| /* |
| * 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_detection.cpp,v 1.4 2011/06/17 14:03:30 mbansal Exp $*/ |
| |
| /***************************************************************** |
| * Lean and mean begins here * |
| *****************************************************************/ |
| |
| #include "db_utilities.h" |
| #include "db_feature_detection.h" |
| #ifdef _VERBOSE_ |
| #include <iostream> |
| #endif |
| #include <float.h> |
| |
| #define DB_SUB_PIXEL |
| |
| #define BORDER 10 // 5 |
| |
| float** db_AllocStrengthImage_f(float **im,int w,int h) |
| { |
| int i,n,aw; |
| long c,size; |
| float **img,*aim,*p; |
| |
| /*Determine number of 124 element chunks needed*/ |
| n=(db_maxi(1,w-6)+123)/124; |
| /*Determine the total allocation width aw*/ |
| aw=n*124+8; |
| /*Allocate*/ |
| size=aw*h+16; |
| *im=new float [size]; |
| /*Clean up*/ |
| p=(*im); |
| for(c=0;c<size;c++) p[c]=0.0; |
| /*Get a 16 byte aligned pointer*/ |
| aim=db_AlignPointer_f(*im,16); |
| /*Allocate pointer table*/ |
| img=new float* [h]; |
| /*Initialize the pointer table*/ |
| for(i=0;i<h;i++) |
| { |
| img[i]=aim+aw*i+1; |
| } |
| |
| return(img); |
| } |
| |
| void db_FreeStrengthImage_f(float *im,float **img,int h) |
| { |
| delete [] im; |
| delete [] img; |
| } |
| |
| /*Compute derivatives Ix,Iy for a subrow of img with upper left (i,j) and width chunk_width |
| Memory references occur one pixel outside the subrow*/ |
| inline void db_IxIyRow_f(float *Ix,float *Iy,const float * const *img,int i,int j,int chunk_width) |
| { |
| int c; |
| |
| for(c=0;c<chunk_width;c++) |
| { |
| Ix[c]=img[i][j+c-1]-img[i][j+c+1]; |
| Iy[c]=img[i-1][j+c]-img[i+1][j+c]; |
| } |
| } |
| |
| /*Compute derivatives Ix,Iy for a subrow of img with upper left (i,j) and width 128 |
| Memory references occur one pixel outside the subrow*/ |
| inline void db_IxIyRow_u(int *dxx,const unsigned char * const *img,int i,int j,int nc) |
| { |
| #ifdef DB_USE_MMX |
| const unsigned char *r1,*r2,*r3; |
| |
| r1=img[i-1]+j; r2=img[i]+j; r3=img[i+1]+j; |
| |
| _asm |
| { |
| mov esi,16 |
| mov eax,r1 |
| mov ebx,r2 |
| mov ecx,r3 |
| mov edx,dxx |
| |
| /*Get bitmask into mm7*/ |
| mov edi,7F7F7F7Fh |
| movd mm7,edi |
| punpckldq mm7,mm7 |
| |
| loopstart: |
| /***************dx part 1-12*********************************/ |
| movq mm0,[eax] /*1 Get upper*/ |
| pxor mm6,mm6 /*2 Set to zero*/ |
| movq mm1,[ecx] /*3 Get lower*/ |
| psrlq mm0,1 /*4 Shift*/ |
| psrlq mm1,1 /*5 Shift*/ |
| pand mm0,mm7 /*6 And*/ |
| movq mm2,[ebx-1] /*13 Get left*/ |
| pand mm1,mm7 /*7 And*/ |
| psubb mm0,mm1 /*8 Subtract*/ |
| pxor mm5,mm5 /*14 Set to zero*/ |
| movq mm1,mm0 /*9 Copy*/ |
| pcmpgtb mm6,mm0 /*10 Create unpack mask*/ |
| movq mm3,[ebx+1] /*15 Get right*/ |
| punpcklbw mm0,mm6 /*11 Unpack low*/ |
| punpckhbw mm1,mm6 /*12 Unpack high*/ |
| /***************dy part 13-24*********************************/ |
| movq mm4,mm0 /*25 Copy dx*/ |
| psrlq mm2,1 /*16 Shift*/ |
| pmullw mm0,mm0 /*26 Multiply dx*dx*/ |
| psrlq mm3,1 /*17 Shift*/ |
| pand mm2,mm7 /*18 And*/ |
| pand mm3,mm7 /*19 And*/ |
| /*Stall*/ |
| psubb mm2,mm3 /*20 Subtract*/ |
| /*Stall*/ |
| movq mm3,mm2 /*21 Copy*/ |
| pcmpgtb mm5,mm2 /*22 Create unpack mask*/ |
| punpcklbw mm2,mm5 /*23 Unpack low*/ |
| /*Stall*/ |
| punpckhbw mm3,mm5 /*24 Unpack high*/ |
| /***************dxx dxy dyy low part 25-49*********************************/ |
| pmullw mm4,mm2 /*27 Multiply dx*dy*/ |
| pmullw mm2,mm2 /*28 Multiply dy*dy*/ |
| pxor mm6,mm6 /*29 Set to zero*/ |
| movq mm5,mm0 /*30 Copy dx*dx*/ |
| pcmpgtw mm6,mm0 /*31 Create unpack mask for dx*dx*/ |
| punpcklwd mm0,mm6 /*32 Unpack dx*dx lows*/ |
| /*Stall*/ |
| punpckhwd mm5,mm6 /*33 Unpack dx*dx highs*/ |
| pxor mm6,mm6 /*36 Set to zero*/ |
| movq [edx],mm0 /*34 Store dx*dx lows*/ |
| movq mm0,mm4 /*37 Copy dx*dy*/ |
| movq [edx+8],mm5 /*35 Store dx*dx highs*/ |
| pcmpgtw mm6,mm4 /*38 Create unpack mask for dx*dy*/ |
| punpcklwd mm4,mm6 /*39 Unpack dx*dy lows*/ |
| /*Stall*/ |
| punpckhwd mm0,mm6 /*40 Unpack dx*dy highs*/ |
| pxor mm6,mm6 /*43 Set to zero*/ |
| movq [edx+512],mm4 /*41 Store dx*dy lows*/ |
| movq mm5,mm2 /*44 Copy dy*dy*/ |
| movq [edx+520],mm0 /*42 Store dx*dy highs*/ |
| pcmpgtw mm6,mm2 /*45 Create unpack mask for dy*dy*/ |
| punpcklwd mm2,mm6 /*46 Unpack dy*dy lows*/ |
| movq mm4,mm1 /*50 Copy dx*/ |
| punpckhwd mm5,mm6 /*47 Unpack dy*dy highs*/ |
| pmullw mm1,mm1 /*51 Multiply dx*dx*/ |
| movq [edx+1024],mm2 /*48 Store dy*dy lows*/ |
| pmullw mm4,mm3 /*52 Multiply dx*dy*/ |
| movq [edx+1032],mm5 /*49 Store dy*dy highs*/ |
| /***************dxx dxy dyy high part 50-79*********************************/ |
| pmullw mm3,mm3 /*53 Multiply dy*dy*/ |
| pxor mm6,mm6 /*54 Set to zero*/ |
| movq mm5,mm1 /*55 Copy dx*dx*/ |
| pcmpgtw mm6,mm1 /*56 Create unpack mask for dx*dx*/ |
| pxor mm2,mm2 /*61 Set to zero*/ |
| punpcklwd mm1,mm6 /*57 Unpack dx*dx lows*/ |
| movq mm0,mm4 /*62 Copy dx*dy*/ |
| punpckhwd mm5,mm6 /*58 Unpack dx*dx highs*/ |
| pcmpgtw mm2,mm4 /*63 Create unpack mask for dx*dy*/ |
| movq [edx+16],mm1 /*59 Store dx*dx lows*/ |
| punpcklwd mm4,mm2 /*64 Unpack dx*dy lows*/ |
| movq [edx+24],mm5 /*60 Store dx*dx highs*/ |
| punpckhwd mm0,mm2 /*65 Unpack dx*dy highs*/ |
| movq [edx+528],mm4 /*66 Store dx*dy lows*/ |
| pxor mm6,mm6 /*68 Set to zero*/ |
| movq [edx+536],mm0 /*67 Store dx*dy highs*/ |
| movq mm5,mm3 /*69 Copy dy*dy*/ |
| pcmpgtw mm6,mm3 /*70 Create unpack mask for dy*dy*/ |
| add eax,8 /*75*/ |
| punpcklwd mm3,mm6 /*71 Unpack dy*dy lows*/ |
| add ebx,8 /*76*/ |
| punpckhwd mm5,mm6 /*72 Unpack dy*dy highs*/ |
| add ecx,8 /*77*/ |
| movq [edx+1040],mm3 /*73 Store dy*dy lows*/ |
| /*Stall*/ |
| movq [edx+1048],mm5 /*74 Store dy*dy highs*/ |
| /*Stall*/ |
| add edx,32 /*78*/ |
| dec esi /*79*/ |
| jnz loopstart |
| |
| emms |
| } |
| |
| #else |
| int c; |
| int Ix,Iy; |
| |
| for(c=0;c<nc;c++) |
| { |
| Ix=(img[i][j+c-1]-img[i][j+c+1])>>1; |
| Iy=(img[i-1][j+c]-img[i+1][j+c])>>1; |
| dxx[c]=Ix*Ix; |
| dxx[c+128]=Ix*Iy; |
| dxx[c+256]=Iy*Iy; |
| } |
| #endif /*DB_USE_MMX*/ |
| } |
| |
| /*Filter vertically five rows of derivatives of length chunk_width into gxx,gxy,gyy*/ |
| inline void db_gxx_gxy_gyy_row_f(float *gxx,float *gxy,float *gyy,int chunk_width, |
| float *Ix0,float *Ix1,float *Ix2,float *Ix3,float *Ix4, |
| float *Iy0,float *Iy1,float *Iy2,float *Iy3,float *Iy4) |
| { |
| int c; |
| float dx,dy; |
| float Ixx0,Ixy0,Iyy0,Ixx1,Ixy1,Iyy1,Ixx2,Ixy2,Iyy2,Ixx3,Ixy3,Iyy3,Ixx4,Ixy4,Iyy4; |
| |
| for(c=0;c<chunk_width;c++) |
| { |
| dx=Ix0[c]; |
| dy=Iy0[c]; |
| Ixx0=dx*dx; |
| Ixy0=dx*dy; |
| Iyy0=dy*dy; |
| |
| dx=Ix1[c]; |
| dy=Iy1[c]; |
| Ixx1=dx*dx; |
| Ixy1=dx*dy; |
| Iyy1=dy*dy; |
| |
| dx=Ix2[c]; |
| dy=Iy2[c]; |
| Ixx2=dx*dx; |
| Ixy2=dx*dy; |
| Iyy2=dy*dy; |
| |
| dx=Ix3[c]; |
| dy=Iy3[c]; |
| Ixx3=dx*dx; |
| Ixy3=dx*dy; |
| Iyy3=dy*dy; |
| |
| dx=Ix4[c]; |
| dy=Iy4[c]; |
| Ixx4=dx*dx; |
| Ixy4=dx*dy; |
| Iyy4=dy*dy; |
| |
| /*Filter vertically*/ |
| gxx[c]=Ixx0+Ixx1*4.0f+Ixx2*6.0f+Ixx3*4.0f+Ixx4; |
| gxy[c]=Ixy0+Ixy1*4.0f+Ixy2*6.0f+Ixy3*4.0f+Ixy4; |
| gyy[c]=Iyy0+Iyy1*4.0f+Iyy2*6.0f+Iyy3*4.0f+Iyy4; |
| } |
| } |
| |
| /*Filter vertically five rows of derivatives of length 128 into gxx,gxy,gyy*/ |
| inline void db_gxx_gxy_gyy_row_s(int *g,int *d0,int *d1,int *d2,int *d3,int *d4,int nc) |
| { |
| #ifdef DB_USE_MMX |
| int c; |
| |
| _asm |
| { |
| mov c,64 |
| mov eax,d0 |
| mov ebx,d1 |
| mov ecx,d2 |
| mov edx,d3 |
| mov edi,d4 |
| mov esi,g |
| |
| loopstart: |
| /***************dxx part 1-14*********************************/ |
| movq mm0,[eax] /*1 Get dxx0*/ |
| /*Stall*/ |
| movq mm1,[ebx] /*2 Get dxx1*/ |
| /*Stall*/ |
| movq mm2,[ecx] /*5 Get dxx2*/ |
| pslld mm1,2 /*3 Shift dxx1*/ |
| movq mm3,[edx] /*10 Get dxx3*/ |
| paddd mm0,mm1 /*4 Accumulate dxx1*/ |
| movq mm4,[eax+512] /*15 Get dxy0*/ |
| pslld mm2,1 /*6 Shift dxx2 1*/ |
| paddd mm0,mm2 /*7 Accumulate dxx2 1*/ |
| pslld mm2,1 /*8 Shift dxx2 2*/ |
| movq mm5,[ebx+512] /*16 Get dxy1*/ |
| paddd mm0,mm2 /*9 Accumulate dxx2 2*/ |
| pslld mm3,2 /*11 Shift dxx3*/ |
| /*Stall*/ |
| paddd mm0,mm3 /*12 Accumulate dxx3*/ |
| pslld mm5,2 /*17 Shift dxy1*/ |
| paddd mm0,[edi] /*13 Accumulate dxx4*/ |
| paddd mm4,mm5 /*18 Accumulate dxy1*/ |
| movq mm6,[ecx+512] /*19 Get dxy2*/ |
| /*Stall*/ |
| movq [esi],mm0 /*14 Store dxx sums*/ |
| /***************dxy part 15-28*********************************/ |
| pslld mm6,1 /*20 Shift dxy2 1*/ |
| paddd mm4,mm6 /*21 Accumulate dxy2 1*/ |
| pslld mm6,1 /*22 Shift dxy2 2*/ |
| movq mm0,[eax+1024] /*29 Get dyy0*/ |
| paddd mm4,mm6 /*23 Accumulate dxy2 2*/ |
| movq mm7,[edx+512] /*24 Get dxy3*/ |
| pslld mm7,2 /*25 Shift dxy3*/ |
| movq mm1,[ebx+1024] /*30 Get dyy1*/ |
| paddd mm4,mm7 /*26 Accumulate dxy3*/ |
| paddd mm4,[edi+512] /*27 Accumulate dxy4*/ |
| pslld mm1,2 /*31 Shift dyy1*/ |
| movq mm2,[ecx+1024] /*33 Get dyy2*/ |
| paddd mm0,mm1 /*32 Accumulate dyy1*/ |
| movq [esi+512],mm4 /*28 Store dxy sums*/ |
| pslld mm2,1 /*34 Shift dyy2 1*/ |
| /***************dyy part 29-49*********************************/ |
| |
| |
| movq mm3,[edx+1024] /*38 Get dyy3*/ |
| paddd mm0,mm2 /*35 Accumulate dyy2 1*/ |
| paddd mm0,[edi+1024] /*41 Accumulate dyy4*/ |
| pslld mm2,1 /*36 Shift dyy2 2*/ |
| paddd mm0,mm2 /*37 Accumulate dyy2 2*/ |
| pslld mm3,2 /*39 Shift dyy3*/ |
| paddd mm0,mm3 /*40 Accumulate dyy3*/ |
| add eax,8 /*43*/ |
| add ebx,8 /*44*/ |
| add ecx,8 /*45*/ |
| movq [esi+1024],mm0 /*42 Store dyy sums*/ |
| /*Stall*/ |
| add edx,8 /*46*/ |
| add edi,8 /*47*/ |
| add esi,8 /*48*/ |
| dec c /*49*/ |
| jnz loopstart |
| |
| emms |
| } |
| |
| #else |
| int c,dd; |
| |
| for(c=0;c<nc;c++) |
| { |
| /*Filter vertically*/ |
| dd=d2[c]; |
| g[c]=d0[c]+(d1[c]<<2)+(dd<<2)+(dd<<1)+(d3[c]<<2)+d4[c]; |
| |
| dd=d2[c+128]; |
| g[c+128]=d0[c+128]+(d1[c+128]<<2)+(dd<<2)+(dd<<1)+(d3[c+128]<<2)+d4[c+128]; |
| |
| dd=d2[c+256]; |
| g[c+256]=d0[c+256]+(d1[c+256]<<2)+(dd<<2)+(dd<<1)+(d3[c+256]<<2)+d4[c+256]; |
| } |
| #endif /*DB_USE_MMX*/ |
| } |
| |
| /*Filter horizontally the three rows gxx,gxy,gyy into the strength subrow starting at i,j |
| and with width chunk_width. gxx,gxy and gyy are assumed to be four pixels wider than chunk_width |
| and starting at (i,j-2)*/ |
| inline void db_HarrisStrength_row_f(float **s,float *gxx,float *gxy,float *gyy,int i,int j,int chunk_width) |
| { |
| float Gxx,Gxy,Gyy,det,trc; |
| int c; |
| |
| for(c=0;c<chunk_width;c++) |
| { |
| Gxx=gxx[c]+gxx[c+1]*4.0f+gxx[c+2]*6.0f+gxx[c+3]*4.0f+gxx[c+4]; |
| Gxy=gxy[c]+gxy[c+1]*4.0f+gxy[c+2]*6.0f+gxy[c+3]*4.0f+gxy[c+4]; |
| Gyy=gyy[c]+gyy[c+1]*4.0f+gyy[c+2]*6.0f+gyy[c+3]*4.0f+gyy[c+4]; |
| |
| det=Gxx*Gyy-Gxy*Gxy; |
| trc=Gxx+Gyy; |
| s[i][j+c]=det-0.06f*trc*trc; |
| } |
| } |
| |
| /*Filter g of length 128 in place with 14641. Output is shifted two steps |
| and of length 124*/ |
| inline void db_Filter14641_128_i(int *g,int nc) |
| { |
| #ifdef DB_USE_MMX |
| int mask; |
| |
| mask=0xFFFFFFFF; |
| _asm |
| { |
| mov esi,31 |
| mov eax,g |
| |
| /*Get bitmask 00000000FFFFFFFF into mm7*/ |
| movd mm7,mask |
| |
| /*Warming iteration one 1-16********************/ |
| movq mm6,[eax] /*1 Load new data*/ |
| paddd mm0,mm6 /*2 Add 1* behind two steps*/ |
| movq mm2,mm6 /*3 Start with 1* in front two steps*/ |
| pslld mm6,1 /*4*/ |
| paddd mm1,mm6 /*5 Add 2* same place*/ |
| pslld mm6,1 /*6*/ |
| paddd mm1,mm6 /*7 Add 4* same place*/ |
| pshufw mm6,mm6,4Eh /*8 Swap the two double-words using bitmask 01001110=4Eh*/ |
| paddd mm1,mm6 /*9 Add 4* swapped*/ |
| movq mm5,mm6 /*10 Copy*/ |
| pand mm6,mm7 /*11 Get low double-word only*/ |
| paddd mm2,mm6 /*12 Add 4* in front one step*/ |
| pxor mm6,mm5 /*13 Get high double-word only*/ |
| paddd mm0,mm6 /*14 Add 4* behind one step*/ |
| movq mm0,mm1 /*15 Shift along*/ |
| movq mm1,mm2 /*16 Shift along*/ |
| /*Warming iteration two 17-32********************/ |
| movq mm4,[eax+8] /*17 Load new data*/ |
| paddd mm0,mm4 /*18 Add 1* behind two steps*/ |
| movq mm2,mm4 /*19 Start with 1* in front two steps*/ |
| pslld mm4,1 /*20*/ |
| paddd mm1,mm4 /*21 Add 2* same place*/ |
| pslld mm4,1 /*22*/ |
| paddd mm1,mm4 /*23 Add 4* same place*/ |
| pshufw mm4,mm4,4Eh /*24 Swap the two double-words using bitmask 01001110=4Eh*/ |
| paddd mm1,mm4 /*25 Add 4* swapped*/ |
| movq mm3,mm4 /*26 Copy*/ |
| pand mm4,mm7 /*27 Get low double-word only*/ |
| paddd mm2,mm4 /*28 Add 4* in front one step*/ |
| pxor mm4,mm3 /*29 Get high double-word only*/ |
| paddd mm0,mm4 /*30 Add 4* behind one step*/ |
| movq mm0,mm1 /*31 Shift along*/ |
| movq mm1,mm2 /*32 Shift along*/ |
| |
| /*Loop********************/ |
| loopstart: |
| /*First part of loop 33-47********/ |
| movq mm6,[eax+16] /*33 Load new data*/ |
| /*Stall*/ |
| paddd mm0,mm6 /*34 Add 1* behind two steps*/ |
| movq mm2,mm6 /*35 Start with 1* in front two steps*/ |
| movq mm4,[eax+24] /*48 Load new data*/ |
| pslld mm6,1 /*36*/ |
| paddd mm1,mm6 /*37 Add 2* same place*/ |
| pslld mm6,1 /*38*/ |
| paddd mm1,mm6 /*39 Add 4* same place*/ |
| pshufw mm6,mm6,4Eh /*40 Swap the two double-words using bitmask 01001110=4Eh*/ |
| paddd mm1,mm4 /*49 Add 1* behind two steps*/ |
| movq mm5,mm6 /*41 Copy*/ |
| paddd mm1,mm6 /*42 Add 4* swapped*/ |
| pand mm6,mm7 /*43 Get low double-word only*/ |
| paddd mm2,mm6 /*44 Add 4* in front one step*/ |
| pxor mm6,mm5 /*45 Get high double-word only*/ |
| paddd mm0,mm6 /*46 Add 4* behind one step*/ |
| movq mm6,mm4 /*50a Copy*/ |
| pslld mm4,1 /*51*/ |
| /*Stall*/ |
| movq [eax],mm0 /*47 Store result two steps behind*/ |
| /*Second part of loop 48-66********/ |
| movq mm0,mm6 /*50b Start with 1* in front two steps*/ |
| paddd mm2,mm4 /*52 Add 2* same place*/ |
| pslld mm4,1 /*53*/ |
| paddd mm2,mm4 /*54 Add 4* same place*/ |
| pshufw mm4,mm4,4Eh /*55 Swap the two double-words using bitmask 01001110=4Eh*/ |
| paddd mm2,mm4 /*56 Add 4* swapped*/ |
| movq mm3,mm4 /*57 Copy*/ |
| pand mm4,mm7 /*58 Get low double-word only*/ |
| /*Stall*/ |
| paddd mm0,mm4 /*59 Add 4* in front one step*/ |
| pxor mm4,mm3 /*60 Get high double-word only*/ |
| paddd mm1,mm4 /*61 Add 4* behind one step*/ |
| add eax,16 /*65*/ |
| dec esi /*66*/ |
| /*Stall*/ |
| movq [eax-8],mm1 /*62 Store result two steps behind*/ |
| movq mm1,mm0 /*63 Shift along*/ |
| movq mm0,mm2 /*64 Shift along*/ |
| jnz loopstart |
| |
| emms |
| } |
| |
| #else |
| int c; |
| |
| for(c=0;c<nc-4;c++) |
| { |
| g[c]=g[c]+(g[c+1]<<2)+(g[c+2]<<2)+(g[c+2]<<1)+(g[c+3]<<2)+g[c+4]; |
| } |
| #endif /*DB_USE_MMX*/ |
| } |
| |
| /*Filter horizontally the three rows gxx,gxy,gyy of length 128 into the strength subrow s |
| of length 124. gxx,gxy and gyy are assumed to be starting at (i,j-2) if s[i][j] is sought. |
| s should be 16 byte aligned*/ |
| inline void db_HarrisStrength_row_s(float *s,int *gxx,int *gxy,int *gyy,int nc) |
| { |
| float k; |
| |
| k=0.06f; |
| |
| db_Filter14641_128_i(gxx,nc); |
| db_Filter14641_128_i(gxy,nc); |
| db_Filter14641_128_i(gyy,nc); |
| |
| #ifdef DB_USE_SIMD |
| |
| |
| _asm |
| { |
| mov esi,15 |
| mov eax,gxx |
| mov ebx,gxy |
| mov ecx,gyy |
| mov edx,s |
| |
| /*broadcast k to all positions of xmm7*/ |
| movss xmm7,k |
| shufps xmm7,xmm7,0 |
| |
| /*****Warm up 1-10**************************************/ |
| cvtpi2ps xmm0,[eax+8] /*1 Convert two integers into floating point of low double-word*/ |
| /*Stall*/ |
| cvtpi2ps xmm1,[ebx+8] /*4 Convert two integers into floating point of low double-word*/ |
| movlhps xmm0,xmm0 /*2 Move them to the high double-word*/ |
| cvtpi2ps xmm2,[ecx+8] /*7 Convert two integers into floating point of low double-word*/ |
| movlhps xmm1,xmm1 /*5 Move them to the high double-word*/ |
| cvtpi2ps xmm0,[eax] /*3 Convert two integers into floating point of low double-word*/ |
| movlhps xmm2,xmm2 /*8 Move them to the high double-word*/ |
| cvtpi2ps xmm1,[ebx] /*6 Convert two integers into floating point of low double-word*/ |
| movaps xmm3,xmm0 /*10 Copy Cxx*/ |
| cvtpi2ps xmm2,[ecx] /*9 Convert two integers into floating point of low double-word*/ |
| /*Stall*/ |
| loopstart: |
| /*****First part of loop 11-18***********************/ |
| mulps xmm0,xmm2 /*11 Multiply to get Gxx*Gyy*/ |
| addps xmm2,xmm3 /*12 Add to get Gxx+Gyy*/ |
| cvtpi2ps xmm4,[eax+24] /*19 Convert two integers into floating point of low double-word*/ |
| mulps xmm1,xmm1 /*13 Multiply to get Gxy*Gxy*/ |
| mulps xmm2,xmm2 /*14 Multiply to get (Gxx+Gyy)*(Gxx+Gyy)*/ |
| movlhps xmm4,xmm4 /*20 Move them to the high double-word*/ |
| cvtpi2ps xmm4,[eax+16] /*21 Convert two integers into floating point of low double-word*/ |
| /*Stall*/ |
| subps xmm0,xmm1 /*15 Subtract to get Gxx*Gyy-Gxy*Gxy*/ |
| mulps xmm2,xmm7 /*16 Multiply to get k*(Gxx+Gyy)*(Gxx+Gyy)*/ |
| cvtpi2ps xmm5,[ebx+24] /*22 Convert two integers into floating point of low double-word*/ |
| /*Stall*/ |
| movlhps xmm5,xmm5 /*23 Move them to the high double-word*/ |
| /*Stall*/ |
| cvtpi2ps xmm5,[ebx+16] /*24 Convert two integers into floating point of low double-word*/ |
| subps xmm0,xmm2 /*17 Subtract to get Gxx*Gyy-Gxy*Gxy-k*(Gxx+Gyy)*(Gxx+Gyy)*/ |
| cvtpi2ps xmm6,[ecx+24] /*25 Convert two integers into floating point of low double-word*/ |
| /*Stall*/ |
| movaps [edx],xmm0 /*18 Store*/ |
| /*****Second part of loop 26-40***********************/ |
| movlhps xmm6,xmm6 /*26 Move them to the high double-word*/ |
| cvtpi2ps xmm6,[ecx+16] /*27 Convert two integers into floating point of low double-word*/ |
| movaps xmm3,xmm4 /*28 Copy Cxx*/ |
| mulps xmm4,xmm6 /*29 Multiply to get Gxx*Gyy*/ |
| addps xmm6,xmm3 /*30 Add to get Gxx+Gyy*/ |
| cvtpi2ps xmm0,[eax+40] /*(1 Next) Convert two integers into floating point of low double-word*/ |
| mulps xmm5,xmm5 /*31 Multiply to get Gxy*Gxy*/ |
| cvtpi2ps xmm1,[ebx+40] /*(4 Next) Convert two integers into floating point of low double-word*/ |
| mulps xmm6,xmm6 /*32 Multiply to get (Gxx+Gyy)*(Gxx+Gyy)*/ |
| cvtpi2ps xmm2,[ecx+40] /*(7 Next) Convert two integers into floating point of low double-word*/ |
| movlhps xmm0,xmm0 /*(2 Next) Move them to the high double-word*/ |
| subps xmm4,xmm5 /*33 Subtract to get Gxx*Gyy-Gxy*Gxy*/ |
| movlhps xmm1,xmm1 /*(5 Next) Move them to the high double-word*/ |
| cvtpi2ps xmm0,[eax+32] /*(3 Next)Convert two integers into floating point of low double-word*/ |
| mulps xmm6,xmm7 /*34 Multiply to get k*(Gxx+Gyy)*(Gxx+Gyy)*/ |
| cvtpi2ps xmm1,[ebx+32] /*(6 Next) Convert two integers into floating point of low double-word*/ |
| movlhps xmm2,xmm2 /*(8 Next) Move them to the high double-word*/ |
| movaps xmm3,xmm0 /*(10 Next) Copy Cxx*/ |
| add eax,32 /*37*/ |
| subps xmm4,xmm6 /*35 Subtract to get Gxx*Gyy-Gxy*Gxy-k*(Gxx+Gyy)*(Gxx+Gyy)*/ |
| add ebx,32 /*38*/ |
| cvtpi2ps xmm2,[ecx+32] /*(9 Next) Convert two integers into floating point of low double-word*/ |
| /*Stall*/ |
| movaps [edx+16],xmm4 /*36 Store*/ |
| /*Stall*/ |
| add ecx,32 /*39*/ |
| add edx,32 /*40*/ |
| dec esi /*41*/ |
| jnz loopstart |
| |
| /****Cool down***************/ |
| mulps xmm0,xmm2 /*Multiply to get Gxx*Gyy*/ |
| addps xmm2,xmm3 /*Add to get Gxx+Gyy*/ |
| mulps xmm1,xmm1 /*Multiply to get Gxy*Gxy*/ |
| mulps xmm2,xmm2 /*Multiply to get (Gxx+Gyy)*(Gxx+Gyy)*/ |
| subps xmm0,xmm1 /*Subtract to get Gxx*Gyy-Gxy*Gxy*/ |
| mulps xmm2,xmm7 /*Multiply to get k*(Gxx+Gyy)*(Gxx+Gyy)*/ |
| subps xmm0,xmm2 /*Subtract to get Gxx*Gyy-Gxy*Gxy-k*(Gxx+Gyy)*(Gxx+Gyy)*/ |
| movaps [edx],xmm0 /*Store*/ |
| } |
| |
| #else |
| float Gxx,Gxy,Gyy,det,trc; |
| int c; |
| |
| //for(c=0;c<124;c++) |
| for(c=0;c<nc-4;c++) |
| { |
| Gxx=(float)gxx[c]; |
| Gxy=(float)gxy[c]; |
| Gyy=(float)gyy[c]; |
| |
| det=Gxx*Gyy-Gxy*Gxy; |
| trc=Gxx+Gyy; |
| s[c]=det-k*trc*trc; |
| } |
| #endif /*DB_USE_SIMD*/ |
| } |
| |
| /*Compute the Harris corner strength of the chunk [left,top,right,bottom] of img and |
| store it into the corresponding region of s. left and top have to be at least 3 and |
| right and bottom have to be at most width-4,height-4*/ |
| inline void db_HarrisStrengthChunk_f(float **s,const float * const *img,int left,int top,int right,int bottom, |
| /*temp should point to at least |
| 13*(right-left+5) of allocated memory*/ |
| float *temp) |
| { |
| float *Ix[5],*Iy[5]; |
| float *gxx,*gxy,*gyy; |
| int i,chunk_width,chunk_width_p4; |
| |
| chunk_width=right-left+1; |
| chunk_width_p4=chunk_width+4; |
| gxx=temp; |
| gxy=gxx+chunk_width_p4; |
| gyy=gxy+chunk_width_p4; |
| for(i=0;i<5;i++) |
| { |
| Ix[i]=gyy+chunk_width_p4+(2*i*chunk_width_p4); |
| Iy[i]=Ix[i]+chunk_width_p4; |
| } |
| |
| /*Fill four rows of the wrap-around derivative buffers*/ |
| for(i=top-2;i<top+2;i++) db_IxIyRow_f(Ix[i%5],Iy[i%5],img,i,left-2,chunk_width_p4); |
| |
| /*For each output row*/ |
| for(i=top;i<=bottom;i++) |
| { |
| /*Step the derivative buffers*/ |
| db_IxIyRow_f(Ix[(i+2)%5],Iy[(i+2)%5],img,(i+2),left-2,chunk_width_p4); |
| |
| /*Filter Ix2,IxIy,Iy2 vertically into gxx,gxy,gyy*/ |
| db_gxx_gxy_gyy_row_f(gxx,gxy,gyy,chunk_width_p4, |
| Ix[(i-2)%5],Ix[(i-1)%5],Ix[i%5],Ix[(i+1)%5],Ix[(i+2)%5], |
| Iy[(i-2)%5],Iy[(i-1)%5],Iy[i%5],Iy[(i+1)%5],Iy[(i+2)%5]); |
| |
| /*Filter gxx,gxy,gyy horizontally and compute corner response s*/ |
| db_HarrisStrength_row_f(s,gxx,gxy,gyy,i,left,chunk_width); |
| } |
| } |
| |
| /*Compute the Harris corner strength of the chunk [left,top,left+123,bottom] of img and |
| store it into the corresponding region of s. left and top have to be at least 3 and |
| right and bottom have to be at most width-4,height-4. The left of the region in s should |
| be 16 byte aligned*/ |
| inline void db_HarrisStrengthChunk_u(float **s,const unsigned char * const *img,int left,int top,int bottom, |
| /*temp should point to at least |
| 18*128 of allocated memory*/ |
| int *temp, int nc) |
| { |
| int *Ixx[5],*Ixy[5],*Iyy[5]; |
| int *gxx,*gxy,*gyy; |
| int i; |
| |
| gxx=temp; |
| gxy=gxx+128; |
| gyy=gxy+128; |
| for(i=0;i<5;i++) |
| { |
| Ixx[i]=gyy+(3*i+1)*128; |
| Ixy[i]=gyy+(3*i+2)*128; |
| Iyy[i]=gyy+(3*i+3)*128; |
| } |
| |
| /*Fill four rows of the wrap-around derivative buffers*/ |
| for(i=top-2;i<top+2;i++) db_IxIyRow_u(Ixx[i%5],img,i,left-2,nc); |
| |
| /*For each output row*/ |
| for(i=top;i<=bottom;i++) |
| { |
| /*Step the derivative buffers*/ |
| db_IxIyRow_u(Ixx[(i+2)%5],img,(i+2),left-2,nc); |
| |
| /*Filter Ix2,IxIy,Iy2 vertically into gxx,gxy,gyy*/ |
| db_gxx_gxy_gyy_row_s(gxx,Ixx[(i-2)%5],Ixx[(i-1)%5],Ixx[i%5],Ixx[(i+1)%5],Ixx[(i+2)%5],nc); |
| |
| /*Filter gxx,gxy,gyy horizontally and compute corner response s*/ |
| db_HarrisStrength_row_s(s[i]+left,gxx,gxy,gyy,nc); |
| } |
| |
| } |
| |
| /*Compute Harris corner strength of img. Strength is returned for the region |
| with (3,3) as upper left and (w-4,h-4) as lower right, positioned in the |
| same place in s. In other words,image should be at least 7 pixels wide and 7 pixels high |
| for a meaningful result*/ |
| void db_HarrisStrength_f(float **s,const float * const *img,int w,int h, |
| /*temp should point to at least |
| 13*(chunk_width+4) of allocated memory*/ |
| float *temp, |
| int chunk_width) |
| { |
| int x,next_x,last,right; |
| |
| last=w-4; |
| for(x=3;x<=last;x=next_x) |
| { |
| next_x=x+chunk_width; |
| right=next_x-1; |
| if(right>last) right=last; |
| /*Compute the Harris strength of a chunk*/ |
| db_HarrisStrengthChunk_f(s,img,x,3,right,h-4,temp); |
| } |
| } |
| |
| /*Compute Harris corner strength of img. Strength is returned for the region |
| with (3,3) as upper left and (w-4,h-4) as lower right, positioned in the |
| same place in s. In other words,image should be at least 7 pixels wide and 7 pixels high |
| for a meaningful result.Moreover, the image should be overallocated by 256 bytes. |
| s[i][3] should by 16 byte aligned for any i*/ |
| void db_HarrisStrength_u(float **s, const unsigned char * const *img,int w,int h, |
| /*temp should point to at least |
| 18*128 of allocated memory*/ |
| int *temp) |
| { |
| int x,next_x,last; |
| int nc; |
| |
| last=w-4; |
| for(x=3;x<=last;x=next_x) |
| { |
| next_x=x+124; |
| |
| // mayban: to revert to the original full chunks state, change the line below to: nc = 128; |
| nc = db_mini(128,last-x+1); |
| //nc = 128; |
| |
| /*Compute the Harris strength of a chunk*/ |
| db_HarrisStrengthChunk_u(s,img,x,3,h-4,temp,nc); |
| } |
| } |
| |
| inline float db_Max_128Aligned16_f(float *v) |
| { |
| #ifdef DB_USE_SIMD |
| float back; |
| |
| _asm |
| { |
| mov eax,v |
| |
| /*Chunk1*/ |
| movaps xmm0,[eax] |
| movaps xmm1,[eax+16] |
| movaps xmm2,[eax+32] |
| movaps xmm3,[eax+48] |
| movaps xmm4,[eax+64] |
| movaps xmm5,[eax+80] |
| movaps xmm6,[eax+96] |
| movaps xmm7,[eax+112] |
| |
| /*Chunk2*/ |
| maxps xmm0,[eax+128] |
| maxps xmm1,[eax+144] |
| maxps xmm2,[eax+160] |
| maxps xmm3,[eax+176] |
| maxps xmm4,[eax+192] |
| maxps xmm5,[eax+208] |
| maxps xmm6,[eax+224] |
| maxps xmm7,[eax+240] |
| |
| /*Chunk3*/ |
| maxps xmm0,[eax+256] |
| maxps xmm1,[eax+272] |
| maxps xmm2,[eax+288] |
| maxps xmm3,[eax+304] |
| maxps xmm4,[eax+320] |
| maxps xmm5,[eax+336] |
| maxps xmm6,[eax+352] |
| maxps xmm7,[eax+368] |
| |
| /*Chunk4*/ |
| maxps xmm0,[eax+384] |
| maxps xmm1,[eax+400] |
| maxps xmm2,[eax+416] |
| maxps xmm3,[eax+432] |
| maxps xmm4,[eax+448] |
| maxps xmm5,[eax+464] |
| maxps xmm6,[eax+480] |
| maxps xmm7,[eax+496] |
| |
| /*Collect*/ |
| maxps xmm0,xmm1 |
| maxps xmm2,xmm3 |
| maxps xmm4,xmm5 |
| maxps xmm6,xmm7 |
| maxps xmm0,xmm2 |
| maxps xmm4,xmm6 |
| maxps xmm0,xmm4 |
| movhlps xmm1,xmm0 |
| maxps xmm0,xmm1 |
| shufps xmm1,xmm0,1 |
| maxps xmm0,xmm1 |
| movss back,xmm0 |
| } |
| |
| return(back); |
| #else |
| float val,max_val; |
| float *p,*stop_p; |
| max_val=v[0]; |
| for(p=v+1,stop_p=v+128;p!=stop_p;) |
| { |
| val= *p++; |
| if(val>max_val) max_val=val; |
| } |
| return(max_val); |
| #endif /*DB_USE_SIMD*/ |
| } |
| |
| inline float db_Max_64Aligned16_f(float *v) |
| { |
| #ifdef DB_USE_SIMD |
| float back; |
| |
| _asm |
| { |
| mov eax,v |
| |
| /*Chunk1*/ |
| movaps xmm0,[eax] |
| movaps xmm1,[eax+16] |
| movaps xmm2,[eax+32] |
| movaps xmm3,[eax+48] |
| movaps xmm4,[eax+64] |
| movaps xmm5,[eax+80] |
| movaps xmm6,[eax+96] |
| movaps xmm7,[eax+112] |
| |
| /*Chunk2*/ |
| maxps xmm0,[eax+128] |
| maxps xmm1,[eax+144] |
| maxps xmm2,[eax+160] |
| maxps xmm3,[eax+176] |
| maxps xmm4,[eax+192] |
| maxps xmm5,[eax+208] |
| maxps xmm6,[eax+224] |
| maxps xmm7,[eax+240] |
| |
| /*Collect*/ |
| maxps xmm0,xmm1 |
| maxps xmm2,xmm3 |
| maxps xmm4,xmm5 |
| maxps xmm6,xmm7 |
| maxps xmm0,xmm2 |
| maxps xmm4,xmm6 |
| maxps xmm0,xmm4 |
| movhlps xmm1,xmm0 |
| maxps xmm0,xmm1 |
| shufps xmm1,xmm0,1 |
| maxps xmm0,xmm1 |
| movss back,xmm0 |
| } |
| |
| return(back); |
| #else |
| float val,max_val; |
| float *p,*stop_p; |
| max_val=v[0]; |
| for(p=v+1,stop_p=v+64;p!=stop_p;) |
| { |
| val= *p++; |
| if(val>max_val) max_val=val; |
| } |
| return(max_val); |
| #endif /*DB_USE_SIMD*/ |
| } |
| |
| inline float db_Max_32Aligned16_f(float *v) |
| { |
| #ifdef DB_USE_SIMD |
| float back; |
| |
| _asm |
| { |
| mov eax,v |
| |
| /*Chunk1*/ |
| movaps xmm0,[eax] |
| movaps xmm1,[eax+16] |
| movaps xmm2,[eax+32] |
| movaps xmm3,[eax+48] |
| movaps xmm4,[eax+64] |
| movaps xmm5,[eax+80] |
| movaps xmm6,[eax+96] |
| movaps xmm7,[eax+112] |
| |
| /*Collect*/ |
| maxps xmm0,xmm1 |
| maxps xmm2,xmm3 |
| maxps xmm4,xmm5 |
| maxps xmm6,xmm7 |
| maxps xmm0,xmm2 |
| maxps xmm4,xmm6 |
| maxps xmm0,xmm4 |
| movhlps xmm1,xmm0 |
| maxps xmm0,xmm1 |
| shufps xmm1,xmm0,1 |
| maxps xmm0,xmm1 |
| movss back,xmm0 |
| } |
| |
| return(back); |
| #else |
| float val,max_val; |
| float *p,*stop_p; |
| max_val=v[0]; |
| for(p=v+1,stop_p=v+32;p!=stop_p;) |
| { |
| val= *p++; |
| if(val>max_val) max_val=val; |
| } |
| return(max_val); |
| #endif /*DB_USE_SIMD*/ |
| } |
| |
| inline float db_Max_16Aligned16_f(float *v) |
| { |
| #ifdef DB_USE_SIMD |
| float back; |
| |
| _asm |
| { |
| mov eax,v |
| |
| /*Chunk1*/ |
| movaps xmm0,[eax] |
| movaps xmm1,[eax+16] |
| movaps xmm2,[eax+32] |
| movaps xmm3,[eax+48] |
| |
| /*Collect*/ |
| maxps xmm0,xmm1 |
| maxps xmm2,xmm3 |
| maxps xmm0,xmm2 |
| movhlps xmm1,xmm0 |
| maxps xmm0,xmm1 |
| shufps xmm1,xmm0,1 |
| maxps xmm0,xmm1 |
| movss back,xmm0 |
| } |
| |
| return(back); |
| #else |
| float val,max_val; |
| float *p,*stop_p; |
| max_val=v[0]; |
| for(p=v+1,stop_p=v+16;p!=stop_p;) |
| { |
| val= *p++; |
| if(val>max_val) max_val=val; |
| } |
| return(max_val); |
| #endif /*DB_USE_SIMD*/ |
| } |
| |
| inline float db_Max_8Aligned16_f(float *v) |
| { |
| #ifdef DB_USE_SIMD |
| float back; |
| |
| _asm |
| { |
| mov eax,v |
| |
| /*Chunk1*/ |
| movaps xmm0,[eax] |
| movaps xmm1,[eax+16] |
| |
| /*Collect*/ |
| maxps xmm0,xmm1 |
| movhlps xmm1,xmm0 |
| maxps xmm0,xmm1 |
| shufps xmm1,xmm0,1 |
| maxps xmm0,xmm1 |
| movss back,xmm0 |
| } |
| |
| return(back); |
| #else |
| float val,max_val; |
| float *p,*stop_p; |
| max_val=v[0]; |
| for(p=v+1,stop_p=v+8;p!=stop_p;) |
| { |
| val= *p++; |
| if(val>max_val) max_val=val; |
| } |
| return(max_val); |
| #endif /*DB_USE_SIMD*/ |
| } |
| |
| inline float db_Max_Aligned16_f(float *v,int size) |
| { |
| float val,max_val; |
| float *stop_v; |
| |
| max_val=v[0]; |
| for(;size>=128;size-=128) |
| { |
| val=db_Max_128Aligned16_f(v); |
| v+=128; |
| if(val>max_val) max_val=val; |
| } |
| if(size&64) |
| { |
| val=db_Max_64Aligned16_f(v); |
| v+=64; |
| if(val>max_val) max_val=val; |
| } |
| if(size&32) |
| { |
| val=db_Max_32Aligned16_f(v); |
| v+=32; |
| if(val>max_val) max_val=val; |
| } |
| if(size&16) |
| { |
| val=db_Max_16Aligned16_f(v); |
| v+=16; |
| if(val>max_val) max_val=val; |
| } |
| if(size&8) |
| { |
| val=db_Max_8Aligned16_f(v); |
| v+=8; |
| if(val>max_val) max_val=val; |
| } |
| if(size&7) |
| { |
| for(stop_v=v+(size&7);v!=stop_v;) |
| { |
| val= *v++; |
| if(val>max_val) max_val=val; |
| } |
| } |
| |
| return(max_val); |
| } |
| |
| /*Find maximum value of img in the region starting at (left,top) |
| and with width w and height h. img[left] should be 16 byte aligned*/ |
| float db_MaxImage_Aligned16_f(float **img,int left,int top,int w,int h) |
| { |
| float val,max_val; |
| int i,stop_i; |
| |
| if(w && h) |
| { |
| stop_i=top+h; |
| max_val=img[top][left]; |
| |
| for(i=top;i<stop_i;i++) |
| { |
| val=db_Max_Aligned16_f(img[i]+left,w); |
| if(val>max_val) max_val=val; |
| } |
| return(max_val); |
| } |
| return(0.0); |
| } |
| |
| inline void db_MaxVector_128_Aligned16_f(float *m,float *v1,float *v2) |
| { |
| #ifdef DB_USE_SIMD |
| _asm |
| { |
| mov eax,v1 |
| mov ebx,v2 |
| mov ecx,m |
| |
| /*Chunk1*/ |
| movaps xmm0,[eax] |
| movaps xmm1,[eax+16] |
| movaps xmm2,[eax+32] |
| movaps xmm3,[eax+48] |
| movaps xmm4,[eax+64] |
| movaps xmm5,[eax+80] |
| movaps xmm6,[eax+96] |
| movaps xmm7,[eax+112] |
| maxps xmm0,[ebx] |
| maxps xmm1,[ebx+16] |
| maxps xmm2,[ebx+32] |
| maxps xmm3,[ebx+48] |
| maxps xmm4,[ebx+64] |
| maxps xmm5,[ebx+80] |
| maxps xmm6,[ebx+96] |
| maxps xmm7,[ebx+112] |
| movaps [ecx],xmm0 |
| movaps [ecx+16],xmm1 |
| movaps [ecx+32],xmm2 |
| movaps [ecx+48],xmm3 |
| movaps [ecx+64],xmm4 |
| movaps [ecx+80],xmm5 |
| movaps [ecx+96],xmm6 |
| movaps [ecx+112],xmm7 |
| |
| /*Chunk2*/ |
| movaps xmm0,[eax+128] |
| movaps xmm1,[eax+144] |
| movaps xmm2,[eax+160] |
| movaps xmm3,[eax+176] |
| movaps xmm4,[eax+192] |
| movaps xmm5,[eax+208] |
| movaps xmm6,[eax+224] |
| movaps xmm7,[eax+240] |
| maxps xmm0,[ebx+128] |
| maxps xmm1,[ebx+144] |
| maxps xmm2,[ebx+160] |
| maxps xmm3,[ebx+176] |
| maxps xmm4,[ebx+192] |
| maxps xmm5,[ebx+208] |
| maxps xmm6,[ebx+224] |
| maxps xmm7,[ebx+240] |
| movaps [ecx+128],xmm0 |
| movaps [ecx+144],xmm1 |
| movaps [ecx+160],xmm2 |
| movaps [ecx+176],xmm3 |
| movaps [ecx+192],xmm4 |
| movaps [ecx+208],xmm5 |
| movaps [ecx+224],xmm6 |
| movaps [ecx+240],xmm7 |
| |
| /*Chunk3*/ |
| movaps xmm0,[eax+256] |
| movaps xmm1,[eax+272] |
| movaps xmm2,[eax+288] |
| movaps xmm3,[eax+304] |
| movaps xmm4,[eax+320] |
| movaps xmm5,[eax+336] |
| movaps xmm6,[eax+352] |
| movaps xmm7,[eax+368] |
| maxps xmm0,[ebx+256] |
| maxps xmm1,[ebx+272] |
| maxps xmm2,[ebx+288] |
| maxps xmm3,[ebx+304] |
| maxps xmm4,[ebx+320] |
| maxps xmm5,[ebx+336] |
| maxps xmm6,[ebx+352] |
| maxps xmm7,[ebx+368] |
| movaps [ecx+256],xmm0 |
| movaps [ecx+272],xmm1 |
| movaps [ecx+288],xmm2 |
| movaps [ecx+304],xmm3 |
| movaps [ecx+320],xmm4 |
| movaps [ecx+336],xmm5 |
| movaps [ecx+352],xmm6 |
| movaps [ecx+368],xmm7 |
| |
| /*Chunk4*/ |
| movaps xmm0,[eax+384] |
| movaps xmm1,[eax+400] |
| movaps xmm2,[eax+416] |
| movaps xmm3,[eax+432] |
| movaps xmm4,[eax+448] |
| movaps xmm5,[eax+464] |
| movaps xmm6,[eax+480] |
| movaps xmm7,[eax+496] |
| maxps xmm0,[ebx+384] |
| maxps xmm1,[ebx+400] |
| maxps xmm2,[ebx+416] |
| maxps xmm3,[ebx+432] |
| maxps xmm4,[ebx+448] |
| maxps xmm5,[ebx+464] |
| maxps xmm6,[ebx+480] |
| maxps xmm7,[ebx+496] |
| movaps [ecx+384],xmm0 |
| movaps [ecx+400],xmm1 |
| movaps [ecx+416],xmm2 |
| movaps [ecx+432],xmm3 |
| movaps [ecx+448],xmm4 |
| movaps [ecx+464],xmm5 |
| movaps [ecx+480],xmm6 |
| movaps [ecx+496],xmm7 |
| } |
| #else |
| int i; |
| float a,b; |
| for(i=0;i<128;i++) |
| { |
| a=v1[i]; |
| b=v2[i]; |
| if(a>=b) m[i]=a; |
| else m[i]=b; |
| } |
| #endif /*DB_USE_SIMD*/ |
| } |
| |
| inline void db_MaxVector_128_SecondSourceDestAligned16_f(float *m,float *v1,float *v2) |
| { |
| #ifdef DB_USE_SIMD |
| _asm |
| { |
| mov eax,v1 |
| mov ebx,v2 |
| mov ecx,m |
| |
| /*Chunk1*/ |
| movups xmm0,[eax] |
| movups xmm1,[eax+16] |
| movups xmm2,[eax+32] |
| movups xmm3,[eax+48] |
| movups xmm4,[eax+64] |
| movups xmm5,[eax+80] |
| movups xmm6,[eax+96] |
| movups xmm7,[eax+112] |
| maxps xmm0,[ebx] |
| maxps xmm1,[ebx+16] |
| maxps xmm2,[ebx+32] |
| maxps xmm3,[ebx+48] |
| maxps xmm4,[ebx+64] |
| maxps xmm5,[ebx+80] |
| maxps xmm6,[ebx+96] |
| maxps xmm7,[ebx+112] |
| movaps [ecx],xmm0 |
| movaps [ecx+16],xmm1 |
| movaps [ecx+32],xmm2 |
| movaps [ecx+48],xmm3 |
| movaps [ecx+64],xmm4 |
| movaps [ecx+80],xmm5 |
| movaps [ecx+96],xmm6 |
| movaps [ecx+112],xmm7 |
| |
| /*Chunk2*/ |
| movups xmm0,[eax+128] |
| movups xmm1,[eax+144] |
| movups xmm2,[eax+160] |
| movups xmm3,[eax+176] |
| movups xmm4,[eax+192] |
| movups xmm5,[eax+208] |
| movups xmm6,[eax+224] |
| movups xmm7,[eax+240] |
| maxps xmm0,[ebx+128] |
| maxps xmm1,[ebx+144] |
| maxps xmm2,[ebx+160] |
| maxps xmm3,[ebx+176] |
| maxps xmm4,[ebx+192] |
| maxps xmm5,[ebx+208] |
| maxps xmm6,[ebx+224] |
| maxps xmm7,[ebx+240] |
| movaps [ecx+128],xmm0 |
| movaps [ecx+144],xmm1 |
| movaps [ecx+160],xmm2 |
| movaps [ecx+176],xmm3 |
| movaps [ecx+192],xmm4 |
| movaps [ecx+208],xmm5 |
| movaps [ecx+224],xmm6 |
| movaps [ecx+240],xmm7 |
| |
| /*Chunk3*/ |
| movups xmm0,[eax+256] |
| movups xmm1,[eax+272] |
| movups xmm2,[eax+288] |
| movups xmm3,[eax+304] |
| movups xmm4,[eax+320] |
| movups xmm5,[eax+336] |
| movups xmm6,[eax+352] |
| movups xmm7,[eax+368] |
| maxps xmm0,[ebx+256] |
| maxps xmm1,[ebx+272] |
| maxps xmm2,[ebx+288] |
| maxps xmm3,[ebx+304] |
| maxps xmm4,[ebx+320] |
| maxps xmm5,[ebx+336] |
| maxps xmm6,[ebx+352] |
| maxps xmm7,[ebx+368] |
| movaps [ecx+256],xmm0 |
| movaps [ecx+272],xmm1 |
| movaps [ecx+288],xmm2 |
| movaps [ecx+304],xmm3 |
| movaps [ecx+320],xmm4 |
| movaps [ecx+336],xmm5 |
| movaps [ecx+352],xmm6 |
| movaps [ecx+368],xmm7 |
| |
| /*Chunk4*/ |
| movups xmm0,[eax+384] |
| movups xmm1,[eax+400] |
| movups xmm2,[eax+416] |
| movups xmm3,[eax+432] |
| movups xmm4,[eax+448] |
| movups xmm5,[eax+464] |
| movups xmm6,[eax+480] |
| movups xmm7,[eax+496] |
| maxps xmm0,[ebx+384] |
| maxps xmm1,[ebx+400] |
| maxps xmm2,[ebx+416] |
| maxps xmm3,[ebx+432] |
| maxps xmm4,[ebx+448] |
| maxps xmm5,[ebx+464] |
| maxps xmm6,[ebx+480] |
| maxps xmm7,[ebx+496] |
| movaps [ecx+384],xmm0 |
| movaps [ecx+400],xmm1 |
| movaps [ecx+416],xmm2 |
| movaps [ecx+432],xmm3 |
| movaps [ecx+448],xmm4 |
| movaps [ecx+464],xmm5 |
| movaps [ecx+480],xmm6 |
| movaps [ecx+496],xmm7 |
| } |
| #else |
| int i; |
| float a,b; |
| for(i=0;i<128;i++) |
| { |
| a=v1[i]; |
| b=v2[i]; |
| if(a>=b) m[i]=a; |
| else m[i]=b; |
| } |
| #endif /*DB_USE_SIMD*/ |
| } |
| |
| /*Compute Max-suppression-filtered image for a chunk of sf starting at (left,top), of width 124 and |
| stopping at bottom. The output is shifted two steps left and overwrites 128 elements for each row. |
| The input s should be of width at least 128, and exist for 2 pixels outside the specified region. |
| s[i][left-2] and sf[i][left-2] should be 16 byte aligned. Top must be at least 3*/ |
| inline void db_MaxSuppressFilterChunk_5x5_Aligned16_f(float **sf,float **s,int left,int top,int bottom, |
| /*temp should point to at least |
| 6*132 floats of 16-byte-aligned allocated memory*/ |
| float *temp) |
| { |
| #ifdef DB_USE_SIMD |
| int i,lm2; |
| float *two[4]; |
| float *four,*five; |
| |
| lm2=left-2; |
| |
| /*Set pointers to pre-allocated memory*/ |
| four=temp; |
| five=four+132; |
| for(i=0;i<4;i++) |
| { |
| two[i]=five+(i+1)*132; |
| } |
| |
| /*Set rests of four and five to zero to avoid |
| floating point exceptions*/ |
| for(i=129;i<132;i++) |
| { |
| four[i]=0.0; |
| five[i]=0.0; |
| } |
| |
| /*Fill three rows of the wrap-around max buffers*/ |
| for(i=top-3;i<top;i++) db_MaxVector_128_Aligned16_f(two[i&3],s[i+1]+lm2,s[i+2]+lm2); |
| |
| /*For each output row*/ |
| for(;i<=bottom;i++) |
| { |
| /*Compute max of the lowest pair of rows in the five row window*/ |
| db_MaxVector_128_Aligned16_f(two[i&3],s[i+1]+lm2,s[i+2]+lm2); |
| /*Compute max of the lowest and highest pair of rows in the five row window*/ |
| db_MaxVector_128_Aligned16_f(four,two[i&3],two[(i-3)&3]); |
| /*Compute max of all rows*/ |
| db_MaxVector_128_Aligned16_f(five,four,two[(i-1)&3]); |
| /*Compute max of 2x5 chunks*/ |
| db_MaxVector_128_SecondSourceDestAligned16_f(five,five+1,five); |
| /*Compute max of pairs of 2x5 chunks*/ |
| db_MaxVector_128_SecondSourceDestAligned16_f(five,five+3,five); |
| /*Compute max of pairs of 5x5 except middle*/ |
| db_MaxVector_128_SecondSourceDestAligned16_f(sf[i]+lm2,four+2,five); |
| } |
| |
| #else |
| int i,j,right; |
| float sv; |
| |
| right=left+128; |
| for(i=top;i<=bottom;i++) for(j=left;j<right;j++) |
| { |
| sv=s[i][j]; |
| |
| if( sv>s[i-2][j-2] && sv>s[i-2][j-1] && sv>s[i-2][j] && sv>s[i-2][j+1] && sv>s[i-2][j+2] && |
| sv>s[i-1][j-2] && sv>s[i-1][j-1] && sv>s[i-1][j] && sv>s[i-1][j+1] && sv>s[i-1][j+2] && |
| sv>s[ i][j-2] && sv>s[ i][j-1] && sv>s[ i][j+1] && sv>s[ i][j+2] && |
| sv>s[i+1][j-2] && sv>s[i+1][j-1] && sv>s[i+1][j] && sv>s[i+1][j+1] && sv>s[i+1][j+2] && |
| sv>s[i+2][j-2] && sv>s[i+2][j-1] && sv>s[i+2][j] && sv>s[i+2][j+1] && sv>s[i+2][j+2]) |
| { |
| sf[i][j-2]=0.0; |
| } |
| else sf[i][j-2]=sv; |
| } |
| #endif /*DB_USE_SIMD*/ |
| } |
| |
| /*Compute Max-suppression-filtered image for a chunk of sf starting at (left,top) and |
| stopping at bottom. The output is shifted two steps left. The input s should exist for 2 pixels |
| outside the specified region. s[i][left-2] and sf[i][left-2] should be 16 byte aligned. |
| Top must be at least 3. Reading and writing from and to the input and output images is done |
| as if the region had a width equal to a multiple of 124. If this is not the case, the images |
| should be over-allocated and the input cleared for a sufficient region*/ |
| void db_MaxSuppressFilter_5x5_Aligned16_f(float **sf,float **s,int left,int top,int right,int bottom, |
| /*temp should point to at least |
| 6*132 floats of 16-byte-aligned allocated memory*/ |
| float *temp) |
| { |
| int x,next_x; |
| |
| for(x=left;x<=right;x=next_x) |
| { |
| next_x=x+124; |
| db_MaxSuppressFilterChunk_5x5_Aligned16_f(sf,s,x,top,bottom,temp); |
| } |
| } |
| |
| /*Extract corners from the chunk (left,top) to (right,bottom). Store in x_temp,y_temp and s_temp |
| which should point to space of at least as many positions as there are pixels in the chunk*/ |
| inline int db_CornersFromChunk(float **strength,int left,int top,int right,int bottom,float threshold,double *x_temp,double *y_temp,double *s_temp) |
| { |
| int i,j,nr; |
| float s; |
| |
| nr=0; |
| for(i=top;i<=bottom;i++) for(j=left;j<=right;j++) |
| { |
| s=strength[i][j]; |
| |
| if(s>=threshold && |
| s>strength[i-2][j-2] && s>strength[i-2][j-1] && s>strength[i-2][j] && s>strength[i-2][j+1] && s>strength[i-2][j+2] && |
| s>strength[i-1][j-2] && s>strength[i-1][j-1] && s>strength[i-1][j] && s>strength[i-1][j+1] && s>strength[i-1][j+2] && |
| s>strength[ i][j-2] && s>strength[ i][j-1] && s>strength[ i][j+1] && s>strength[ i][j+2] && |
| s>strength[i+1][j-2] && s>strength[i+1][j-1] && s>strength[i+1][j] && s>strength[i+1][j+1] && s>strength[i+1][j+2] && |
| s>strength[i+2][j-2] && s>strength[i+2][j-1] && s>strength[i+2][j] && s>strength[i+2][j+1] && s>strength[i+2][j+2]) |
| { |
| x_temp[nr]=(double) j; |
| y_temp[nr]=(double) i; |
| s_temp[nr]=(double) s; |
| nr++; |
| } |
| } |
| return(nr); |
| } |
| |
| |
| //Sub-pixel accuracy using 2D quadratic interpolation.(YCJ) |
| inline void db_SubPixel(float **strength, const double xd, const double yd, double &xs, double &ys) |
| { |
| int x = (int) xd; |
| int y = (int) yd; |
| |
| float fxx = strength[y][x-1] - strength[y][x] - strength[y][x] + strength[y][x+1]; |
| float fyy = strength[y-1][x] - strength[y][x] - strength[y][x] + strength[y+1][x]; |
| float fxy = (strength[y-1][x-1] - strength[y-1][x+1] - strength[y+1][x-1] + strength[y+1][x+1])/(float)4.0; |
| |
| float denom = (fxx * fyy - fxy * fxy) * (float) 2.0; |
| |
| xs = xd; |
| ys = yd; |
| |
| if ( db_absf(denom) <= FLT_EPSILON ) |
| { |
| return; |
| } |
| else |
| { |
| float fx = strength[y][x+1] - strength[y][x-1]; |
| float fy = strength[y+1][x] - strength[y-1][x]; |
| |
| float dx = (fyy * fx - fxy * fy) / denom; |
| float dy = (fxx * fy - fxy * fx) / denom; |
| |
| if ( db_absf(dx) > 1.0 || db_absf(dy) > 1.0 ) |
| { |
| return; |
| } |
| else |
| { |
| xs -= dx; |
| ys -= dy; |
| } |
| } |
| |
| return; |
| } |
| |
| /*Extract corners from the image part from (left,top) to (right,bottom). |
| Store in x and y, extracting at most satnr corners in each block of size (bw,bh). |
| The pointer temp_d should point to at least 5*bw*bh positions. |
| area_factor holds how many corners max to extract per 10000 pixels*/ |
| void db_ExtractCornersSaturated(float **strength,int left,int top,int right,int bottom, |
| int bw,int bh,unsigned long area_factor, |
| float threshold,double *temp_d, |
| double *x_coord,double *y_coord,int *nr_corners) |
| { |
| double *x_temp,*y_temp,*s_temp,*select_temp; |
| double loc_thresh; |
| unsigned long bwbh,area,saturation; |
| int x,next_x,last_x; |
| int y,next_y,last_y; |
| int nr,nr_points,i,stop; |
| |
| bwbh=bw*bh; |
| x_temp=temp_d; |
| y_temp=x_temp+bwbh; |
| s_temp=y_temp+bwbh; |
| select_temp=s_temp+bwbh; |
| |
| #ifdef DB_SUB_PIXEL |
| // subpixel processing may sometimes push the corner ourside the real border |
| // increasing border size: |
| left++; |
| top++; |
| bottom--; |
| right--; |
| #endif /*DB_SUB_PIXEL*/ |
| |
| nr_points=0; |
| for(y=top;y<=bottom;y=next_y) |
| { |
| next_y=y+bh; |
| last_y=next_y-1; |
| if(last_y>bottom) last_y=bottom; |
| for(x=left;x<=right;x=next_x) |
| { |
| next_x=x+bw; |
| last_x=next_x-1; |
| if(last_x>right) last_x=right; |
| |
| area=(last_x-x+1)*(last_y-y+1); |
| saturation=(area*area_factor)/10000; |
| nr=db_CornersFromChunk(strength,x,y,last_x,last_y,threshold,x_temp,y_temp,s_temp); |
| if(nr) |
| { |
| if(((unsigned long)nr)>saturation) loc_thresh=db_LeanQuickSelect(s_temp,nr,nr-saturation,select_temp); |
| else loc_thresh=threshold; |
| |
| stop=nr_points+saturation; |
| for(i=0;(i<nr)&&(nr_points<stop);i++) |
| { |
| if(s_temp[i]>=loc_thresh) |
| { |
| #ifdef DB_SUB_PIXEL |
| db_SubPixel(strength, x_temp[i], y_temp[i], x_coord[nr_points], y_coord[nr_points]); |
| #else |
| x_coord[nr_points]=x_temp[i]; |
| y_coord[nr_points]=y_temp[i]; |
| #endif |
| |
| nr_points++; |
| } |
| } |
| } |
| } |
| } |
| *nr_corners=nr_points; |
| } |
| |
| db_CornerDetector_f::db_CornerDetector_f() |
| { |
| m_w=0; m_h=0; |
| } |
| |
| db_CornerDetector_f::~db_CornerDetector_f() |
| { |
| Clean(); |
| } |
| |
| void db_CornerDetector_f::Clean() |
| { |
| if(m_w!=0) |
| { |
| delete [] m_temp_f; |
| delete [] m_temp_d; |
| db_FreeStrengthImage_f(m_strength_mem,m_strength,m_h); |
| } |
| m_w=0; m_h=0; |
| } |
| |
| unsigned long db_CornerDetector_f::Init(int im_width,int im_height,int target_nr_corners, |
| int nr_horizontal_blocks,int nr_vertical_blocks, |
| double absolute_threshold,double relative_threshold) |
| { |
| int chunkwidth=208; |
| int block_width,block_height; |
| unsigned long area_factor; |
| int active_width,active_height; |
| |
| active_width=db_maxi(1,im_width-10); |
| active_height=db_maxi(1,im_height-10); |
| block_width=db_maxi(1,active_width/nr_horizontal_blocks); |
| block_height=db_maxi(1,active_height/nr_vertical_blocks); |
| |
| area_factor=db_minl(1000,db_maxl(1,(long)(10000.0*((double)target_nr_corners)/ |
| (((double)active_width)*((double)active_height))))); |
| |
| return(Start(im_width,im_height,block_width,block_height,area_factor, |
| absolute_threshold,relative_threshold,chunkwidth)); |
| } |
| |
| unsigned long db_CornerDetector_f::Start(int im_width,int im_height, |
| int block_width,int block_height,unsigned long area_factor, |
| double absolute_threshold,double relative_threshold,int chunkwidth) |
| { |
| Clean(); |
| |
| m_w=im_width; |
| m_h=im_height; |
| m_cw=chunkwidth; |
| m_bw=block_width; |
| m_bh=block_height; |
| m_area_factor=area_factor; |
| m_r_thresh=relative_threshold; |
| m_a_thresh=absolute_threshold; |
| m_max_nr=db_maxl(1,1+(m_w*m_h*m_area_factor)/10000); |
| |
| m_temp_f=new float[13*(m_cw+4)]; |
| m_temp_d=new double[5*m_bw*m_bh]; |
| m_strength=db_AllocStrengthImage_f(&m_strength_mem,m_w,m_h); |
| |
| return(m_max_nr); |
| } |
| |
| void db_CornerDetector_f::DetectCorners(const float * const *img,double *x_coord,double *y_coord,int *nr_corners) const |
| { |
| float max_val,threshold; |
| |
| db_HarrisStrength_f(m_strength,img,m_w,m_h,m_temp_f,m_cw); |
| |
| if(m_r_thresh) |
| { |
| max_val=db_MaxImage_Aligned16_f(m_strength,3,3,m_w-6,m_h-6); |
| threshold= (float) db_maxd(m_a_thresh,max_val*m_r_thresh); |
| } |
| else threshold= (float) m_a_thresh; |
| |
| db_ExtractCornersSaturated(m_strength,BORDER,BORDER,m_w-BORDER-1,m_h-BORDER-1,m_bw,m_bh,m_area_factor,threshold, |
| m_temp_d,x_coord,y_coord,nr_corners); |
| } |
| |
| db_CornerDetector_u::db_CornerDetector_u() |
| { |
| m_w=0; m_h=0; |
| } |
| |
| db_CornerDetector_u::~db_CornerDetector_u() |
| { |
| Clean(); |
| } |
| |
| db_CornerDetector_u::db_CornerDetector_u(const db_CornerDetector_u& cd) |
| { |
| Start(cd.m_w, cd.m_h, cd.m_bw, cd.m_bh, cd.m_area_factor, |
| cd.m_a_thresh, cd.m_r_thresh); |
| } |
| |
| db_CornerDetector_u& db_CornerDetector_u::operator=(const db_CornerDetector_u& cd) |
| { |
| if ( this == &cd ) return *this; |
| |
| Clean(); |
| |
| Start(cd.m_w, cd.m_h, cd.m_bw, cd.m_bh, cd.m_area_factor, |
| cd.m_a_thresh, cd.m_r_thresh); |
| |
| return *this; |
| } |
| |
| void db_CornerDetector_u::Clean() |
| { |
| if(m_w!=0) |
| { |
| delete [] m_temp_i; |
| delete [] m_temp_d; |
| db_FreeStrengthImage_f(m_strength_mem,m_strength,m_h); |
| } |
| m_w=0; m_h=0; |
| } |
| |
| unsigned long db_CornerDetector_u::Init(int im_width,int im_height,int target_nr_corners, |
| int nr_horizontal_blocks,int nr_vertical_blocks, |
| double absolute_threshold,double relative_threshold) |
| { |
| int block_width,block_height; |
| unsigned long area_factor; |
| int active_width,active_height; |
| |
| active_width=db_maxi(1,im_width-10); |
| active_height=db_maxi(1,im_height-10); |
| block_width=db_maxi(1,active_width/nr_horizontal_blocks); |
| block_height=db_maxi(1,active_height/nr_vertical_blocks); |
| |
| area_factor=db_minl(1000,db_maxl(1,(long)(10000.0*((double)target_nr_corners)/ |
| (((double)active_width)*((double)active_height))))); |
| |
| return(Start(im_width,im_height,block_width,block_height,area_factor, |
| 16.0*absolute_threshold,relative_threshold)); |
| } |
| |
| unsigned long db_CornerDetector_u::Start(int im_width,int im_height, |
| int block_width,int block_height,unsigned long area_factor, |
| double absolute_threshold,double relative_threshold) |
| { |
| Clean(); |
| |
| m_w=im_width; |
| m_h=im_height; |
| m_bw=block_width; |
| m_bh=block_height; |
| m_area_factor=area_factor; |
| m_r_thresh=relative_threshold; |
| m_a_thresh=absolute_threshold; |
| m_max_nr=db_maxl(1,1+(m_w*m_h*m_area_factor)/10000); |
| |
| m_temp_i=new int[18*128]; |
| m_temp_d=new double[5*m_bw*m_bh]; |
| m_strength=db_AllocStrengthImage_f(&m_strength_mem,m_w,m_h); |
| |
| return(m_max_nr); |
| } |
| |
| void db_CornerDetector_u::DetectCorners(const unsigned char * const *img,double *x_coord,double *y_coord,int *nr_corners, |
| const unsigned char * const *msk, unsigned char fgnd) const |
| { |
| float max_val,threshold; |
| |
| db_HarrisStrength_u(m_strength,img,m_w,m_h,m_temp_i); |
| |
| |
| if(m_r_thresh) |
| { |
| max_val=db_MaxImage_Aligned16_f(m_strength,3,3,m_w-6,m_h-6); |
| threshold= (float) db_maxd(m_a_thresh,max_val*m_r_thresh); |
| } |
| else threshold= (float) m_a_thresh; |
| |
| db_ExtractCornersSaturated(m_strength,BORDER,BORDER,m_w-BORDER-1,m_h-BORDER-1,m_bw,m_bh,m_area_factor,threshold, |
| m_temp_d,x_coord,y_coord,nr_corners); |
| |
| |
| if ( msk ) |
| { |
| int nr_corners_mask=0; |
| |
| for ( int i = 0; i < *nr_corners; ++i) |
| { |
| int cor_x = db_roundi(*(x_coord+i)); |
| int cor_y = db_roundi(*(y_coord+i)); |
| if ( msk[cor_y][cor_x] == fgnd ) |
| { |
| x_coord[nr_corners_mask] = x_coord[i]; |
| y_coord[nr_corners_mask] = y_coord[i]; |
| nr_corners_mask++; |
| } |
| } |
| *nr_corners = nr_corners_mask; |
| } |
| } |
| |
| void db_CornerDetector_u::ExtractCorners(float ** strength, double *x_coord, double *y_coord, int *nr_corners) { |
| if ( m_w!=0 ) |
| db_ExtractCornersSaturated(strength,BORDER,BORDER,m_w-BORDER-1,m_h-BORDER-1,m_bw,m_bh,m_area_factor,float(m_a_thresh), |
| m_temp_d,x_coord,y_coord,nr_corners); |
| } |
| |
