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 } 3411
