| } |
| } |
| } |
| } |
| } |
| |
| void db_MatchBuckets_u(db_Bucket_u **bp_l,db_Bucket_u **bp_r,int nr_h,int nr_v, |
| unsigned long kA,unsigned long kB,int rect_window,bool use_smaller_matching_window, int use_21) |
| { |
| int i,j,k,a,b,br_nr; |
| db_Bucket_u *br; |
| db_PointInfo_u *pir_l; |
| |
| /*For all buckets*/ |
| for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) |
| { |
| br=&bp_l[i][j]; |
| br_nr=br->nr; |
| /*For all points in bucket*/ |
| for(k=0;k<br_nr;k++) |
| { |
| pir_l=br->ptr+k; |
| for(a=i-1;a<=i+1;a++) |
| { |
| for(b=j-1;b<=j+1;b++) |
| { |
| db_MatchPointAgainstBucket_u(pir_l,&bp_r[a][b],kA,kB,rect_window,use_smaller_matching_window, use_21); |
| } |
| } |
| } |
| } |
| } |
| |
| void db_CollectMatches_f(db_Bucket_f **bp_l,int nr_h,int nr_v,unsigned long target,int *id_l,int *id_r,int *nr_matches) |
| { |
| int i,j,k,br_nr; |
| unsigned long count; |
| db_Bucket_f *br; |
| db_PointInfo_f *pir,*pir2; |
| |
| count=0; |
| /*For all buckets*/ |
| for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) |
| { |
| br=&bp_l[i][j]; |
| br_nr=br->nr; |
| /*For all points in bucket*/ |
| for(k=0;k<br_nr;k++) |
| { |
| pir=br->ptr+k; |
| pir2=pir->pir; |
| if(pir2) |
| { |
| /*This point has a best match*/ |
| if((pir2->pir)==pir) |
| { |
| /*We have a mutually consistent match*/ |
| if(count<target) |
| { |
| id_l[count]=pir->id; |
| id_r[count]=pir2->id; |
| count++; |
| } |
| } |
| } |
| } |
| } |
| *nr_matches=count; |
| } |
| |
| void db_CollectMatches_u(db_Bucket_u **bp_l,int nr_h,int nr_v,unsigned long target,int *id_l,int *id_r,int *nr_matches) |
| { |
| int i,j,k,br_nr; |
| unsigned long count; |
| db_Bucket_u *br; |
| db_PointInfo_u *pir,*pir2; |
| |
| count=0; |
| /*For all buckets*/ |
| for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) |
| { |
| br=&bp_l[i][j]; |
| br_nr=br->nr; |
| /*For all points in bucket*/ |
| for(k=0;k<br_nr;k++) |
| { |
| pir=br->ptr+k; |
| pir2=pir->pir; |
| if(pir2) |
| { |
| /*This point has a best match*/ |
| if((pir2->pir)==pir) |
| { |
| /*We have a mutually consistent match*/ |
| if(count<target) |
| { |
| id_l[count]=pir->id; |
| id_r[count]=pir2->id; |
| count++; |
| } |
| } |
| } |
| } |
| } |
| *nr_matches=count; |
| } |
| |
| db_Matcher_f::db_Matcher_f() |
| { |
| m_w=0; m_h=0; |
| } |
| |
| db_Matcher_f::~db_Matcher_f() |
| { |
| Clean(); |
| } |
| |
| void db_Matcher_f::Clean() |
| { |
| if(m_w) |
| { |
| /*Free buckets*/ |
| db_FreeBuckets_f(m_bp_l,m_nr_h,m_nr_v); |
| db_FreeBuckets_f(m_bp_r,m_nr_h,m_nr_v); |
| /*Free space for patch layouts*/ |
| delete [] m_patch_space; |
| } |
| m_w=0; m_h=0; |
| } |
| |
| unsigned long db_Matcher_f::Init(int im_width,int im_height,double max_disparity,int target_nr_corners) |
| { |
| Clean(); |
| m_w=im_width; |
| m_h=im_height; |
| m_bw=db_maxi(1,(int) (max_disparity*((double)im_width))); |
| m_bh=db_maxi(1,(int) (max_disparity*((double)im_height))); |
| m_nr_h=1+(im_width-1)/m_bw; |
| m_nr_v=1+(im_height-1)/m_bh; |
| m_bd=db_maxi(1,(int)(((double)target_nr_corners)* |
| max_disparity*max_disparity)); |
| m_target=target_nr_corners; |
| m_kA=(long)(256.0*((double)(m_w*m_w))/((double)(m_h*m_h))); |
| m_kB=(long)(256.0*max_disparity*max_disparity*((double)(m_w*m_w))); |
| |
| /*Alloc bucket structure*/ |
| m_bp_l=db_AllocBuckets_f(m_nr_h,m_nr_v,m_bd); |
| m_bp_r=db_AllocBuckets_f(m_nr_h,m_nr_v,m_bd); |
| |
| /*Alloc 16byte-aligned space for patch layouts*/ |
| m_patch_space=new float [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*128+16]; |
| m_aligned_patch_space=db_AlignPointer_f(m_patch_space,16); |
| |
| return(m_target); |
| } |
| |
| void db_Matcher_f::Match(const float * const *l_img,const float * const *r_img, |
| const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, |
| int *id_l,int *id_r,int *nr_matches,const double H[9]) |
| { |
| float *ps; |
| |
| /*Insert the corners into bucket structure*/ |
| ps=db_FillBuckets_f(m_aligned_patch_space,l_img,m_bp_l,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_l,y_l,nr_l); |
| if(H==0) db_FillBuckets_f(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r); |
| else db_FillBucketsPrewarped_f(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,H); |
| |
| /*Compute all the necessary match scores*/ |
| db_MatchBuckets_f(m_bp_l,m_bp_r,m_nr_h,m_nr_v,m_kA,m_kB); |
| |
| /*Collect the correspondences*/ |
| db_CollectMatches_f(m_bp_l,m_nr_h,m_nr_v,m_target,id_l,id_r,nr_matches); |
| } |
| |
| db_Matcher_u::db_Matcher_u() |
| { |
| m_w=0; m_h=0; |
| m_rect_window = 0; |
| m_bw=m_bh=m_nr_h=m_nr_v=m_bd=m_target=0; |
| m_bp_l=m_bp_r=0; |
| m_patch_space=m_aligned_patch_space=0; |
| } |
| |
| db_Matcher_u::db_Matcher_u(const db_Matcher_u& cm) |
| { |
| Init(cm.m_w, cm.m_h, cm.m_max_disparity, cm.m_target, cm.m_max_disparity_v); |
| } |
| |
| db_Matcher_u& db_Matcher_u::operator= (const db_Matcher_u& cm) |
| { |
| if ( this == &cm ) return *this; |
| Init(cm.m_w, cm.m_h, cm.m_max_disparity, cm.m_target, cm.m_max_disparity_v); |
| return *this; |
| } |
| |
| |
| db_Matcher_u::~db_Matcher_u() |
| { |
| Clean(); |
| } |
| |
| void db_Matcher_u::Clean() |
| { |
| if(m_w) |
| { |
| /*Free buckets*/ |
| db_FreeBuckets_u(m_bp_l,m_nr_h,m_nr_v); |
| db_FreeBuckets_u(m_bp_r,m_nr_h,m_nr_v); |
| /*Free space for patch layouts*/ |
| delete [] m_patch_space; |
| } |
| m_w=0; m_h=0; |
| } |
| |
| |
| unsigned long db_Matcher_u::Init(int im_width,int im_height,double max_disparity,int target_nr_corners, |
| double max_disparity_v, bool use_smaller_matching_window, int use_21) |
| { |
| Clean(); |
| m_w=im_width; |
| m_h=im_height; |
| m_max_disparity=max_disparity; |
| m_max_disparity_v=max_disparity_v; |
| |
| if ( max_disparity_v != DB_DEFAULT_NO_DISPARITY ) |
| { |
| m_rect_window = 1; |
| |
| m_bw=db_maxi(1,(int)(max_disparity*((double)im_width))); |
| m_bh=db_maxi(1,(int)(max_disparity_v*((double)im_height))); |
| |
| m_bd=db_maxi(1,(int)(((double)target_nr_corners)*max_disparity*max_disparity_v)); |
| |
| m_kA=(int)(max_disparity*m_w); |
| m_kB=(int)(max_disparity_v*m_h); |
| |
| } else |
| { |
| m_bw=(int)db_maxi(1,(int)(max_disparity*((double)im_width))); |
| m_bh=(int)db_maxi(1,(int)(max_disparity*((double)im_height))); |
| |
| m_bd=db_maxi(1,(int)(((double)target_nr_corners)*max_disparity*max_disparity)); |
| |
| m_kA=(long)(256.0*((double)(m_w*m_w))/((double)(m_h*m_h))); |
| m_kB=(long)(256.0*max_disparity*max_disparity*((double)(m_w*m_w))); |
| } |
| |
| m_nr_h=1+(im_width-1)/m_bw; |
| m_nr_v=1+(im_height-1)/m_bh; |
| |
| m_target=target_nr_corners; |
| |
| /*Alloc bucket structure*/ |
| m_bp_l=db_AllocBuckets_u(m_nr_h,m_nr_v,m_bd); |
| m_bp_r=db_AllocBuckets_u(m_nr_h,m_nr_v,m_bd); |
| |
| m_use_smaller_matching_window = use_smaller_matching_window; |
| m_use_21 = use_21; |
| |
| if(m_use_21) |
| { |
| /*Alloc 64byte-aligned space for patch layouts*/ |
| m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*512+64]; |
| m_aligned_patch_space=db_AlignPointer_s(m_patch_space,64); |
| } |
| else |
| { |
| if(!m_use_smaller_matching_window) |
| { |
| /*Alloc 16byte-aligned space for patch layouts*/ |
| m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*128+16]; |
| m_aligned_patch_space=db_AlignPointer_s(m_patch_space,16); |
| } |
| else |
| { |
| /*Alloc 4byte-aligned space for patch layouts*/ |
| m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*32+4]; |
| m_aligned_patch_space=db_AlignPointer_s(m_patch_space,4); |
| } |
| } |
| |
| return(m_target); |
| } |
| |
| void db_Matcher_u::Match(const unsigned char * const *l_img,const unsigned char * const *r_img, |
| const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, |
| int *id_l,int *id_r,int *nr_matches,const double H[9],int affine) |
| { |
| short *ps; |
| |
| /*Insert the corners into bucket structure*/ |
| ps=db_FillBuckets_u(m_aligned_patch_space,l_img,m_bp_l,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_l,y_l,nr_l,m_use_smaller_matching_window,m_use_21); |
| if(H==0) |
| db_FillBuckets_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,m_use_smaller_matching_window,m_use_21); |
| else |
| { |
| if (affine) |
| { |
| double Hinv[9]; |
| db_InvertAffineTransform(Hinv,H); |
| float r_w, c_w; |
| float stretch_x[2]; |
| float stretch_y[2]; |
| AffineWarpPointOffset(r_w,c_w,Hinv, 5,5); |
| stretch_x[0]=db_absf(c_w);stretch_y[0]=db_absf(r_w); |
| AffineWarpPointOffset(r_w,c_w,Hinv, 5,-5); |
| stretch_x[1]=db_absf(c_w);stretch_y[1]=db_absf(r_w); |
| int max_stretxh_x=(int) (db_maxd(stretch_x[0],stretch_x[1])); |
| int max_stretxh_y=(int) (db_maxd(stretch_y[0],stretch_y[1])); |
| int warpbounds[4]={max_stretxh_x,m_w-1-max_stretxh_x,max_stretxh_y,m_h-1-max_stretxh_y}; |
| |
| for (int r=-5;r<=5;r++){ |
| for (int c=-5;c<=5;c++){ |
| AffineWarpPointOffset(r_w,c_w,Hinv,r,c); |
| AffineWarpPoint_BL_LUT_y[r+5][c+5]=r_w; |
| AffineWarpPoint_BL_LUT_x[r+5][c+5]=c_w; |
| |
| AffineWarpPoint_NN_LUT_y[r+5][c+5]=db_roundi(r_w); |
| AffineWarpPoint_NN_LUT_x[r+5][c+5]=db_roundi(c_w); |
| |
| } |
| } |
| |
| db_FillBucketsPrewarpedAffine_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd, |
| x_r,y_r,nr_r,H,Hinv,warpbounds,affine); |
| } |
| else |
| db_FillBucketsPrewarped_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,H); |
| } |
| |
| |
| /*Compute all the necessary match scores*/ |
| db_MatchBuckets_u(m_bp_l,m_bp_r,m_nr_h,m_nr_v,m_kA,m_kB, m_rect_window,m_use_smaller_matching_window,m_use_21); |
| |
| /*Collect the correspondences*/ |
| db_CollectMatches_u(m_bp_l,m_nr_h,m_nr_v,m_target,id_l,id_r,nr_matches); |
| } |
| |
| int db_Matcher_u::IsAllocated() |
| { |
| return (int)(m_w != 0); |
| } |
