Sascha Haeberling | 8bddf8c | 2013-08-14 11:20:34 -0700 | [diff] [blame] | 1 | /* |
| 2 | * Copyright (C) 2011 The Android Open Source Project |
| 3 | * |
| 4 | * Licensed under the Apache License, Version 2.0 (the "License"); |
| 5 | * you may not use this file except in compliance with the License. |
| 6 | * You may obtain a copy of the License at |
| 7 | * |
| 8 | * http://www.apache.org/licenses/LICENSE-2.0 |
| 9 | * |
| 10 | * Unless required by applicable law or agreed to in writing, software |
| 11 | * distributed under the License is distributed on an "AS IS" BASIS, |
| 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 13 | * See the License for the specific language governing permissions and |
| 14 | * limitations under the License. |
| 15 | */ |
| 16 | |
| 17 | /*$Id: db_feature_matching.cpp,v 1.4 2011/06/17 14:03:30 mbansal Exp $*/ |
| 18 | |
| 19 | /***************************************************************** |
| 20 | * Lean and mean begins here * |
| 21 | *****************************************************************/ |
| 22 | |
| 23 | #include "db_utilities.h" |
| 24 | #include "db_feature_matching.h" |
| 25 | #ifdef _VERBOSE_ |
| 26 | #include <iostream> |
| 27 | #endif |
| 28 | |
| 29 | |
| 30 | int AffineWarpPoint_NN_LUT_x[11][11]; |
| 31 | int AffineWarpPoint_NN_LUT_y[11][11]; |
| 32 | |
| 33 | float AffineWarpPoint_BL_LUT_x[11][11]; |
| 34 | float AffineWarpPoint_BL_LUT_y[11][11]; |
| 35 | |
| 36 | |
| 37 | 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) |
| 38 | { |
| 39 | unsigned char *pf,*pg; |
| 40 | float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| 41 | int xm_f,xm_g; |
| 42 | |
| 43 | xm_f=x_f-3; |
| 44 | xm_g=x_g-3; |
| 45 | fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| 46 | |
| 47 | pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| 48 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 49 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 50 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 51 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 52 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 53 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 54 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 55 | |
| 56 | pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| 57 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 58 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 59 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 60 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 61 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 62 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 63 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 64 | |
| 65 | pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| 66 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 67 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 68 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 69 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 70 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 71 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 72 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 73 | |
| 74 | pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| 75 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 76 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 77 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 78 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 79 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 80 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 81 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 82 | |
| 83 | pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| 84 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 85 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 86 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 87 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 88 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 89 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 90 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 91 | |
| 92 | pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| 93 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 94 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 95 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 96 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 97 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 98 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 99 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 100 | |
| 101 | pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| 102 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 103 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 104 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 105 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 106 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 107 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 108 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 109 | |
| 110 | fg_corr=49.0f*fgsum-fsum*gsum; |
| 111 | den=(49.0f*f2sum-fsum*fsum)*(49.0f*g2sum-gsum*gsum); |
| 112 | if(den!=0.0) |
| 113 | { |
| 114 | if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| 115 | return(-fg_corr*fg_corr/den); |
| 116 | } |
| 117 | return(0.0); |
| 118 | } |
| 119 | |
| 120 | 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) |
| 121 | { |
| 122 | unsigned char *pf,*pg; |
| 123 | float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| 124 | int xm_f,xm_g; |
| 125 | |
| 126 | xm_f=x_f-4; |
| 127 | xm_g=x_g-4; |
| 128 | fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| 129 | |
| 130 | pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| 131 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 132 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 133 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 134 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 135 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 136 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 137 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 138 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 139 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 140 | |
| 141 | pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| 142 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 143 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 144 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 145 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 146 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 147 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 148 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 149 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 150 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 151 | |
| 152 | pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| 153 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 154 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 155 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 156 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 157 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 158 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 159 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 160 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 161 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 162 | |
| 163 | pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| 164 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 165 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 166 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 167 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 168 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 169 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 170 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 171 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 172 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 173 | |
| 174 | pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| 175 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 176 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 177 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 178 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 179 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 180 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 181 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 182 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 183 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 184 | |
| 185 | pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| 186 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 187 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 188 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 189 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 190 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 191 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 192 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 193 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 194 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 195 | |
| 196 | pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| 197 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 198 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 199 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 200 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 201 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 202 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 203 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 204 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 205 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 206 | |
| 207 | pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| 208 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 209 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 210 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 211 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 212 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 213 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 214 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 215 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 216 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 217 | |
| 218 | pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| 219 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 220 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 221 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 222 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 223 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 224 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 225 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 226 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 227 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 228 | |
| 229 | fg_corr=81.0f*fgsum-fsum*gsum; |
| 230 | den=(81.0f*f2sum-fsum*fsum)*(81.0f*g2sum-gsum*gsum); |
| 231 | if(den!=0.0) |
| 232 | { |
| 233 | if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| 234 | return(-fg_corr*fg_corr/den); |
| 235 | } |
| 236 | return(0.0); |
| 237 | } |
| 238 | |
| 239 | 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) |
| 240 | { |
| 241 | unsigned char *pf,*pg; |
| 242 | float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| 243 | int xm_f,xm_g; |
| 244 | |
| 245 | xm_f=x_f-5; |
| 246 | xm_g=x_g-5; |
| 247 | fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| 248 | |
| 249 | pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| 250 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 251 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 252 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 253 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 254 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 255 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 256 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 257 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 258 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 259 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 260 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 261 | |
| 262 | pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| 263 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 264 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 265 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 266 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 267 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 268 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 269 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 270 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 271 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 272 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 273 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 274 | |
| 275 | pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| 276 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 277 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 278 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 279 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 280 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 281 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 282 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 283 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 284 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 285 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 286 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 287 | |
| 288 | pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| 289 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 290 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 291 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 292 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 293 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 294 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 295 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 296 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 297 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 298 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 299 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 300 | |
| 301 | pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| 302 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 303 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 304 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 305 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 306 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 307 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 308 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 309 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 310 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 311 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 312 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 313 | |
| 314 | pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| 315 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 316 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 317 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 318 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 319 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 320 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 321 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 322 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 323 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 324 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 325 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 326 | |
| 327 | pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| 328 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 329 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 330 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 331 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 332 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 333 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 334 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 335 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 336 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 337 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 338 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 339 | |
| 340 | pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| 341 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 342 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 343 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 344 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 345 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 346 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 347 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 348 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 349 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 350 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 351 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 352 | |
| 353 | pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| 354 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 355 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 356 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 357 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 358 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 359 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 360 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 361 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 362 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 363 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 364 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 365 | |
| 366 | pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| 367 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 368 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 369 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 370 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 371 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 372 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 373 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 374 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 375 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 376 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 377 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 378 | |
| 379 | pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| 380 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 381 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 382 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 383 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 384 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 385 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 386 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 387 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 388 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 389 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 390 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 391 | |
| 392 | fg_corr=121.0f*fgsum-fsum*gsum; |
| 393 | den=(121.0f*f2sum-fsum*fsum)*(121.0f*g2sum-gsum*gsum); |
| 394 | if(den!=0.0) |
| 395 | { |
| 396 | if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| 397 | return(-fg_corr*fg_corr/den); |
| 398 | } |
| 399 | return(0.0); |
| 400 | } |
| 401 | |
| 402 | inline void db_SignedSquareNormCorr11x11_Pre_u(unsigned char **f_img,int x_f,int y_f,float *sum,float *recip) |
| 403 | { |
| 404 | unsigned char *pf; |
| 405 | float den; |
| 406 | int f,f2sum,fsum; |
| 407 | int xm_f; |
| 408 | |
| 409 | xm_f=x_f-5; |
| 410 | |
| 411 | pf=f_img[y_f-5]+xm_f; |
| 412 | f= *pf++; f2sum=f*f; fsum=f; |
| 413 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 414 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 415 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 416 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 417 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 418 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 419 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 420 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 421 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 422 | f= *pf; f2sum+=f*f; fsum+=f; |
| 423 | |
| 424 | pf=f_img[y_f-4]+xm_f; |
| 425 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 426 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 427 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 428 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 429 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 430 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 431 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 432 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 433 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 434 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 435 | f= *pf; f2sum+=f*f; fsum+=f; |
| 436 | |
| 437 | pf=f_img[y_f-3]+xm_f; |
| 438 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 439 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 440 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 441 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 442 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 443 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 444 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 445 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 446 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 447 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 448 | f= *pf; f2sum+=f*f; fsum+=f; |
| 449 | |
| 450 | pf=f_img[y_f-2]+xm_f; |
| 451 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 452 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 453 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 454 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 455 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 456 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 457 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 458 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 459 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 460 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 461 | f= *pf; f2sum+=f*f; fsum+=f; |
| 462 | |
| 463 | pf=f_img[y_f-1]+xm_f; |
| 464 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 465 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 466 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 467 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 468 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 469 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 470 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 471 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 472 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 473 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 474 | f= *pf; f2sum+=f*f; fsum+=f; |
| 475 | |
| 476 | pf=f_img[y_f]+xm_f; |
| 477 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 478 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 479 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 480 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 481 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 482 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 483 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 484 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 485 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 486 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 487 | f= *pf; f2sum+=f*f; fsum+=f; |
| 488 | |
| 489 | pf=f_img[y_f+1]+xm_f; |
| 490 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 491 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 492 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 493 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 494 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 495 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 496 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 497 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 498 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 499 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 500 | f= *pf; f2sum+=f*f; fsum+=f; |
| 501 | |
| 502 | pf=f_img[y_f+2]+xm_f; |
| 503 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 504 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 505 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 506 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 507 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 508 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 509 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 510 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 511 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 512 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 513 | f= *pf; f2sum+=f*f; fsum+=f; |
| 514 | |
| 515 | pf=f_img[y_f+3]+xm_f; |
| 516 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 517 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 518 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 519 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 520 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 521 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 522 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 523 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 524 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 525 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 526 | f= *pf; f2sum+=f*f; fsum+=f; |
| 527 | |
| 528 | pf=f_img[y_f+4]+xm_f; |
| 529 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 530 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 531 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 532 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 533 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 534 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 535 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 536 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 537 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 538 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 539 | f= *pf; f2sum+=f*f; fsum+=f; |
| 540 | |
| 541 | pf=f_img[y_f+5]+xm_f; |
| 542 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 543 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 544 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 545 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 546 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 547 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 548 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 549 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 550 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 551 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 552 | f= *pf; f2sum+=f*f; fsum+=f; |
| 553 | |
| 554 | *sum= (float) fsum; |
| 555 | den=(121.0f*f2sum-fsum*fsum); |
| 556 | *recip=(float)(((den!=0.0)?1.0/den:0.0)); |
| 557 | } |
| 558 | |
| 559 | inline void db_SignedSquareNormCorr5x5_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) |
| 560 | { |
| 561 | float den; |
| 562 | int f2sum,fsum; |
| 563 | int xm_f=x_f-2; |
| 564 | |
| 565 | #ifndef DB_USE_SSE2 |
| 566 | const unsigned char *pf; |
| 567 | short f; |
| 568 | |
| 569 | pf=f_img[y_f-2]+xm_f; |
| 570 | f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; |
| 571 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 572 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 573 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 574 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 575 | |
| 576 | pf=f_img[y_f-1]+xm_f; |
| 577 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 578 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 579 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 580 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 581 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 582 | |
| 583 | pf=f_img[y_f]+xm_f; |
| 584 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 585 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 586 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 587 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 588 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 589 | |
| 590 | pf=f_img[y_f+1]+xm_f; |
| 591 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 592 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 593 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 594 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 595 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 596 | |
| 597 | pf=f_img[y_f+2]+xm_f; |
| 598 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 599 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 600 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 601 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 602 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 603 | //int xwi; |
| 604 | //int ywi; |
| 605 | //f2sum=0; |
| 606 | //fsum=0; |
| 607 | //for (int r=-5;r<=5;r++){ |
| 608 | // ywi=y_f+r; |
| 609 | // for (int c=-5;c<=5;c++){ |
| 610 | // xwi=x_f+c; |
| 611 | // f=f_img[ywi][xwi]; |
| 612 | // f2sum+=f*f; |
| 613 | // fsum+=f; |
| 614 | // (*patch++)=f; |
| 615 | // } |
| 616 | //} |
| 617 | (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; |
| 618 | (*patch++)=0; (*patch++)=0; |
| 619 | #endif /* DB_USE_SSE2 */ |
| 620 | |
| 621 | *sum= (float) fsum; |
| 622 | den=(25.0f*f2sum-fsum*fsum); |
| 623 | *recip= (float)((den!=0.0)?1.0/den:0.0); |
| 624 | } |
| 625 | |
| 626 | inline void db_SignedSquareNormCorr21x21_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) |
| 627 | { |
| 628 | float den; |
| 629 | int f2sum,fsum; |
| 630 | int xm_f=x_f-10; |
| 631 | short f; |
| 632 | |
| 633 | int xwi; |
| 634 | int ywi; |
| 635 | f2sum=0; |
| 636 | fsum=0; |
| 637 | for (int r=-10;r<=10;r++){ |
| 638 | ywi=y_f+r; |
| 639 | for (int c=-10;c<=10;c++){ |
| 640 | xwi=x_f+c; |
| 641 | f=f_img[ywi][xwi]; |
| 642 | f2sum+=f*f; |
| 643 | fsum+=f; |
| 644 | (*patch++)=f; |
| 645 | } |
| 646 | } |
| 647 | |
| 648 | for(int i=442; i<512; i++) |
| 649 | (*patch++)=0; |
| 650 | |
| 651 | *sum= (float) fsum; |
| 652 | den=(441.0f*f2sum-fsum*fsum); |
| 653 | *recip= (float)((den!=0.0)?1.0/den:0.0); |
| 654 | |
| 655 | |
| 656 | } |
| 657 | |
| 658 | /* Lay out the image in the patch, computing norm and |
| 659 | */ |
| 660 | inline void db_SignedSquareNormCorr11x11_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) |
| 661 | { |
| 662 | float den; |
| 663 | int f2sum,fsum; |
| 664 | int xm_f=x_f-5; |
| 665 | |
| 666 | #ifndef DB_USE_SSE2 |
| 667 | const unsigned char *pf; |
| 668 | short f; |
| 669 | |
| 670 | pf=f_img[y_f-5]+xm_f; |
| 671 | f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; |
| 672 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 673 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 674 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 675 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 676 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 677 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 678 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 679 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 680 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 681 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 682 | |
| 683 | pf=f_img[y_f-4]+xm_f; |
| 684 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 685 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 686 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 687 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 688 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 689 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 690 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 691 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 692 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 693 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 694 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 695 | |
| 696 | pf=f_img[y_f-3]+xm_f; |
| 697 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 698 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 699 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 700 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 701 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 702 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 703 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 704 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 705 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 706 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 707 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 708 | |
| 709 | pf=f_img[y_f-2]+xm_f; |
| 710 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 711 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 712 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 713 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 714 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 715 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 716 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 717 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 718 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 719 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 720 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 721 | |
| 722 | pf=f_img[y_f-1]+xm_f; |
| 723 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 724 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 725 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 726 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 727 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 728 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 729 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 730 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 731 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 732 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 733 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 734 | |
| 735 | pf=f_img[y_f]+xm_f; |
| 736 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 737 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 738 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 739 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 740 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 741 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 742 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 743 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 744 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 745 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 746 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 747 | |
| 748 | pf=f_img[y_f+1]+xm_f; |
| 749 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 750 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 751 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 752 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 753 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 754 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 755 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 756 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 757 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 758 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 759 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 760 | |
| 761 | pf=f_img[y_f+2]+xm_f; |
| 762 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 763 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 764 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 765 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 766 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 767 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 768 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 769 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 770 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 771 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 772 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 773 | |
| 774 | pf=f_img[y_f+3]+xm_f; |
| 775 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 776 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 777 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 778 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 779 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 780 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 781 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 782 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 783 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 784 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 785 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 786 | |
| 787 | pf=f_img[y_f+4]+xm_f; |
| 788 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 789 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 790 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 791 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 792 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 793 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 794 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 795 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 796 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 797 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 798 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 799 | |
| 800 | pf=f_img[y_f+5]+xm_f; |
| 801 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 802 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 803 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 804 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 805 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 806 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 807 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 808 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 809 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 810 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 811 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 812 | |
| 813 | //int xwi; |
| 814 | //int ywi; |
| 815 | //f2sum=0; |
| 816 | //fsum=0; |
| 817 | //for (int r=-5;r<=5;r++){ |
| 818 | // ywi=y_f+r; |
| 819 | // for (int c=-5;c<=5;c++){ |
| 820 | // xwi=x_f+c; |
| 821 | // f=f_img[ywi][xwi]; |
| 822 | // f2sum+=f*f; |
| 823 | // fsum+=f; |
| 824 | // (*patch++)=f; |
| 825 | // } |
| 826 | //} |
| 827 | |
| 828 | (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; |
| 829 | (*patch++)=0; (*patch++)=0; |
| 830 | #else |
| 831 | const unsigned char *pf0 =f_img[y_f-5]+xm_f; |
| 832 | const unsigned char *pf1 =f_img[y_f-4]+xm_f; |
| 833 | const unsigned char *pf2 =f_img[y_f-3]+xm_f; |
| 834 | const unsigned char *pf3 =f_img[y_f-2]+xm_f; |
| 835 | const unsigned char *pf4 =f_img[y_f-1]+xm_f; |
| 836 | const unsigned char *pf5 =f_img[y_f ]+xm_f; |
| 837 | const unsigned char *pf6 =f_img[y_f+1]+xm_f; |
| 838 | const unsigned char *pf7 =f_img[y_f+2]+xm_f; |
| 839 | const unsigned char *pf8 =f_img[y_f+3]+xm_f; |
| 840 | const unsigned char *pf9 =f_img[y_f+4]+xm_f; |
| 841 | const unsigned char *pf10=f_img[y_f+5]+xm_f; |
| 842 | |
| 843 | /* pixel mask */ |
| 844 | const unsigned char pm[16] = { |
| 845 | 0xFF,0xFF, |
| 846 | 0xFF,0xFF, |
| 847 | 0xFF,0xFF, |
| 848 | 0,0,0,0,0, |
| 849 | 0,0,0,0,0}; |
| 850 | const unsigned char * pm_p = pm; |
| 851 | |
| 852 | _asm |
| 853 | { |
| 854 | mov ecx,patch /* load patch pointer */ |
| 855 | mov ebx, pm_p /* load pixel mask pointer */ |
| 856 | movdqu xmm1,[ebx] /* load pixel mask */ |
| 857 | |
| 858 | pxor xmm5,xmm5 /* set xmm5 to 0 accumulator for sum squares */ |
| 859 | pxor xmm4,xmm4 /* set xmm4 to 0 accumulator for sum */ |
| 860 | pxor xmm0,xmm0 /* set xmm0 to 0 */ |
| 861 | |
| 862 | /* row 0 */ |
| 863 | mov eax,pf0 /* load image pointer */ |
| 864 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 865 | movdqa xmm6,xmm7 |
| 866 | |
| 867 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 868 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 869 | |
| 870 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 871 | |
| 872 | movdqa [ecx+0*22],xmm7 /* move short values to patch */ |
| 873 | movdqa [ecx+0*22+16],xmm6 /* move short values to patch */ |
| 874 | |
| 875 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 876 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 877 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 878 | |
| 879 | paddw xmm4,xmm6 /* accumulate sums */ |
| 880 | pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| 881 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 882 | |
| 883 | /* row 1 */ |
| 884 | mov eax,pf1 /* load image pointer */ |
| 885 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 886 | movdqa xmm6,xmm7 |
| 887 | |
| 888 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 889 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 890 | |
| 891 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 892 | |
| 893 | movdqu [ecx+1*22],xmm7 /* move short values to patch */ |
| 894 | movdqu [ecx+1*22+16],xmm6 /* move short values to patch */ |
| 895 | |
| 896 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 897 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 898 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 899 | |
| 900 | paddw xmm4,xmm6 /* accumulate sums */ |
| 901 | pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| 902 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 903 | |
| 904 | /* row 2 */ |
| 905 | mov eax,pf2 /* load image pointer */ |
| 906 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 907 | movdqa xmm6,xmm7 |
| 908 | |
| 909 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 910 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 911 | |
| 912 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 913 | |
| 914 | movdqu [ecx+2*22],xmm7 /* move short values to patch */ |
| 915 | movdqu [ecx+2*22+16],xmm6 /* move short values to patch */ |
| 916 | |
| 917 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 918 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 919 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 920 | |
| 921 | paddw xmm4,xmm6 /* accumulate sums */ |
| 922 | pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| 923 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 924 | |
| 925 | /* row 3 */ |
| 926 | mov eax,pf3 /* load image pointer */ |
| 927 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 928 | movdqa xmm6,xmm7 |
| 929 | |
| 930 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 931 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 932 | |
| 933 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 934 | |
| 935 | movdqu [ecx+3*22],xmm7 /* move short values to patch */ |
| 936 | movdqu [ecx+3*22+16],xmm6 /* move short values to patch */ |
| 937 | |
| 938 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 939 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 940 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 941 | |
| 942 | paddw xmm4,xmm6 /* accumulate sums */ |
| 943 | pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| 944 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 945 | |
| 946 | /* row 4 */ |
| 947 | mov eax,pf4 /* load image pointer */ |
| 948 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 949 | movdqa xmm6,xmm7 |
| 950 | |
| 951 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 952 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 953 | |
| 954 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 955 | |
| 956 | movdqu [ecx+4*22],xmm7 /* move short values to patch */ |
| 957 | movdqu [ecx+4*22+16],xmm6 /* move short values to patch */ |
| 958 | |
| 959 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 960 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 961 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 962 | |
| 963 | paddw xmm4,xmm6 /* accumulate sums */ |
| 964 | pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| 965 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 966 | |
| 967 | /* row 5 */ |
| 968 | mov eax,pf5 /* load image pointer */ |
| 969 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 970 | movdqa xmm6,xmm7 |
| 971 | |
| 972 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 973 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 974 | |
| 975 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 976 | |
| 977 | movdqu [ecx+5*22],xmm7 /* move short values to patch */ |
| 978 | movdqu [ecx+5*22+16],xmm6 /* move short values to patch */ |
| 979 | |
| 980 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 981 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 982 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 983 | |
| 984 | paddw xmm4,xmm6 /* accumulate sums */ |
| 985 | pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| 986 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 987 | |
| 988 | /* row 6 */ |
| 989 | mov eax,pf6 /* load image pointer */ |
| 990 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 991 | movdqa xmm6,xmm7 |
| 992 | |
| 993 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 994 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 995 | |
| 996 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 997 | |
| 998 | movdqu [ecx+6*22],xmm7 /* move short values to patch */ |
| 999 | movdqu [ecx+6*22+16],xmm6 /* move short values to patch */ |
| 1000 | |
| 1001 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 1002 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 1003 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 1004 | |
| 1005 | paddw xmm4,xmm6 /* accumulate sums */ |
| 1006 | pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| 1007 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 1008 | |
| 1009 | /* row 7 */ |
| 1010 | mov eax,pf7 /* load image pointer */ |
| 1011 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 1012 | movdqa xmm6,xmm7 |
| 1013 | |
| 1014 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 1015 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 1016 | |
| 1017 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 1018 | |
| 1019 | movdqu [ecx+7*22],xmm7 /* move short values to patch */ |
| 1020 | movdqu [ecx+7*22+16],xmm6 /* move short values to patch */ |
| 1021 | |
| 1022 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 1023 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 1024 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 1025 | |
| 1026 | paddw xmm4,xmm6 /* accumulate sums */ |
| 1027 | pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| 1028 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 1029 | |
| 1030 | /* row 8 */ |
| 1031 | mov eax,pf8 /* load image pointer */ |
| 1032 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 1033 | movdqa xmm6,xmm7 |
| 1034 | |
| 1035 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 1036 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 1037 | |
| 1038 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 1039 | |
| 1040 | movdqa [ecx+8*22],xmm7 /* move short values to patch */ |
| 1041 | movdqa [ecx+8*22+16],xmm6 /* move short values to patch */ |
| 1042 | |
| 1043 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 1044 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 1045 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 1046 | |
| 1047 | paddw xmm4,xmm6 /* accumulate sums */ |
| 1048 | pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| 1049 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 1050 | |
| 1051 | /* row 9 */ |
| 1052 | mov eax,pf9 /* load image pointer */ |
| 1053 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 1054 | movdqa xmm6,xmm7 |
| 1055 | |
| 1056 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 1057 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 1058 | |
| 1059 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 1060 | |
| 1061 | movdqu [ecx+9*22],xmm7 /* move short values to patch */ |
| 1062 | movdqu [ecx+9*22+16],xmm6 /* move short values to patch */ |
| 1063 | |
| 1064 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 1065 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 1066 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 1067 | |
| 1068 | paddw xmm4,xmm6 /* accumulate sums */ |
| 1069 | pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ |
| 1070 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 1071 | |
| 1072 | /* row 10 */ |
| 1073 | mov eax,pf10 /* load image pointer */ |
| 1074 | movdqu xmm7,[eax] /* load 16 pixels */ |
| 1075 | movdqa xmm6,xmm7 |
| 1076 | |
| 1077 | punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ |
| 1078 | punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ |
| 1079 | |
| 1080 | pand xmm6,xmm1 /* mask out pixels 12-16 */ |
| 1081 | |
| 1082 | movdqu [ecx+10*22],xmm7 /* move short values to patch */ |
| 1083 | movdqu [ecx+10*22+16],xmm6 /* move short values to patch */ |
| 1084 | |
| 1085 | paddusw xmm4,xmm7 /* accumulate sums */ |
| 1086 | pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ |
| 1087 | paddd xmm5,xmm7 /* accumulate sum squares */ |
| 1088 | |
| 1089 | paddw xmm4,xmm6 /* accumulate sums */ |
| 1090 | pmaddwd xmm6,xmm6 /* multiply 16 bit ints and add into 32 bit ints */ |
| 1091 | paddd xmm5,xmm6 /* accumulate sum squares */ |
| 1092 | |
| 1093 | /* add up the sum squares */ |
| 1094 | movhlps xmm0,xmm5 /* high half to low half */ |
| 1095 | paddd xmm5,xmm0 /* add high to low */ |
| 1096 | pshuflw xmm0,xmm5, 0xE /* reshuffle */ |
| 1097 | paddd xmm5,xmm0 /* add remaining */ |
| 1098 | movd f2sum,xmm5 |
| 1099 | |
| 1100 | /* add up the sum */ |
| 1101 | movhlps xmm0,xmm4 |
| 1102 | paddw xmm4,xmm0 /* halves added */ |
| 1103 | pshuflw xmm0,xmm4,0xE |
| 1104 | paddw xmm4,xmm0 /* quarters added */ |
| 1105 | pshuflw xmm0,xmm4,0x1 |
| 1106 | paddw xmm4,xmm0 /* eighth added */ |
| 1107 | movd fsum, xmm4 |
| 1108 | |
| 1109 | emms |
| 1110 | } |
| 1111 | |
| 1112 | fsum = fsum & 0xFFFF; |
| 1113 | |
| 1114 | patch[126] = 0; |
| 1115 | patch[127] = 0; |
| 1116 | #endif /* DB_USE_SSE2 */ |
| 1117 | |
| 1118 | *sum= (float) fsum; |
| 1119 | den=(121.0f*f2sum-fsum*fsum); |
| 1120 | *recip= (float)((den!=0.0)?1.0/den:0.0); |
| 1121 | } |
| 1122 | |
| 1123 | void AffineWarpPointOffset(float &r_w,float &c_w,double Hinv[9],int r,int c) |
| 1124 | { |
| 1125 | r_w=(float)(Hinv[3]*c+Hinv[4]*r); |
| 1126 | c_w=(float)(Hinv[0]*c+Hinv[1]*r); |
| 1127 | } |
| 1128 | |
| 1129 | |
| 1130 | |
| 1131 | /*! |
| 1132 | Prewarp the patches with given affine transform. For a given homogeneous point "x", "H*x" is |
| 1133 | the warped point and for any displacement "d" in the warped image resulting in point "y", the |
| 1134 | corresponding point in the original image is given by "Hinv*y", which can be simplified for affine H. |
| 1135 | If "affine" is 1, then nearest neighbor method is used, else if it is 2, then |
| 1136 | bilinear method is used. |
| 1137 | */ |
| 1138 | inline void db_SignedSquareNormCorr11x11_PreAlign_AffinePatchWarp_u(short *patch,const unsigned char * const *f_img, |
| 1139 | int xi,int yi,float *sum,float *recip, |
| 1140 | const double Hinv[9],int affine) |
| 1141 | { |
| 1142 | float den; |
| 1143 | short f; |
| 1144 | int f2sum,fsum; |
| 1145 | |
| 1146 | f2sum=0; |
| 1147 | fsum=0; |
| 1148 | |
| 1149 | if (affine==1) |
| 1150 | { |
| 1151 | for (int r=0;r<11;r++){ |
| 1152 | for (int c=0;c<11;c++){ |
| 1153 | f=f_img[yi+AffineWarpPoint_NN_LUT_y[r][c]][xi+AffineWarpPoint_NN_LUT_x[r][c]]; |
| 1154 | f2sum+=f*f; |
| 1155 | fsum+=f; |
| 1156 | (*patch++)=f; |
| 1157 | } |
| 1158 | } |
| 1159 | } |
| 1160 | else if (affine==2) |
| 1161 | { |
| 1162 | for (int r=0;r<11;r++){ |
| 1163 | for (int c=0;c<11;c++){ |
| 1164 | f=db_BilinearInterpolation(yi+AffineWarpPoint_BL_LUT_y[r][c] |
| 1165 | ,xi+AffineWarpPoint_BL_LUT_x[r][c],f_img); |
| 1166 | f2sum+=f*f; |
| 1167 | fsum+=f; |
| 1168 | (*patch++)=f; |
| 1169 | } |
| 1170 | } |
| 1171 | } |
| 1172 | |
| 1173 | |
| 1174 | |
| 1175 | (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; |
| 1176 | (*patch++)=0; (*patch++)=0; |
| 1177 | |
| 1178 | *sum= (float) fsum; |
| 1179 | den=(121.0f*f2sum-fsum*fsum); |
| 1180 | *recip= (float)((den!=0.0)?1.0/den:0.0); |
| 1181 | } |
| 1182 | |
| 1183 | |
| 1184 | 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, |
| 1185 | float fsum_gsum,float f_recip_g_recip) |
| 1186 | { |
| 1187 | unsigned char *pf,*pg; |
| 1188 | int fgsum; |
| 1189 | float fg_corr; |
| 1190 | int xm_f,xm_g; |
| 1191 | |
| 1192 | xm_f=x_f-5; |
| 1193 | xm_g=x_g-5; |
| 1194 | |
| 1195 | pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| 1196 | fgsum=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1197 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1198 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1199 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1200 | |
| 1201 | pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| 1202 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1203 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1204 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1205 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1206 | |
| 1207 | pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| 1208 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1209 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1210 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1211 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1212 | |
| 1213 | pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| 1214 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1215 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1216 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1217 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1218 | |
| 1219 | pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| 1220 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1221 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1222 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1223 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1224 | |
| 1225 | pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| 1226 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1227 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1228 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1229 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1230 | |
| 1231 | pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| 1232 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1233 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1234 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1235 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1236 | |
| 1237 | pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| 1238 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1239 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1240 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1241 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1242 | |
| 1243 | pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| 1244 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1245 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1246 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1247 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1248 | |
| 1249 | pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| 1250 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1251 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1252 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1253 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1254 | |
| 1255 | pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| 1256 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1257 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1258 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 1259 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 1260 | |
| 1261 | fg_corr=121.0f*fgsum-fsum_gsum; |
| 1262 | if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| 1263 | return(-fg_corr*fg_corr*f_recip_g_recip); |
| 1264 | } |
| 1265 | |
| 1266 | float db_SignedSquareNormCorr21x21Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) |
| 1267 | { |
| 1268 | float fgsum,fg_corr; |
| 1269 | |
| 1270 | fgsum= (float) db_ScalarProduct512_s(f_patch,g_patch); |
| 1271 | |
| 1272 | fg_corr=441.0f*fgsum-fsum_gsum; |
| 1273 | if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| 1274 | return(-fg_corr*fg_corr*f_recip_g_recip); |
| 1275 | } |
| 1276 | |
| 1277 | |
| 1278 | float db_SignedSquareNormCorr11x11Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) |
| 1279 | { |
| 1280 | float fgsum,fg_corr; |
| 1281 | |
| 1282 | fgsum= (float) db_ScalarProduct128_s(f_patch,g_patch); |
| 1283 | |
| 1284 | fg_corr=121.0f*fgsum-fsum_gsum; |
| 1285 | if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| 1286 | return(-fg_corr*fg_corr*f_recip_g_recip); |
| 1287 | } |
| 1288 | |
| 1289 | float db_SignedSquareNormCorr5x5Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) |
| 1290 | { |
| 1291 | float fgsum,fg_corr; |
| 1292 | |
| 1293 | fgsum= (float) db_ScalarProduct32_s(f_patch,g_patch); |
| 1294 | |
| 1295 | fg_corr=25.0f*fgsum-fsum_gsum; |
| 1296 | if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| 1297 | return(-fg_corr*fg_corr*f_recip_g_recip); |
| 1298 | } |
| 1299 | |
| 1300 | |
| 1301 | 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) |
| 1302 | { |
| 1303 | unsigned char *pf,*pg; |
| 1304 | float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| 1305 | int xm_f,xm_g; |
| 1306 | |
| 1307 | xm_f=x_f-7; |
| 1308 | xm_g=x_g-7; |
| 1309 | fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| 1310 | |
| 1311 | pf=f_img[y_f-7]+xm_f; pg=g_img[y_g-7]+xm_g; |
| 1312 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1313 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1314 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1315 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1316 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1317 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1318 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1319 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1320 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1321 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1322 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1323 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1324 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1325 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1326 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1327 | |
| 1328 | pf=f_img[y_f-6]+xm_f; pg=g_img[y_g-6]+xm_g; |
| 1329 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1330 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1331 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1332 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1333 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1334 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1335 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1336 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1337 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1338 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1339 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1340 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1341 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1342 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1343 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1344 | |
| 1345 | pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| 1346 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1347 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1348 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1349 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1350 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1351 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1352 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1353 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1354 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1355 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1356 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1357 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1358 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1359 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1360 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1361 | |
| 1362 | pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| 1363 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1364 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1365 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1366 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1367 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1368 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1369 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1370 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1371 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1372 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1373 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1374 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1375 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1376 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1377 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1378 | |
| 1379 | pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| 1380 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1381 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1382 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1383 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1384 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1385 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1386 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1387 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1388 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1389 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1390 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1391 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1392 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1393 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1394 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1395 | |
| 1396 | pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| 1397 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1398 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1399 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1400 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1401 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1402 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1403 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1404 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1405 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1406 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1407 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1408 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1409 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1410 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1411 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1412 | |
| 1413 | pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| 1414 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1415 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1416 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1417 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1418 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1419 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1420 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1421 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1422 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1423 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1424 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1425 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1426 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1427 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1428 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1429 | |
| 1430 | pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| 1431 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1432 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1433 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1434 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1435 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1436 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1437 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1438 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1439 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1440 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1441 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1442 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1443 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1444 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1445 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1446 | |
| 1447 | pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| 1448 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1449 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1450 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1451 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1452 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1453 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1454 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1455 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1456 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1457 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1458 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1459 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1460 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1461 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1462 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1463 | |
| 1464 | pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| 1465 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1466 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1467 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1468 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1469 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1470 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1471 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1472 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1473 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1474 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1475 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1476 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1477 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1478 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1479 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1480 | |
| 1481 | pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| 1482 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1483 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1484 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1485 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1486 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1487 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1488 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1489 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1490 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1491 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1492 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1493 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1494 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1495 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1496 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1497 | |
| 1498 | pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| 1499 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1500 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1501 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1502 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1503 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1504 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1505 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1506 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1507 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1508 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1509 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1510 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1511 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1512 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1513 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1514 | |
| 1515 | pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| 1516 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1517 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1518 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1519 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1520 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1521 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1522 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1523 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1524 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1525 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1526 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1527 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1528 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1529 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1530 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1531 | |
| 1532 | pf=f_img[y_f+6]+xm_f; pg=g_img[y_g+6]+xm_g; |
| 1533 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1534 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1535 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1536 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1537 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1538 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1539 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1540 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1541 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1542 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1543 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1544 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1545 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1546 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1547 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1548 | |
| 1549 | pf=f_img[y_f+7]+xm_f; pg=g_img[y_g+7]+xm_g; |
| 1550 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1551 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1552 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1553 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1554 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1555 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1556 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1557 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1558 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1559 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1560 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1561 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1562 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1563 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1564 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1565 | |
| 1566 | fg_corr=225.0f*fgsum-fsum*gsum; |
| 1567 | den=(225.0f*f2sum-fsum*fsum)*(225.0f*g2sum-gsum*gsum); |
| 1568 | if(den!=0.0) |
| 1569 | { |
| 1570 | if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| 1571 | return(-fg_corr*fg_corr/den); |
| 1572 | } |
| 1573 | return(0.0); |
| 1574 | } |
| 1575 | |
| 1576 | inline float db_SignedSquareNormCorr7x7_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) |
| 1577 | { |
| 1578 | float f,g,*pf,*pg,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| 1579 | int xm_f,xm_g; |
| 1580 | |
| 1581 | xm_f=x_f-3; |
| 1582 | xm_g=x_g-3; |
| 1583 | fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| 1584 | |
| 1585 | pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| 1586 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1587 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1588 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1589 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1590 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1591 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1592 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1593 | |
| 1594 | pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| 1595 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1596 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1597 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1598 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1599 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1600 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1601 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1602 | |
| 1603 | pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| 1604 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1605 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1606 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1607 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1608 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1609 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1610 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1611 | |
| 1612 | pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| 1613 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1614 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1615 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1616 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1617 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1618 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1619 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1620 | |
| 1621 | pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| 1622 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1623 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1624 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1625 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1626 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1627 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1628 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1629 | |
| 1630 | pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| 1631 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1632 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1633 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1634 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1635 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1636 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1637 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1638 | |
| 1639 | pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| 1640 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1641 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1642 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1643 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1644 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1645 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1646 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1647 | |
| 1648 | fg_corr=49.0f*fgsum-fsum*gsum; |
| 1649 | den=(49.0f*f2sum-fsum*fsum)*(49.0f*g2sum-gsum*gsum); |
| 1650 | if(den!=0.0) |
| 1651 | { |
| 1652 | if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| 1653 | return(-fg_corr*fg_corr/den); |
| 1654 | } |
| 1655 | return(0.0); |
| 1656 | } |
| 1657 | |
| 1658 | inline float db_SignedSquareNormCorr9x9_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) |
| 1659 | { |
| 1660 | float f,g,*pf,*pg,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| 1661 | int xm_f,xm_g; |
| 1662 | |
| 1663 | xm_f=x_f-4; |
| 1664 | xm_g=x_g-4; |
| 1665 | fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| 1666 | |
| 1667 | pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| 1668 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1669 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1670 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1671 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1672 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1673 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1674 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1675 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1676 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1677 | |
| 1678 | pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| 1679 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1680 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1681 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1682 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1683 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1684 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1685 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1686 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1687 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1688 | |
| 1689 | pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| 1690 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1691 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1692 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1693 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1694 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1695 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1696 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1697 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1698 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1699 | |
| 1700 | pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| 1701 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1702 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1703 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1704 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1705 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1706 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1707 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1708 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1709 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1710 | |
| 1711 | pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| 1712 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1713 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1714 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1715 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1716 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1717 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1718 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1719 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1720 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1721 | |
| 1722 | pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| 1723 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1724 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1725 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1726 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1727 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1728 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1729 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1730 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1731 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1732 | |
| 1733 | pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| 1734 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1735 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1736 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1737 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1738 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1739 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1740 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1741 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1742 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1743 | |
| 1744 | pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| 1745 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1746 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1747 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1748 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1749 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1750 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1751 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1752 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1753 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1754 | |
| 1755 | pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| 1756 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1757 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1758 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1759 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1760 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1761 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1762 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1763 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1764 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1765 | |
| 1766 | fg_corr=81.0f*fgsum-fsum*gsum; |
| 1767 | den=(81.0f*f2sum-fsum*fsum)*(81.0f*g2sum-gsum*gsum); |
| 1768 | if(den!=0.0) |
| 1769 | { |
| 1770 | if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| 1771 | return(-fg_corr*fg_corr/den); |
| 1772 | } |
| 1773 | return(0.0); |
| 1774 | } |
| 1775 | |
| 1776 | inline float db_SignedSquareNormCorr11x11_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) |
| 1777 | { |
| 1778 | float *pf,*pg; |
| 1779 | float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| 1780 | int xm_f,xm_g; |
| 1781 | |
| 1782 | xm_f=x_f-5; |
| 1783 | xm_g=x_g-5; |
| 1784 | fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| 1785 | |
| 1786 | pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| 1787 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1788 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1789 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1790 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1791 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1792 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1793 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1794 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1795 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1796 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1797 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1798 | |
| 1799 | pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| 1800 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1801 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1802 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1803 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1804 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1805 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1806 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1807 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1808 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1809 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1810 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1811 | |
| 1812 | pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| 1813 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1814 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1815 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1816 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1817 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1818 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1819 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1820 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1821 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1822 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1823 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1824 | |
| 1825 | pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| 1826 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1827 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1828 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1829 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1830 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1831 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1832 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1833 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1834 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1835 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1836 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1837 | |
| 1838 | pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| 1839 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1840 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1841 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1842 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1843 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1844 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1845 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1846 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1847 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1848 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1849 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1850 | |
| 1851 | pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| 1852 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1853 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1854 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1855 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1856 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1857 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1858 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1859 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1860 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1861 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1862 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1863 | |
| 1864 | pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| 1865 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1866 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1867 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1868 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1869 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1870 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1871 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1872 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1873 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1874 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1875 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1876 | |
| 1877 | pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| 1878 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1879 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1880 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1881 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1882 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1883 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1884 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1885 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1886 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1887 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1888 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1889 | |
| 1890 | pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| 1891 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1892 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1893 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1894 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1895 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1896 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1897 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1898 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1899 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1900 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1901 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1902 | |
| 1903 | pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| 1904 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1905 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1906 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1907 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1908 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1909 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1910 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1911 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1912 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1913 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1914 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1915 | |
| 1916 | pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| 1917 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1918 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1919 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1920 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1921 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1922 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1923 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1924 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1925 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1926 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1927 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 1928 | |
| 1929 | fg_corr=121.0f*fgsum-fsum*gsum; |
| 1930 | den=(121.0f*f2sum-fsum*fsum)*(121.0f*g2sum-gsum*gsum); |
| 1931 | if(den!=0.0) |
| 1932 | { |
| 1933 | if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| 1934 | return(-fg_corr*fg_corr/den); |
| 1935 | } |
| 1936 | return(0.0); |
| 1937 | } |
| 1938 | |
| 1939 | inline void db_SignedSquareNormCorr11x11_Pre_f(float **f_img,int x_f,int y_f,float *sum,float *recip) |
| 1940 | { |
| 1941 | float *pf,den; |
| 1942 | float f,f2sum,fsum; |
| 1943 | int xm_f; |
| 1944 | |
| 1945 | xm_f=x_f-5; |
| 1946 | |
| 1947 | pf=f_img[y_f-5]+xm_f; |
| 1948 | f= *pf++; f2sum=f*f; fsum=f; |
| 1949 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1950 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1951 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1952 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1953 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1954 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1955 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1956 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1957 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1958 | f= *pf; f2sum+=f*f; fsum+=f; |
| 1959 | |
| 1960 | pf=f_img[y_f-4]+xm_f; |
| 1961 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1962 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1963 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1964 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1965 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1966 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1967 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1968 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1969 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1970 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1971 | f= *pf; f2sum+=f*f; fsum+=f; |
| 1972 | |
| 1973 | pf=f_img[y_f-3]+xm_f; |
| 1974 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1975 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1976 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1977 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1978 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1979 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1980 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1981 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1982 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1983 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1984 | f= *pf; f2sum+=f*f; fsum+=f; |
| 1985 | |
| 1986 | pf=f_img[y_f-2]+xm_f; |
| 1987 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1988 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1989 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1990 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1991 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1992 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1993 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1994 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1995 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1996 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 1997 | f= *pf; f2sum+=f*f; fsum+=f; |
| 1998 | |
| 1999 | pf=f_img[y_f-1]+xm_f; |
| 2000 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2001 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2002 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2003 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2004 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2005 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2006 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2007 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2008 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2009 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2010 | f= *pf; f2sum+=f*f; fsum+=f; |
| 2011 | |
| 2012 | pf=f_img[y_f]+xm_f; |
| 2013 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2014 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2015 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2016 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2017 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2018 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2019 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2020 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2021 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2022 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2023 | f= *pf; f2sum+=f*f; fsum+=f; |
| 2024 | |
| 2025 | pf=f_img[y_f+1]+xm_f; |
| 2026 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2027 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2028 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2029 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2030 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2031 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2032 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2033 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2034 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2035 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2036 | f= *pf; f2sum+=f*f; fsum+=f; |
| 2037 | |
| 2038 | pf=f_img[y_f+2]+xm_f; |
| 2039 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2040 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2041 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2042 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2043 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2044 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2045 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2046 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2047 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2048 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2049 | f= *pf; f2sum+=f*f; fsum+=f; |
| 2050 | |
| 2051 | pf=f_img[y_f+3]+xm_f; |
| 2052 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2053 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2054 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2055 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2056 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2057 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2058 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2059 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2060 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2061 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2062 | f= *pf; f2sum+=f*f; fsum+=f; |
| 2063 | |
| 2064 | pf=f_img[y_f+4]+xm_f; |
| 2065 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2066 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2067 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2068 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2069 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2070 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2071 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2072 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2073 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2074 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2075 | f= *pf; f2sum+=f*f; fsum+=f; |
| 2076 | |
| 2077 | pf=f_img[y_f+5]+xm_f; |
| 2078 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2079 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2080 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2081 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2082 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2083 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2084 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2085 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2086 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2087 | f= *pf++; f2sum+=f*f; fsum+=f; |
| 2088 | f= *pf; f2sum+=f*f; fsum+=f; |
| 2089 | |
| 2090 | *sum=fsum; |
| 2091 | den=(121.0f*f2sum-fsum*fsum); |
| 2092 | *recip= (float) ((den!=0.0)?1.0/den:0.0); |
| 2093 | } |
| 2094 | |
| 2095 | inline void db_SignedSquareNormCorr11x11_PreAlign_f(float *patch,const float * const *f_img,int x_f,int y_f,float *sum,float *recip) |
| 2096 | { |
| 2097 | const float *pf; |
| 2098 | float den,f,f2sum,fsum; |
| 2099 | int xm_f; |
| 2100 | |
| 2101 | xm_f=x_f-5; |
| 2102 | |
| 2103 | pf=f_img[y_f-5]+xm_f; |
| 2104 | f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; |
| 2105 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2106 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2107 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2108 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2109 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2110 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2111 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2112 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2113 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2114 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2115 | |
| 2116 | pf=f_img[y_f-4]+xm_f; |
| 2117 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2118 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2119 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2120 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2121 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2122 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2123 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2124 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2125 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2126 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2127 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2128 | |
| 2129 | pf=f_img[y_f-3]+xm_f; |
| 2130 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2131 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2132 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2133 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2134 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2135 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2136 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2137 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2138 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2139 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2140 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2141 | |
| 2142 | pf=f_img[y_f-2]+xm_f; |
| 2143 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2144 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2145 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2146 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2147 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2148 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2149 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2150 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2151 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2152 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2153 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2154 | |
| 2155 | pf=f_img[y_f-1]+xm_f; |
| 2156 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2157 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2158 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2159 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2160 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2161 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2162 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2163 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2164 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2165 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2166 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2167 | |
| 2168 | pf=f_img[y_f]+xm_f; |
| 2169 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2170 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2171 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2172 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2173 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2174 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2175 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2176 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2177 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2178 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2179 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2180 | |
| 2181 | pf=f_img[y_f+1]+xm_f; |
| 2182 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2183 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2184 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2185 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2186 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2187 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2188 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2189 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2190 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2191 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2192 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2193 | |
| 2194 | pf=f_img[y_f+2]+xm_f; |
| 2195 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2196 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2197 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2198 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2199 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2200 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2201 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2202 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2203 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2204 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2205 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2206 | |
| 2207 | pf=f_img[y_f+3]+xm_f; |
| 2208 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2209 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2210 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2211 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2212 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2213 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2214 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2215 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2216 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2217 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2218 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2219 | |
| 2220 | pf=f_img[y_f+4]+xm_f; |
| 2221 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2222 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2223 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2224 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2225 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2226 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2227 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2228 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2229 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2230 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2231 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2232 | |
| 2233 | pf=f_img[y_f+5]+xm_f; |
| 2234 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2235 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2236 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2237 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2238 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2239 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2240 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2241 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2242 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2243 | f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2244 | f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; |
| 2245 | |
| 2246 | (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; |
| 2247 | (*patch++)=0.0; (*patch++)=0.0; |
| 2248 | |
| 2249 | *sum=fsum; |
| 2250 | den=(121.0f*f2sum-fsum*fsum); |
| 2251 | *recip= (float) ((den!=0.0)?1.0/den:0.0); |
| 2252 | } |
| 2253 | |
| 2254 | inline float db_SignedSquareNormCorr11x11_Post_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g, |
| 2255 | float fsum_gsum,float f_recip_g_recip) |
| 2256 | { |
| 2257 | float *pf,*pg; |
| 2258 | float fgsum,fg_corr; |
| 2259 | int xm_f,xm_g; |
| 2260 | |
| 2261 | xm_f=x_f-5; |
| 2262 | xm_g=x_g-5; |
| 2263 | |
| 2264 | pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| 2265 | fgsum=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2266 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2267 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2268 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2269 | |
| 2270 | pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| 2271 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2272 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2273 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2274 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2275 | |
| 2276 | pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| 2277 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2278 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2279 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2280 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2281 | |
| 2282 | pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| 2283 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2284 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2285 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2286 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2287 | |
| 2288 | pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| 2289 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2290 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2291 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2292 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2293 | |
| 2294 | pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| 2295 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2296 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2297 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2298 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2299 | |
| 2300 | pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| 2301 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2302 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2303 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2304 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2305 | |
| 2306 | pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| 2307 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2308 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2309 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2310 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2311 | |
| 2312 | pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| 2313 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2314 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2315 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2316 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2317 | |
| 2318 | pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| 2319 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2320 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2321 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2322 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2323 | |
| 2324 | pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| 2325 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2326 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2327 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); |
| 2328 | fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); |
| 2329 | |
| 2330 | fg_corr=121.0f*fgsum-fsum_gsum; |
| 2331 | if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| 2332 | return(-fg_corr*fg_corr*f_recip_g_recip); |
| 2333 | } |
| 2334 | |
| 2335 | inline float db_SignedSquareNormCorr11x11Aligned_Post_f(const float *f_patch,const float *g_patch,float fsum_gsum,float f_recip_g_recip) |
| 2336 | { |
| 2337 | float fgsum,fg_corr; |
| 2338 | |
| 2339 | fgsum=db_ScalarProduct128Aligned16_f(f_patch,g_patch); |
| 2340 | |
| 2341 | fg_corr=121.0f*fgsum-fsum_gsum; |
| 2342 | if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); |
| 2343 | return(-fg_corr*fg_corr*f_recip_g_recip); |
| 2344 | } |
| 2345 | |
| 2346 | inline float db_SignedSquareNormCorr15x15_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) |
| 2347 | { |
| 2348 | float *pf,*pg; |
| 2349 | float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; |
| 2350 | int xm_f,xm_g; |
| 2351 | |
| 2352 | xm_f=x_f-7; |
| 2353 | xm_g=x_g-7; |
| 2354 | fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; |
| 2355 | |
| 2356 | pf=f_img[y_f-7]+xm_f; pg=g_img[y_g-7]+xm_g; |
| 2357 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2358 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2359 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2360 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2361 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2362 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2363 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2364 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2365 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2366 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2367 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2368 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2369 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2370 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2371 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2372 | |
| 2373 | pf=f_img[y_f-6]+xm_f; pg=g_img[y_g-6]+xm_g; |
| 2374 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2375 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2376 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2377 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2378 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2379 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2380 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2381 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2382 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2383 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2384 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2385 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2386 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2387 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2388 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2389 | |
| 2390 | pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; |
| 2391 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2392 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2393 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2394 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2395 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2396 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2397 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2398 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2399 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2400 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2401 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2402 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2403 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2404 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2405 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2406 | |
| 2407 | pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; |
| 2408 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2409 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2410 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2411 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2412 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2413 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2414 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2415 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2416 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2417 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2418 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2419 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2420 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2421 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2422 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2423 | |
| 2424 | pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; |
| 2425 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2426 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2427 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2428 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2429 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2430 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2431 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2432 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2433 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2434 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2435 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2436 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2437 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2438 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2439 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2440 | |
| 2441 | pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; |
| 2442 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2443 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2444 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2445 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2446 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2447 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2448 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2449 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2450 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2451 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2452 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2453 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2454 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2455 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2456 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2457 | |
| 2458 | pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; |
| 2459 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2460 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2461 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2462 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2463 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2464 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2465 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2466 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2467 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2468 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2469 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2470 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2471 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2472 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2473 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2474 | |
| 2475 | pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; |
| 2476 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2477 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2478 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2479 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2480 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2481 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2482 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2483 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2484 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2485 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2486 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2487 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2488 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2489 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2490 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2491 | |
| 2492 | pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; |
| 2493 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2494 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2495 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2496 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2497 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2498 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2499 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2500 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2501 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2502 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2503 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2504 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2505 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2506 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2507 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2508 | |
| 2509 | pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; |
| 2510 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2511 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2512 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2513 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2514 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2515 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2516 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2517 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2518 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2519 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2520 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2521 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2522 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2523 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2524 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2525 | |
| 2526 | pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; |
| 2527 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2528 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2529 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2530 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2531 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2532 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2533 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2534 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2535 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2536 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2537 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2538 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2539 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2540 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2541 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2542 | |
| 2543 | pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; |
| 2544 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2545 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2546 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2547 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2548 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2549 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2550 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2551 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2552 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2553 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2554 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2555 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2556 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2557 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2558 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2559 | |
| 2560 | pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; |
| 2561 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2562 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2563 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2564 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2565 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2566 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2567 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2568 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2569 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2570 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2571 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2572 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2573 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2574 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2575 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2576 | |
| 2577 | pf=f_img[y_f+6]+xm_f; pg=g_img[y_g+6]+xm_g; |
| 2578 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2579 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2580 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2581 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2582 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2583 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2584 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2585 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2586 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2587 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2588 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2589 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2590 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2591 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2592 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2593 | |
| 2594 | pf=f_img[y_f+7]+xm_f; pg=g_img[y_g+7]+xm_g; |
| 2595 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2596 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2597 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2598 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2599 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2600 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2601 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2602 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2603 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2604 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2605 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2606 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2607 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2608 | f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2609 | f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; |
| 2610 | |
| 2611 | fg_corr=225.0f*fgsum-fsum*gsum; |
| 2612 | den=(225.0f*f2sum-fsum*fsum)*(225.0f*g2sum-gsum*gsum); |
| 2613 | if(den!=0.0) |
| 2614 | { |
| 2615 | if(fg_corr>=0.0) return(fg_corr*fg_corr/den); |
| 2616 | return(-fg_corr*fg_corr/den); |
| 2617 | } |
| 2618 | return(0.0); |
| 2619 | } |
| 2620 | |
| 2621 | db_Bucket_f** db_AllocBuckets_f(int nr_h,int nr_v,int bd) |
| 2622 | { |
| 2623 | int i,j; |
| 2624 | db_Bucket_f **bp,*b; |
| 2625 | |
| 2626 | b=new db_Bucket_f [(nr_h+2)*(nr_v+2)]; |
| 2627 | bp=new db_Bucket_f* [(nr_v+2)]; |
| 2628 | bp=bp+1; |
| 2629 | for(i= -1;i<=nr_v;i++) |
| 2630 | { |
| 2631 | bp[i]=b+1+(nr_h+2)*(i+1); |
| 2632 | for(j= -1;j<=nr_h;j++) |
| 2633 | { |
| 2634 | bp[i][j].ptr=new db_PointInfo_f [bd]; |
| 2635 | } |
| 2636 | } |
| 2637 | |
| 2638 | return(bp); |
| 2639 | } |
| 2640 | |
| 2641 | db_Bucket_u** db_AllocBuckets_u(int nr_h,int nr_v,int bd) |
| 2642 | { |
| 2643 | int i,j; |
| 2644 | db_Bucket_u **bp,*b; |
| 2645 | |
| 2646 | b=new db_Bucket_u [(nr_h+2)*(nr_v+2)]; |
| 2647 | bp=new db_Bucket_u* [(nr_v+2)]; |
| 2648 | bp=bp+1; |
| 2649 | for(i= -1;i<=nr_v;i++) |
| 2650 | { |
| 2651 | bp[i]=b+1+(nr_h+2)*(i+1); |
| 2652 | for(j= -1;j<=nr_h;j++) |
| 2653 | { |
| 2654 | bp[i][j].ptr=new db_PointInfo_u [bd]; |
| 2655 | } |
| 2656 | } |
| 2657 | |
| 2658 | return(bp); |
| 2659 | } |
| 2660 | |
| 2661 | void db_FreeBuckets_f(db_Bucket_f **bp,int nr_h,int nr_v) |
| 2662 | { |
| 2663 | int i,j; |
| 2664 | |
| 2665 | for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) |
| 2666 | { |
| 2667 | delete [] bp[i][j].ptr; |
| 2668 | } |
| 2669 | delete [] (bp[-1]-1); |
| 2670 | delete [] (bp-1); |
| 2671 | } |
| 2672 | |
| 2673 | void db_FreeBuckets_u(db_Bucket_u **bp,int nr_h,int nr_v) |
| 2674 | { |
| 2675 | int i,j; |
| 2676 | |
| 2677 | for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) |
| 2678 | { |
| 2679 | delete [] bp[i][j].ptr; |
| 2680 | } |
| 2681 | delete [] (bp[-1]-1); |
| 2682 | delete [] (bp-1); |
| 2683 | } |
| 2684 | |
| 2685 | void db_EmptyBuckets_f(db_Bucket_f **bp,int nr_h,int nr_v) |
| 2686 | { |
| 2687 | int i,j; |
| 2688 | for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) bp[i][j].nr=0; |
| 2689 | } |
| 2690 | |
| 2691 | void db_EmptyBuckets_u(db_Bucket_u **bp,int nr_h,int nr_v) |
| 2692 | { |
| 2693 | int i,j; |
| 2694 | for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) bp[i][j].nr=0; |
| 2695 | } |
| 2696 | |
| 2697 | 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) |
| 2698 | { |
| 2699 | int i,xi,yi,xpos,ypos,nr; |
| 2700 | db_Bucket_f *br; |
| 2701 | db_PointInfo_f *pir; |
| 2702 | |
| 2703 | db_EmptyBuckets_f(bp,nr_h,nr_v); |
| 2704 | for(i=0;i<nr_corners;i++) |
| 2705 | { |
| 2706 | xi=(int) x[i]; |
| 2707 | yi=(int) y[i]; |
| 2708 | xpos=xi/bw; |
| 2709 | ypos=yi/bh; |
| 2710 | if(xpos>=0 && xpos<nr_h && ypos>=0 && ypos<nr_v) |
| 2711 | { |
| 2712 | br=&bp[ypos][xpos]; |
| 2713 | nr=br->nr; |
| 2714 | if(nr<bd) |
| 2715 | { |
| 2716 | pir=&(br->ptr[nr]); |
| 2717 | pir->x=xi; |
| 2718 | pir->y=yi; |
| 2719 | pir->id=i; |
| 2720 | pir->pir=0; |
| 2721 | pir->patch=patch_space; |
| 2722 | br->nr=nr+1; |
| 2723 | |
| 2724 | db_SignedSquareNormCorr11x11_PreAlign_f(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| 2725 | patch_space+=128; |
| 2726 | } |
| 2727 | } |
| 2728 | } |
| 2729 | return(patch_space); |
| 2730 | } |
| 2731 | |
| 2732 | 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) |
| 2733 | { |
| 2734 | int i,xi,yi,xpos,ypos,nr; |
| 2735 | db_Bucket_u *br; |
| 2736 | db_PointInfo_u *pir; |
| 2737 | |
| 2738 | db_EmptyBuckets_u(bp,nr_h,nr_v); |
| 2739 | for(i=0;i<nr_corners;i++) |
| 2740 | { |
| 2741 | xi=(int)db_roundi(x[i]); |
| 2742 | yi=(int)db_roundi(y[i]); |
| 2743 | xpos=xi/bw; |
| 2744 | ypos=yi/bh; |
| 2745 | if(xpos>=0 && xpos<nr_h && ypos>=0 && ypos<nr_v) |
| 2746 | { |
| 2747 | br=&bp[ypos][xpos]; |
| 2748 | nr=br->nr; |
| 2749 | if(nr<bd) |
| 2750 | { |
| 2751 | pir=&(br->ptr[nr]); |
| 2752 | pir->x=xi; |
| 2753 | pir->y=yi; |
| 2754 | pir->id=i; |
| 2755 | pir->pir=0; |
| 2756 | pir->patch=patch_space; |
| 2757 | br->nr=nr+1; |
| 2758 | |
| 2759 | if(use_21) |
| 2760 | { |
| 2761 | db_SignedSquareNormCorr21x21_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| 2762 | patch_space+=512; |
| 2763 | } |
| 2764 | else |
| 2765 | { |
| 2766 | if(!use_smaller_matching_window) |
| 2767 | { |
| 2768 | db_SignedSquareNormCorr11x11_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| 2769 | patch_space+=128; |
| 2770 | } |
| 2771 | else |
| 2772 | { |
| 2773 | db_SignedSquareNormCorr5x5_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| 2774 | patch_space+=32; |
| 2775 | } |
| 2776 | } |
| 2777 | } |
| 2778 | } |
| 2779 | } |
| 2780 | return(patch_space); |
| 2781 | } |
| 2782 | |
| 2783 | |
| 2784 | |
| 2785 | 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]) |
| 2786 | { |
| 2787 | int i,xi,yi,xpos,ypos,nr,wxi,wyi; |
| 2788 | db_Bucket_f *br; |
| 2789 | db_PointInfo_f *pir; |
| 2790 | double xd[2],wx[2]; |
| 2791 | |
| 2792 | db_EmptyBuckets_f(bp,nr_h,nr_v); |
| 2793 | for(i=0;i<nr_corners;i++) |
| 2794 | { |
| 2795 | xd[0]=x[i]; |
| 2796 | xd[1]=y[i]; |
| 2797 | xi=(int) xd[0]; |
| 2798 | yi=(int) xd[1]; |
| 2799 | db_ImageHomographyInhomogenous(wx,H,xd); |
| 2800 | wxi=(int) wx[0]; |
| 2801 | wyi=(int) wx[1]; |
| 2802 | |
| 2803 | xpos=((wxi+bw)/bw)-1; |
| 2804 | ypos=((wyi+bh)/bh)-1; |
| 2805 | if(xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) |
| 2806 | { |
| 2807 | br=&bp[ypos][xpos]; |
| 2808 | nr=br->nr; |
| 2809 | if(nr<bd) |
| 2810 | { |
| 2811 | pir=&(br->ptr[nr]); |
| 2812 | pir->x=wxi; |
| 2813 | pir->y=wyi; |
| 2814 | pir->id=i; |
| 2815 | pir->pir=0; |
| 2816 | pir->patch=patch_space; |
| 2817 | br->nr=nr+1; |
| 2818 | |
| 2819 | db_SignedSquareNormCorr11x11_PreAlign_f(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| 2820 | patch_space+=128; |
| 2821 | } |
| 2822 | } |
| 2823 | } |
| 2824 | return(patch_space); |
| 2825 | } |
| 2826 | |
| 2827 | short* db_FillBucketsPrewarped_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp, |
| 2828 | int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y, |
| 2829 | int nr_corners,const double H[9]) |
| 2830 | { |
| 2831 | int i,xi,yi,xpos,ypos,nr,wxi,wyi; |
| 2832 | db_Bucket_u *br; |
| 2833 | db_PointInfo_u *pir; |
| 2834 | double xd[2],wx[2]; |
| 2835 | |
| 2836 | db_EmptyBuckets_u(bp,nr_h,nr_v); |
| 2837 | for(i=0;i<nr_corners;i++) |
| 2838 | { |
| 2839 | xd[0]=x[i]; |
| 2840 | xd[1]=y[i]; |
| 2841 | xi=(int) db_roundi(xd[0]); |
| 2842 | yi=(int) db_roundi(xd[1]); |
| 2843 | db_ImageHomographyInhomogenous(wx,H,xd); |
| 2844 | wxi=(int) wx[0]; |
| 2845 | wyi=(int) wx[1]; |
| 2846 | |
| 2847 | xpos=((wxi+bw)/bw)-1; |
| 2848 | ypos=((wyi+bh)/bh)-1; |
| 2849 | if(xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) |
| 2850 | { |
| 2851 | br=&bp[ypos][xpos]; |
| 2852 | nr=br->nr; |
| 2853 | if(nr<bd) |
| 2854 | { |
| 2855 | pir=&(br->ptr[nr]); |
| 2856 | pir->x=wxi; |
| 2857 | pir->y=wyi; |
| 2858 | pir->id=i; |
| 2859 | pir->pir=0; |
| 2860 | pir->patch=patch_space; |
| 2861 | br->nr=nr+1; |
| 2862 | |
| 2863 | db_SignedSquareNormCorr11x11_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); |
| 2864 | patch_space+=128; |
| 2865 | } |
| 2866 | } |
| 2867 | } |
| 2868 | return(patch_space); |
| 2869 | } |
| 2870 | |
| 2871 | |
| 2872 | |
| 2873 | short* db_FillBucketsPrewarpedAffine_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp, |
| 2874 | int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y, |
| 2875 | int nr_corners,const double H[9],const double Hinv[9],const int warpboundsp[4], |
| 2876 | int affine) |
| 2877 | { |
| 2878 | int i,xi,yi,xpos,ypos,nr,wxi,wyi; |
| 2879 | db_Bucket_u *br; |
| 2880 | db_PointInfo_u *pir; |
| 2881 | double xd[2],wx[2]; |
| 2882 | |
| 2883 | db_EmptyBuckets_u(bp,nr_h,nr_v); |
| 2884 | for(i=0;i<nr_corners;i++) |
| 2885 | { |
| 2886 | xd[0]=x[i]; |
| 2887 | xd[1]=y[i]; |
| 2888 | xi=(int) db_roundi(xd[0]); |
| 2889 | yi=(int) db_roundi(xd[1]); |
| 2890 | db_ImageHomographyInhomogenous(wx,H,xd); |
| 2891 | wxi=(int) wx[0]; |
| 2892 | wyi=(int) wx[1]; |
| 2893 | |
| 2894 | xpos=((wxi+bw)/bw)-1; |
| 2895 | ypos=((wyi+bh)/bh)-1; |
| 2896 | |
| 2897 | |
| 2898 | if (xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) |
| 2899 | { |
| 2900 | if( xi>warpboundsp[0] && xi<warpboundsp[1] && yi>warpboundsp[2] && yi<warpboundsp[3]) |
| 2901 | { |
| 2902 | |
| 2903 | br=&bp[ypos][xpos]; |
| 2904 | nr=br->nr; |
| 2905 | if(nr<bd) |
| 2906 | { |
| 2907 | pir=&(br->ptr[nr]); |
| 2908 | pir->x=wxi; |
| 2909 | pir->y=wyi; |
| 2910 | pir->id=i; |
| 2911 | pir->pir=0; |
| 2912 | pir->patch=patch_space; |
| 2913 | br->nr=nr+1; |
| 2914 | |
| 2915 | db_SignedSquareNormCorr11x11_PreAlign_AffinePatchWarp_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip),Hinv,affine); |
| 2916 | patch_space+=128; |
| 2917 | } |
| 2918 | } |
| 2919 | } |
| 2920 | } |
| 2921 | return(patch_space); |
| 2922 | } |
| 2923 | |
| 2924 | |
| 2925 | |
| 2926 | inline void db_MatchPointPair_f(db_PointInfo_f *pir_l,db_PointInfo_f *pir_r, |
| 2927 | unsigned long kA,unsigned long kB) |
| 2928 | { |
| 2929 | int x_l,y_l,x_r,y_r,xm,ym; |
| 2930 | double score; |
| 2931 | |
| 2932 | x_l=pir_l->x; |
| 2933 | y_l=pir_l->y; |
| 2934 | x_r=pir_r->x; |
| 2935 | y_r=pir_r->y; |
| 2936 | xm=x_l-x_r; |
| 2937 | ym=y_l-y_r; |
| 2938 | /*Check if disparity is within the maximum disparity |
| 2939 | with the formula xm^2*256+ym^2*kA<kB |
| 2940 | where kA=256*w^2/h^2 |
| 2941 | and kB=256*max_disp^2*w^2*/ |
| 2942 | if(((xm*xm)<<8)+ym*ym*kA<kB) |
| 2943 | { |
| 2944 | /*Correlate*/ |
| 2945 | score=db_SignedSquareNormCorr11x11Aligned_Post_f(pir_l->patch,pir_r->patch, |
| 2946 | (pir_l->sum)*(pir_r->sum), |
| 2947 | (pir_l->recip)*(pir_r->recip)); |
| 2948 | |
| 2949 | if((!(pir_l->pir)) || (score>pir_l->s)) |
| 2950 | { |
| 2951 | /*Update left corner*/ |
| 2952 | pir_l->s=score; |
| 2953 | pir_l->pir=pir_r; |
| 2954 | } |
| 2955 | if((!(pir_r->pir)) || (score>pir_r->s)) |
| 2956 | { |
| 2957 | /*Update right corner*/ |
| 2958 | pir_r->s=score; |
| 2959 | pir_r->pir=pir_l; |
| 2960 | } |
| 2961 | } |
| 2962 | } |
| 2963 | |
| 2964 | inline void db_MatchPointPair_u(db_PointInfo_u *pir_l,db_PointInfo_u *pir_r, |
| 2965 | unsigned long kA,unsigned long kB, unsigned int rect_window,bool use_smaller_matching_window, int use_21) |
| 2966 | { |
| 2967 | int xm,ym; |
| 2968 | double score; |
| 2969 | bool compute_score; |
| 2970 | |
| 2971 | |
| 2972 | if( rect_window ) |
| 2973 | compute_score = ((unsigned)db_absi(pir_l->x - pir_r->x)<kA && (unsigned)db_absi(pir_l->y - pir_r->y)<kB); |
| 2974 | else |
| 2975 | { /*Check if disparity is within the maximum disparity |
| 2976 | with the formula xm^2*256+ym^2*kA<kB |
| 2977 | where kA=256*w^2/h^2 |
| 2978 | and kB=256*max_disp^2*w^2*/ |
| 2979 | xm= pir_l->x - pir_r->x; |
| 2980 | ym= pir_l->y - pir_r->y; |
| 2981 | compute_score = ((xm*xm)<<8)+ym*ym*kA < kB; |
| 2982 | } |
| 2983 | |
| 2984 | if ( compute_score ) |
| 2985 | { |
| 2986 | if(use_21) |
| 2987 | { |
| 2988 | score=db_SignedSquareNormCorr21x21Aligned_Post_s(pir_l->patch,pir_r->patch, |
| 2989 | (pir_l->sum)*(pir_r->sum), |
| 2990 | (pir_l->recip)*(pir_r->recip)); |
| 2991 | } |
| 2992 | else |
| 2993 | { |
| 2994 | /*Correlate*/ |
| 2995 | if(!use_smaller_matching_window) |
| 2996 | { |
| 2997 | score=db_SignedSquareNormCorr11x11Aligned_Post_s(pir_l->patch,pir_r->patch, |
| 2998 | (pir_l->sum)*(pir_r->sum), |
| 2999 | (pir_l->recip)*(pir_r->recip)); |
| 3000 | } |
| 3001 | else |
| 3002 | { |
| 3003 | score=db_SignedSquareNormCorr5x5Aligned_Post_s(pir_l->patch,pir_r->patch, |
| 3004 | (pir_l->sum)*(pir_r->sum), |
| 3005 | (pir_l->recip)*(pir_r->recip)); |
| 3006 | } |
| 3007 | } |
| 3008 | |
| 3009 | if((!(pir_l->pir)) || (score>pir_l->s)) |
| 3010 | { |
| 3011 | /*Update left corner*/ |
| 3012 | pir_l->s=score; |
| 3013 | pir_l->pir=pir_r; |
| 3014 | } |
| 3015 | if((!(pir_r->pir)) || (score>pir_r->s)) |
| 3016 | { |
| 3017 | /*Update right corner*/ |
| 3018 | pir_r->s=score; |
| 3019 | pir_r->pir=pir_l; |
| 3020 | } |
| 3021 | } |
| 3022 | } |
| 3023 | |
| 3024 | inline void db_MatchPointAgainstBucket_f(db_PointInfo_f *pir_l,db_Bucket_f *b_r, |
| 3025 | unsigned long kA,unsigned long kB) |
| 3026 | { |
| 3027 | int p_r,nr; |
| 3028 | db_PointInfo_f *pir_r; |
| 3029 | |
| 3030 | nr=b_r->nr; |
| 3031 | pir_r=b_r->ptr; |
| 3032 | for(p_r=0;p_r<nr;p_r++) db_MatchPointPair_f(pir_l,pir_r+p_r,kA,kB); |
| 3033 | } |
| 3034 | |
| 3035 | inline void db_MatchPointAgainstBucket_u(db_PointInfo_u *pir_l,db_Bucket_u *b_r, |
| 3036 | unsigned long kA,unsigned long kB,int rect_window, bool use_smaller_matching_window, int use_21) |
| 3037 | { |
| 3038 | int p_r,nr; |
| 3039 | db_PointInfo_u *pir_r; |
| 3040 | |
| 3041 | nr=b_r->nr; |
| 3042 | pir_r=b_r->ptr; |
| 3043 | |
| 3044 | 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); |
| 3045 | |
| 3046 | } |
| 3047 | |
| 3048 | void db_MatchBuckets_f(db_Bucket_f **bp_l,db_Bucket_f **bp_r,int nr_h,int nr_v, |
| 3049 | unsigned long kA,unsigned long kB) |
| 3050 | { |
| 3051 | int i,j,k,a,b,br_nr; |
| 3052 | db_Bucket_f *br; |
| 3053 | db_PointInfo_f *pir_l; |
| 3054 | |
| 3055 | /*For all buckets*/ |
| 3056 | for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) |
| 3057 | { |
| 3058 | br=&bp_l[i][j]; |
| 3059 | br_nr=br->nr; |
| 3060 | /*For all points in bucket*/ |
| 3061 | for(k=0;k<br_nr;k++) |
| 3062 | { |
| 3063 | pir_l=br->ptr+k; |
| 3064 | for(a=i-1;a<=i+1;a++) |
| 3065 | { |
| 3066 | for(b=j-1;b<=j+1;b++) |
| 3067 | { |
| 3068 | db_MatchPointAgainstBucket_f(pir_l,&bp_r[a][b],kA,kB); |
| 3069 | } |
| 3070 | } |
| 3071 | } |
| 3072 | } |
| 3073 | } |
| 3074 | |
| 3075 | void db_MatchBuckets_u(db_Bucket_u **bp_l,db_Bucket_u **bp_r,int nr_h,int nr_v, |
| 3076 | unsigned long kA,unsigned long kB,int rect_window,bool use_smaller_matching_window, int use_21) |
| 3077 | { |
| 3078 | int i,j,k,a,b,br_nr; |
| 3079 | db_Bucket_u *br; |
| 3080 | db_PointInfo_u *pir_l; |
| 3081 | |
| 3082 | /*For all buckets*/ |
| 3083 | for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) |
| 3084 | { |
| 3085 | br=&bp_l[i][j]; |
| 3086 | br_nr=br->nr; |
| 3087 | /*For all points in bucket*/ |
| 3088 | for(k=0;k<br_nr;k++) |
| 3089 | { |
| 3090 | pir_l=br->ptr+k; |
| 3091 | for(a=i-1;a<=i+1;a++) |
| 3092 | { |
| 3093 | for(b=j-1;b<=j+1;b++) |
| 3094 | { |
| 3095 | db_MatchPointAgainstBucket_u(pir_l,&bp_r[a][b],kA,kB,rect_window,use_smaller_matching_window, use_21); |
| 3096 | } |
| 3097 | } |
| 3098 | } |
| 3099 | } |
| 3100 | } |
| 3101 | |
| 3102 | 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) |
| 3103 | { |
| 3104 | int i,j,k,br_nr; |
| 3105 | unsigned long count; |
| 3106 | db_Bucket_f *br; |
| 3107 | db_PointInfo_f *pir,*pir2; |
| 3108 | |
| 3109 | count=0; |
| 3110 | /*For all buckets*/ |
| 3111 | for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) |
| 3112 | { |
| 3113 | br=&bp_l[i][j]; |
| 3114 | br_nr=br->nr; |
| 3115 | /*For all points in bucket*/ |
| 3116 | for(k=0;k<br_nr;k++) |
| 3117 | { |
| 3118 | pir=br->ptr+k; |
| 3119 | pir2=pir->pir; |
| 3120 | if(pir2) |
| 3121 | { |
| 3122 | /*This point has a best match*/ |
| 3123 | if((pir2->pir)==pir) |
| 3124 | { |
| 3125 | /*We have a mutually consistent match*/ |
| 3126 | if(count<target) |
| 3127 | { |
| 3128 | id_l[count]=pir->id; |
| 3129 | id_r[count]=pir2->id; |
| 3130 | count++; |
| 3131 | } |
| 3132 | } |
| 3133 | } |
| 3134 | } |
| 3135 | } |
| 3136 | *nr_matches=count; |
| 3137 | } |
| 3138 | |
| 3139 | 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) |
| 3140 | { |
| 3141 | int i,j,k,br_nr; |
| 3142 | unsigned long count; |
| 3143 | db_Bucket_u *br; |
| 3144 | db_PointInfo_u *pir,*pir2; |
| 3145 | |
| 3146 | count=0; |
| 3147 | /*For all buckets*/ |
| 3148 | for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) |
| 3149 | { |
| 3150 | br=&bp_l[i][j]; |
| 3151 | br_nr=br->nr; |
| 3152 | /*For all points in bucket*/ |
| 3153 | for(k=0;k<br_nr;k++) |
| 3154 | { |
| 3155 | pir=br->ptr+k; |
| 3156 | pir2=pir->pir; |
| 3157 | if(pir2) |
| 3158 | { |
| 3159 | /*This point has a best match*/ |
| 3160 | if((pir2->pir)==pir) |
| 3161 | { |
| 3162 | /*We have a mutually consistent match*/ |
| 3163 | if(count<target) |
| 3164 | { |
| 3165 | id_l[count]=pir->id; |
| 3166 | id_r[count]=pir2->id; |
| 3167 | count++; |
| 3168 | } |
| 3169 | } |
| 3170 | } |
| 3171 | } |
| 3172 | } |
| 3173 | *nr_matches=count; |
| 3174 | } |
| 3175 | |
| 3176 | db_Matcher_f::db_Matcher_f() |
| 3177 | { |
| 3178 | m_w=0; m_h=0; |
| 3179 | } |
| 3180 | |
| 3181 | db_Matcher_f::~db_Matcher_f() |
| 3182 | { |
| 3183 | Clean(); |
| 3184 | } |
| 3185 | |
| 3186 | void db_Matcher_f::Clean() |
| 3187 | { |
| 3188 | if(m_w) |
| 3189 | { |
| 3190 | /*Free buckets*/ |
| 3191 | db_FreeBuckets_f(m_bp_l,m_nr_h,m_nr_v); |
| 3192 | db_FreeBuckets_f(m_bp_r,m_nr_h,m_nr_v); |
| 3193 | /*Free space for patch layouts*/ |
| 3194 | delete [] m_patch_space; |
| 3195 | } |
| 3196 | m_w=0; m_h=0; |
| 3197 | } |
| 3198 | |
| 3199 | unsigned long db_Matcher_f::Init(int im_width,int im_height,double max_disparity,int target_nr_corners) |
| 3200 | { |
| 3201 | Clean(); |
| 3202 | m_w=im_width; |
| 3203 | m_h=im_height; |
| 3204 | m_bw=db_maxi(1,(int) (max_disparity*((double)im_width))); |
| 3205 | m_bh=db_maxi(1,(int) (max_disparity*((double)im_height))); |
| 3206 | m_nr_h=1+(im_width-1)/m_bw; |
| 3207 | m_nr_v=1+(im_height-1)/m_bh; |
| 3208 | m_bd=db_maxi(1,(int)(((double)target_nr_corners)* |
| 3209 | max_disparity*max_disparity)); |
| 3210 | m_target=target_nr_corners; |
| 3211 | m_kA=(long)(256.0*((double)(m_w*m_w))/((double)(m_h*m_h))); |
| 3212 | m_kB=(long)(256.0*max_disparity*max_disparity*((double)(m_w*m_w))); |
| 3213 | |
| 3214 | /*Alloc bucket structure*/ |
| 3215 | m_bp_l=db_AllocBuckets_f(m_nr_h,m_nr_v,m_bd); |
| 3216 | m_bp_r=db_AllocBuckets_f(m_nr_h,m_nr_v,m_bd); |
| 3217 | |
| 3218 | /*Alloc 16byte-aligned space for patch layouts*/ |
| 3219 | m_patch_space=new float [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*128+16]; |
| 3220 | m_aligned_patch_space=db_AlignPointer_f(m_patch_space,16); |
| 3221 | |
| 3222 | return(m_target); |
| 3223 | } |
| 3224 | |
| 3225 | void db_Matcher_f::Match(const float * const *l_img,const float * const *r_img, |
| 3226 | const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, |
| 3227 | int *id_l,int *id_r,int *nr_matches,const double H[9]) |
| 3228 | { |
| 3229 | float *ps; |
| 3230 | |
| 3231 | /*Insert the corners into bucket structure*/ |
| 3232 | 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); |
| 3233 | 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); |
| 3234 | 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); |
| 3235 | |
| 3236 | /*Compute all the necessary match scores*/ |
| 3237 | db_MatchBuckets_f(m_bp_l,m_bp_r,m_nr_h,m_nr_v,m_kA,m_kB); |
| 3238 | |
| 3239 | /*Collect the correspondences*/ |
| 3240 | db_CollectMatches_f(m_bp_l,m_nr_h,m_nr_v,m_target,id_l,id_r,nr_matches); |
| 3241 | } |
| 3242 | |
| 3243 | db_Matcher_u::db_Matcher_u() |
| 3244 | { |
| 3245 | m_w=0; m_h=0; |
| 3246 | m_rect_window = 0; |
| 3247 | m_bw=m_bh=m_nr_h=m_nr_v=m_bd=m_target=0; |
| 3248 | m_bp_l=m_bp_r=0; |
| 3249 | m_patch_space=m_aligned_patch_space=0; |
| 3250 | } |
| 3251 | |
| 3252 | db_Matcher_u::db_Matcher_u(const db_Matcher_u& cm) |
| 3253 | { |
| 3254 | Init(cm.m_w, cm.m_h, cm.m_max_disparity, cm.m_target, cm.m_max_disparity_v); |
| 3255 | } |
| 3256 | |
| 3257 | db_Matcher_u& db_Matcher_u::operator= (const db_Matcher_u& cm) |
| 3258 | { |
| 3259 | if ( this == &cm ) return *this; |
| 3260 | Init(cm.m_w, cm.m_h, cm.m_max_disparity, cm.m_target, cm.m_max_disparity_v); |
| 3261 | return *this; |
| 3262 | } |
| 3263 | |
| 3264 | |
| 3265 | db_Matcher_u::~db_Matcher_u() |
| 3266 | { |
| 3267 | Clean(); |
| 3268 | } |
| 3269 | |
| 3270 | void db_Matcher_u::Clean() |
| 3271 | { |
| 3272 | if(m_w) |
| 3273 | { |
| 3274 | /*Free buckets*/ |
| 3275 | db_FreeBuckets_u(m_bp_l,m_nr_h,m_nr_v); |
| 3276 | db_FreeBuckets_u(m_bp_r,m_nr_h,m_nr_v); |
| 3277 | /*Free space for patch layouts*/ |
| 3278 | delete [] m_patch_space; |
| 3279 | } |
| 3280 | m_w=0; m_h=0; |
| 3281 | } |
| 3282 | |
| 3283 | |
| 3284 | unsigned long db_Matcher_u::Init(int im_width,int im_height,double max_disparity,int target_nr_corners, |
| 3285 | double max_disparity_v, bool use_smaller_matching_window, int use_21) |
| 3286 | { |
| 3287 | Clean(); |
| 3288 | m_w=im_width; |
| 3289 | m_h=im_height; |
| 3290 | m_max_disparity=max_disparity; |
| 3291 | m_max_disparity_v=max_disparity_v; |
| 3292 | |
| 3293 | if ( max_disparity_v != DB_DEFAULT_NO_DISPARITY ) |
| 3294 | { |
| 3295 | m_rect_window = 1; |
| 3296 | |
| 3297 | m_bw=db_maxi(1,(int)(max_disparity*((double)im_width))); |
| 3298 | m_bh=db_maxi(1,(int)(max_disparity_v*((double)im_height))); |
| 3299 | |
| 3300 | m_bd=db_maxi(1,(int)(((double)target_nr_corners)*max_disparity*max_disparity_v)); |
| 3301 | |
| 3302 | m_kA=(int)(max_disparity*m_w); |
| 3303 | m_kB=(int)(max_disparity_v*m_h); |
| 3304 | |
| 3305 | } else |
| 3306 | { |
| 3307 | m_bw=(int)db_maxi(1,(int)(max_disparity*((double)im_width))); |
| 3308 | m_bh=(int)db_maxi(1,(int)(max_disparity*((double)im_height))); |
| 3309 | |
| 3310 | m_bd=db_maxi(1,(int)(((double)target_nr_corners)*max_disparity*max_disparity)); |
| 3311 | |
| 3312 | m_kA=(long)(256.0*((double)(m_w*m_w))/((double)(m_h*m_h))); |
| 3313 | m_kB=(long)(256.0*max_disparity*max_disparity*((double)(m_w*m_w))); |
| 3314 | } |
| 3315 | |
| 3316 | m_nr_h=1+(im_width-1)/m_bw; |
| 3317 | m_nr_v=1+(im_height-1)/m_bh; |
| 3318 | |
| 3319 | m_target=target_nr_corners; |
| 3320 | |
| 3321 | /*Alloc bucket structure*/ |
| 3322 | m_bp_l=db_AllocBuckets_u(m_nr_h,m_nr_v,m_bd); |
| 3323 | m_bp_r=db_AllocBuckets_u(m_nr_h,m_nr_v,m_bd); |
| 3324 | |
| 3325 | m_use_smaller_matching_window = use_smaller_matching_window; |
| 3326 | m_use_21 = use_21; |
| 3327 | |
| 3328 | if(m_use_21) |
| 3329 | { |
| 3330 | /*Alloc 64byte-aligned space for patch layouts*/ |
| 3331 | m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*512+64]; |
| 3332 | m_aligned_patch_space=db_AlignPointer_s(m_patch_space,64); |
| 3333 | } |
| 3334 | else |
| 3335 | { |
| 3336 | if(!m_use_smaller_matching_window) |
| 3337 | { |
| 3338 | /*Alloc 16byte-aligned space for patch layouts*/ |
| 3339 | m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*128+16]; |
| 3340 | m_aligned_patch_space=db_AlignPointer_s(m_patch_space,16); |
| 3341 | } |
| 3342 | else |
| 3343 | { |
| 3344 | /*Alloc 4byte-aligned space for patch layouts*/ |
| 3345 | m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*32+4]; |
| 3346 | m_aligned_patch_space=db_AlignPointer_s(m_patch_space,4); |
| 3347 | } |
| 3348 | } |
| 3349 | |
| 3350 | return(m_target); |
| 3351 | } |
| 3352 | |
| 3353 | void db_Matcher_u::Match(const unsigned char * const *l_img,const unsigned char * const *r_img, |
| 3354 | const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, |
| 3355 | int *id_l,int *id_r,int *nr_matches,const double H[9],int affine) |
| 3356 | { |
| 3357 | short *ps; |
| 3358 | |
| 3359 | /*Insert the corners into bucket structure*/ |
| 3360 | 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); |
| 3361 | if(H==0) |
| 3362 | 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); |
| 3363 | else |
| 3364 | { |
| 3365 | if (affine) |
| 3366 | { |
| 3367 | double Hinv[9]; |
| 3368 | db_InvertAffineTransform(Hinv,H); |
| 3369 | float r_w, c_w; |
| 3370 | float stretch_x[2]; |
| 3371 | float stretch_y[2]; |
| 3372 | AffineWarpPointOffset(r_w,c_w,Hinv, 5,5); |
| 3373 | stretch_x[0]=db_absf(c_w);stretch_y[0]=db_absf(r_w); |
| 3374 | AffineWarpPointOffset(r_w,c_w,Hinv, 5,-5); |
| 3375 | stretch_x[1]=db_absf(c_w);stretch_y[1]=db_absf(r_w); |
| 3376 | int max_stretxh_x=(int) (db_maxd(stretch_x[0],stretch_x[1])); |
| 3377 | int max_stretxh_y=(int) (db_maxd(stretch_y[0],stretch_y[1])); |
| 3378 | int warpbounds[4]={max_stretxh_x,m_w-1-max_stretxh_x,max_stretxh_y,m_h-1-max_stretxh_y}; |
| 3379 | |
| 3380 | for (int r=-5;r<=5;r++){ |
| 3381 | for (int c=-5;c<=5;c++){ |
| 3382 | AffineWarpPointOffset(r_w,c_w,Hinv,r,c); |
| 3383 | AffineWarpPoint_BL_LUT_y[r+5][c+5]=r_w; |
| 3384 | AffineWarpPoint_BL_LUT_x[r+5][c+5]=c_w; |
| 3385 | |
| 3386 | AffineWarpPoint_NN_LUT_y[r+5][c+5]=db_roundi(r_w); |
| 3387 | AffineWarpPoint_NN_LUT_x[r+5][c+5]=db_roundi(c_w); |
| 3388 | |
| 3389 | } |
| 3390 | } |
| 3391 | |
| 3392 | db_FillBucketsPrewarpedAffine_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd, |
| 3393 | x_r,y_r,nr_r,H,Hinv,warpbounds,affine); |
| 3394 | } |
| 3395 | else |
| 3396 | 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); |
| 3397 | } |
| 3398 | |
| 3399 | |
| 3400 | /*Compute all the necessary match scores*/ |
| 3401 | 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); |
| 3402 | |
| 3403 | /*Collect the correspondences*/ |
| 3404 | db_CollectMatches_u(m_bp_l,m_nr_h,m_nr_v,m_target,id_l,id_r,nr_matches); |
| 3405 | } |
| 3406 | |
| 3407 | int db_Matcher_u::IsAllocated() |
| 3408 | { |
| 3409 | return (int)(m_w != 0); |
| 3410 | } |