diff options
Diffstat (limited to 'jni/feature_stab/db_vlvm/db_feature_matching.cpp')
| -rw-r--r-- | jni/feature_stab/db_vlvm/db_feature_matching.cpp | 3410 |
1 files changed, 0 insertions, 3410 deletions
diff --git a/jni/feature_stab/db_vlvm/db_feature_matching.cpp b/jni/feature_stab/db_vlvm/db_feature_matching.cpp deleted file mode 100644 index d278d0cf6..000000000 --- a/jni/feature_stab/db_vlvm/db_feature_matching.cpp +++ /dev/null @@ -1,3410 +0,0 @@ -/* - * Copyright (C) 2011 The Android Open Source Project - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/*$Id: db_feature_matching.cpp,v 1.4 2011/06/17 14:03:30 mbansal Exp $*/ - -/***************************************************************** -* Lean and mean begins here * -*****************************************************************/ - -#include "db_utilities.h" -#include "db_feature_matching.h" -#ifdef _VERBOSE_ -#include <iostream> -#endif - - -int AffineWarpPoint_NN_LUT_x[11][11]; -int AffineWarpPoint_NN_LUT_y[11][11]; - -float AffineWarpPoint_BL_LUT_x[11][11]; -float AffineWarpPoint_BL_LUT_y[11][11]; - - -inline float db_SignedSquareNormCorr7x7_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) -{ - unsigned char *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-3; - xm_g=x_g-3; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=49.0f*fgsum-fsum*gsum; - den=(49.0f*f2sum-fsum*fsum)*(49.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline float db_SignedSquareNormCorr9x9_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) -{ - unsigned char *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-4; - xm_g=x_g-4; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=81.0f*fgsum-fsum*gsum; - den=(81.0f*f2sum-fsum*fsum)*(81.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline float db_SignedSquareNormCorr11x11_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) -{ - unsigned char *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-5; - xm_g=x_g-5; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=121.0f*fgsum-fsum*gsum; - den=(121.0f*f2sum-fsum*fsum)*(121.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline void db_SignedSquareNormCorr11x11_Pre_u(unsigned char **f_img,int x_f,int y_f,float *sum,float *recip) -{ - unsigned char *pf; - float den; - int f,f2sum,fsum; - int xm_f; - - xm_f=x_f-5; - - pf=f_img[y_f-5]+xm_f; - f= *pf++; f2sum=f*f; fsum=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+5]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - *sum= (float) fsum; - den=(121.0f*f2sum-fsum*fsum); - *recip=(float)(((den!=0.0)?1.0/den:0.0)); -} - -inline void db_SignedSquareNormCorr5x5_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) -{ - float den; - int f2sum,fsum; - int xm_f=x_f-2; - -#ifndef DB_USE_SSE2 - const unsigned char *pf; - short f; - - pf=f_img[y_f-2]+xm_f; - f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - //int xwi; - //int ywi; - //f2sum=0; - //fsum=0; - //for (int r=-5;r<=5;r++){ - // ywi=y_f+r; - // for (int c=-5;c<=5;c++){ - // xwi=x_f+c; - // f=f_img[ywi][xwi]; - // f2sum+=f*f; - // fsum+=f; - // (*patch++)=f; - // } - //} - (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; - (*patch++)=0; (*patch++)=0; -#endif /* DB_USE_SSE2 */ - - *sum= (float) fsum; - den=(25.0f*f2sum-fsum*fsum); - *recip= (float)((den!=0.0)?1.0/den:0.0); -} - -inline void db_SignedSquareNormCorr21x21_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) -{ - float den; - int f2sum,fsum; - int xm_f=x_f-10; - short f; - - int xwi; - int ywi; - f2sum=0; - fsum=0; - for (int r=-10;r<=10;r++){ - ywi=y_f+r; - for (int c=-10;c<=10;c++){ - xwi=x_f+c; - f=f_img[ywi][xwi]; - f2sum+=f*f; - fsum+=f; - (*patch++)=f; - } - } - - for(int i=442; i<512; i++) - (*patch++)=0; - - *sum= (float) fsum; - den=(441.0f*f2sum-fsum*fsum); - *recip= (float)((den!=0.0)?1.0/den:0.0); - - -} - -/* Lay out the image in the patch, computing norm and -*/ -inline void db_SignedSquareNormCorr11x11_PreAlign_u(short *patch,const unsigned char * const *f_img,int x_f,int y_f,float *sum,float *recip) -{ - float den; - int f2sum,fsum; - int xm_f=x_f-5; - -#ifndef DB_USE_SSE2 - const unsigned char *pf; - short f; - - pf=f_img[y_f-5]+xm_f; - f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+5]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - //int xwi; - //int ywi; - //f2sum=0; - //fsum=0; - //for (int r=-5;r<=5;r++){ - // ywi=y_f+r; - // for (int c=-5;c<=5;c++){ - // xwi=x_f+c; - // f=f_img[ywi][xwi]; - // f2sum+=f*f; - // fsum+=f; - // (*patch++)=f; - // } - //} - - (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; - (*patch++)=0; (*patch++)=0; -#else - const unsigned char *pf0 =f_img[y_f-5]+xm_f; - const unsigned char *pf1 =f_img[y_f-4]+xm_f; - const unsigned char *pf2 =f_img[y_f-3]+xm_f; - const unsigned char *pf3 =f_img[y_f-2]+xm_f; - const unsigned char *pf4 =f_img[y_f-1]+xm_f; - const unsigned char *pf5 =f_img[y_f ]+xm_f; - const unsigned char *pf6 =f_img[y_f+1]+xm_f; - const unsigned char *pf7 =f_img[y_f+2]+xm_f; - const unsigned char *pf8 =f_img[y_f+3]+xm_f; - const unsigned char *pf9 =f_img[y_f+4]+xm_f; - const unsigned char *pf10=f_img[y_f+5]+xm_f; - - /* pixel mask */ - const unsigned char pm[16] = { - 0xFF,0xFF, - 0xFF,0xFF, - 0xFF,0xFF, - 0,0,0,0,0, - 0,0,0,0,0}; - const unsigned char * pm_p = pm; - - _asm - { - mov ecx,patch /* load patch pointer */ - mov ebx, pm_p /* load pixel mask pointer */ - movdqu xmm1,[ebx] /* load pixel mask */ - - pxor xmm5,xmm5 /* set xmm5 to 0 accumulator for sum squares */ - pxor xmm4,xmm4 /* set xmm4 to 0 accumulator for sum */ - pxor xmm0,xmm0 /* set xmm0 to 0 */ - - /* row 0 */ - mov eax,pf0 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqa [ecx+0*22],xmm7 /* move short values to patch */ - movdqa [ecx+0*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 1 */ - mov eax,pf1 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+1*22],xmm7 /* move short values to patch */ - movdqu [ecx+1*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 2 */ - mov eax,pf2 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+2*22],xmm7 /* move short values to patch */ - movdqu [ecx+2*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 3 */ - mov eax,pf3 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+3*22],xmm7 /* move short values to patch */ - movdqu [ecx+3*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 4 */ - mov eax,pf4 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+4*22],xmm7 /* move short values to patch */ - movdqu [ecx+4*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 5 */ - mov eax,pf5 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+5*22],xmm7 /* move short values to patch */ - movdqu [ecx+5*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 6 */ - mov eax,pf6 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+6*22],xmm7 /* move short values to patch */ - movdqu [ecx+6*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 7 */ - mov eax,pf7 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+7*22],xmm7 /* move short values to patch */ - movdqu [ecx+7*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 8 */ - mov eax,pf8 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqa [ecx+8*22],xmm7 /* move short values to patch */ - movdqa [ecx+8*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 9 */ - mov eax,pf9 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+9*22],xmm7 /* move short values to patch */ - movdqu [ecx+9*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit uints into 16 bit uints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* row 10 */ - mov eax,pf10 /* load image pointer */ - movdqu xmm7,[eax] /* load 16 pixels */ - movdqa xmm6,xmm7 - - punpcklbw xmm7,xmm0 /* unpack low pixels (first 8)*/ - punpckhbw xmm6,xmm0 /* unpack high pixels (last 8)*/ - - pand xmm6,xmm1 /* mask out pixels 12-16 */ - - movdqu [ecx+10*22],xmm7 /* move short values to patch */ - movdqu [ecx+10*22+16],xmm6 /* move short values to patch */ - - paddusw xmm4,xmm7 /* accumulate sums */ - pmaddwd xmm7,xmm7 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm7 /* accumulate sum squares */ - - paddw xmm4,xmm6 /* accumulate sums */ - pmaddwd xmm6,xmm6 /* multiply 16 bit ints and add into 32 bit ints */ - paddd xmm5,xmm6 /* accumulate sum squares */ - - /* add up the sum squares */ - movhlps xmm0,xmm5 /* high half to low half */ - paddd xmm5,xmm0 /* add high to low */ - pshuflw xmm0,xmm5, 0xE /* reshuffle */ - paddd xmm5,xmm0 /* add remaining */ - movd f2sum,xmm5 - - /* add up the sum */ - movhlps xmm0,xmm4 - paddw xmm4,xmm0 /* halves added */ - pshuflw xmm0,xmm4,0xE - paddw xmm4,xmm0 /* quarters added */ - pshuflw xmm0,xmm4,0x1 - paddw xmm4,xmm0 /* eighth added */ - movd fsum, xmm4 - - emms - } - - fsum = fsum & 0xFFFF; - - patch[126] = 0; - patch[127] = 0; -#endif /* DB_USE_SSE2 */ - - *sum= (float) fsum; - den=(121.0f*f2sum-fsum*fsum); - *recip= (float)((den!=0.0)?1.0/den:0.0); -} - -void AffineWarpPointOffset(float &r_w,float &c_w,double Hinv[9],int r,int c) -{ - r_w=(float)(Hinv[3]*c+Hinv[4]*r); - c_w=(float)(Hinv[0]*c+Hinv[1]*r); -} - - - -/*! -Prewarp the patches with given affine transform. For a given homogeneous point "x", "H*x" is -the warped point and for any displacement "d" in the warped image resulting in point "y", the -corresponding point in the original image is given by "Hinv*y", which can be simplified for affine H. -If "affine" is 1, then nearest neighbor method is used, else if it is 2, then -bilinear method is used. - */ -inline void db_SignedSquareNormCorr11x11_PreAlign_AffinePatchWarp_u(short *patch,const unsigned char * const *f_img, - int xi,int yi,float *sum,float *recip, - const double Hinv[9],int affine) -{ - float den; - short f; - int f2sum,fsum; - - f2sum=0; - fsum=0; - - if (affine==1) - { - for (int r=0;r<11;r++){ - for (int c=0;c<11;c++){ - f=f_img[yi+AffineWarpPoint_NN_LUT_y[r][c]][xi+AffineWarpPoint_NN_LUT_x[r][c]]; - f2sum+=f*f; - fsum+=f; - (*patch++)=f; - } - } - } - else if (affine==2) - { - for (int r=0;r<11;r++){ - for (int c=0;c<11;c++){ - f=db_BilinearInterpolation(yi+AffineWarpPoint_BL_LUT_y[r][c] - ,xi+AffineWarpPoint_BL_LUT_x[r][c],f_img); - f2sum+=f*f; - fsum+=f; - (*patch++)=f; - } - } - } - - - - (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; (*patch++)=0; - (*patch++)=0; (*patch++)=0; - - *sum= (float) fsum; - den=(121.0f*f2sum-fsum*fsum); - *recip= (float)((den!=0.0)?1.0/den:0.0); -} - - -inline float db_SignedSquareNormCorr11x11_Post_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g, - float fsum_gsum,float f_recip_g_recip) -{ - unsigned char *pf,*pg; - int fgsum; - float fg_corr; - int xm_f,xm_g; - - xm_f=x_f-5; - xm_g=x_g-5; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - fgsum=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - fg_corr=121.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - -float db_SignedSquareNormCorr21x21Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) -{ - float fgsum,fg_corr; - - fgsum= (float) db_ScalarProduct512_s(f_patch,g_patch); - - fg_corr=441.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - - -float db_SignedSquareNormCorr11x11Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) -{ - float fgsum,fg_corr; - - fgsum= (float) db_ScalarProduct128_s(f_patch,g_patch); - - fg_corr=121.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - -float db_SignedSquareNormCorr5x5Aligned_Post_s(const short *f_patch,const short *g_patch,float fsum_gsum,float f_recip_g_recip) -{ - float fgsum,fg_corr; - - fgsum= (float) db_ScalarProduct32_s(f_patch,g_patch); - - fg_corr=25.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - - -inline float db_SignedSquareNormCorr15x15_u(unsigned char **f_img,unsigned char **g_img,int x_f,int y_f,int x_g,int y_g) -{ - unsigned char *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-7; - xm_g=x_g-7; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-7]+xm_f; pg=g_img[y_g-7]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-6]+xm_f; pg=g_img[y_g-6]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+6]+xm_f; pg=g_img[y_g+6]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+7]+xm_f; pg=g_img[y_g+7]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=225.0f*fgsum-fsum*gsum; - den=(225.0f*f2sum-fsum*fsum)*(225.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline float db_SignedSquareNormCorr7x7_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) -{ - float f,g,*pf,*pg,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-3; - xm_g=x_g-3; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=49.0f*fgsum-fsum*gsum; - den=(49.0f*f2sum-fsum*fsum)*(49.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline float db_SignedSquareNormCorr9x9_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) -{ - float f,g,*pf,*pg,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-4; - xm_g=x_g-4; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=81.0f*fgsum-fsum*gsum; - den=(81.0f*f2sum-fsum*fsum)*(81.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline float db_SignedSquareNormCorr11x11_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) -{ - float *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-5; - xm_g=x_g-5; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=121.0f*fgsum-fsum*gsum; - den=(121.0f*f2sum-fsum*fsum)*(121.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -inline void db_SignedSquareNormCorr11x11_Pre_f(float **f_img,int x_f,int y_f,float *sum,float *recip) -{ - float *pf,den; - float f,f2sum,fsum; - int xm_f; - - xm_f=x_f-5; - - pf=f_img[y_f-5]+xm_f; - f= *pf++; f2sum=f*f; fsum=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f-1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - pf=f_img[y_f+5]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf++; f2sum+=f*f; fsum+=f; - f= *pf; f2sum+=f*f; fsum+=f; - - *sum=fsum; - den=(121.0f*f2sum-fsum*fsum); - *recip= (float) ((den!=0.0)?1.0/den:0.0); -} - -inline void db_SignedSquareNormCorr11x11_PreAlign_f(float *patch,const float * const *f_img,int x_f,int y_f,float *sum,float *recip) -{ - const float *pf; - float den,f,f2sum,fsum; - int xm_f; - - xm_f=x_f-5; - - pf=f_img[y_f-5]+xm_f; - f= *pf++; f2sum=f*f; fsum=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f-1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+1]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+2]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+3]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+4]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - pf=f_img[y_f+5]+xm_f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf++; f2sum+=f*f; fsum+=f; (*patch++)=f; - f= *pf; f2sum+=f*f; fsum+=f; (*patch++)=f; - - (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; (*patch++)=0.0; - (*patch++)=0.0; (*patch++)=0.0; - - *sum=fsum; - den=(121.0f*f2sum-fsum*fsum); - *recip= (float) ((den!=0.0)?1.0/den:0.0); -} - -inline float db_SignedSquareNormCorr11x11_Post_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g, - float fsum_gsum,float f_recip_g_recip) -{ - float *pf,*pg; - float fgsum,fg_corr; - int xm_f,xm_g; - - xm_f=x_f-5; - xm_g=x_g-5; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - fgsum=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); fgsum+=(*pf++)*(*pg++); - fgsum+=(*pf++)*(*pg++); fgsum+=(*pf)*(*pg); - - fg_corr=121.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - -inline float db_SignedSquareNormCorr11x11Aligned_Post_f(const float *f_patch,const float *g_patch,float fsum_gsum,float f_recip_g_recip) -{ - float fgsum,fg_corr; - - fgsum=db_ScalarProduct128Aligned16_f(f_patch,g_patch); - - fg_corr=121.0f*fgsum-fsum_gsum; - if(fg_corr>=0.0) return(fg_corr*fg_corr*f_recip_g_recip); - return(-fg_corr*fg_corr*f_recip_g_recip); -} - -inline float db_SignedSquareNormCorr15x15_f(float **f_img,float **g_img,int x_f,int y_f,int x_g,int y_g) -{ - float *pf,*pg; - float f,g,fgsum,f2sum,g2sum,fsum,gsum,fg_corr,den; - int xm_f,xm_g; - - xm_f=x_f-7; - xm_g=x_g-7; - fgsum=0.0; f2sum=0.0; g2sum=0.0; fsum=0.0; gsum=0.0; - - pf=f_img[y_f-7]+xm_f; pg=g_img[y_g-7]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-6]+xm_f; pg=g_img[y_g-6]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-5]+xm_f; pg=g_img[y_g-5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-4]+xm_f; pg=g_img[y_g-4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-3]+xm_f; pg=g_img[y_g-3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-2]+xm_f; pg=g_img[y_g-2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f-1]+xm_f; pg=g_img[y_g-1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f]+xm_f; pg=g_img[y_g]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+1]+xm_f; pg=g_img[y_g+1]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+2]+xm_f; pg=g_img[y_g+2]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+3]+xm_f; pg=g_img[y_g+3]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+4]+xm_f; pg=g_img[y_g+4]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+5]+xm_f; pg=g_img[y_g+5]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+6]+xm_f; pg=g_img[y_g+6]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - pf=f_img[y_f+7]+xm_f; pg=g_img[y_g+7]+xm_g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf++; g= *pg++; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - f= *pf; g= *pg; fgsum+=f*g; f2sum+=f*f; g2sum+=g*g; fsum+=f; gsum+=g; - - fg_corr=225.0f*fgsum-fsum*gsum; - den=(225.0f*f2sum-fsum*fsum)*(225.0f*g2sum-gsum*gsum); - if(den!=0.0) - { - if(fg_corr>=0.0) return(fg_corr*fg_corr/den); - return(-fg_corr*fg_corr/den); - } - return(0.0); -} - -db_Bucket_f** db_AllocBuckets_f(int nr_h,int nr_v,int bd) -{ - int i,j; - db_Bucket_f **bp,*b; - - b=new db_Bucket_f [(nr_h+2)*(nr_v+2)]; - bp=new db_Bucket_f* [(nr_v+2)]; - bp=bp+1; - for(i= -1;i<=nr_v;i++) - { - bp[i]=b+1+(nr_h+2)*(i+1); - for(j= -1;j<=nr_h;j++) - { - bp[i][j].ptr=new db_PointInfo_f [bd]; - } - } - - return(bp); -} - -db_Bucket_u** db_AllocBuckets_u(int nr_h,int nr_v,int bd) -{ - int i,j; - db_Bucket_u **bp,*b; - - b=new db_Bucket_u [(nr_h+2)*(nr_v+2)]; - bp=new db_Bucket_u* [(nr_v+2)]; - bp=bp+1; - for(i= -1;i<=nr_v;i++) - { - bp[i]=b+1+(nr_h+2)*(i+1); - for(j= -1;j<=nr_h;j++) - { - bp[i][j].ptr=new db_PointInfo_u [bd]; - } - } - - return(bp); -} - -void db_FreeBuckets_f(db_Bucket_f **bp,int nr_h,int nr_v) -{ - int i,j; - - for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) - { - delete [] bp[i][j].ptr; - } - delete [] (bp[-1]-1); - delete [] (bp-1); -} - -void db_FreeBuckets_u(db_Bucket_u **bp,int nr_h,int nr_v) -{ - int i,j; - - for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) - { - delete [] bp[i][j].ptr; - } - delete [] (bp[-1]-1); - delete [] (bp-1); -} - -void db_EmptyBuckets_f(db_Bucket_f **bp,int nr_h,int nr_v) -{ - int i,j; - for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) bp[i][j].nr=0; -} - -void db_EmptyBuckets_u(db_Bucket_u **bp,int nr_h,int nr_v) -{ - int i,j; - for(i= -1;i<=nr_v;i++) for(j= -1;j<=nr_h;j++) bp[i][j].nr=0; -} - -float* db_FillBuckets_f(float *patch_space,const float * const *f_img,db_Bucket_f **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners) -{ - int i,xi,yi,xpos,ypos,nr; - db_Bucket_f *br; - db_PointInfo_f *pir; - - db_EmptyBuckets_f(bp,nr_h,nr_v); - for(i=0;i<nr_corners;i++) - { - xi=(int) x[i]; - yi=(int) y[i]; - xpos=xi/bw; - ypos=yi/bh; - if(xpos>=0 && xpos<nr_h && ypos>=0 && ypos<nr_v) - { - br=&bp[ypos][xpos]; - nr=br->nr; - if(nr<bd) - { - pir=&(br->ptr[nr]); - pir->x=xi; - pir->y=yi; - pir->id=i; - pir->pir=0; - pir->patch=patch_space; - br->nr=nr+1; - - db_SignedSquareNormCorr11x11_PreAlign_f(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=128; - } - } - } - return(patch_space); -} - -short* db_FillBuckets_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners,int use_smaller_matching_window, int use_21) -{ - int i,xi,yi,xpos,ypos,nr; - db_Bucket_u *br; - db_PointInfo_u *pir; - - db_EmptyBuckets_u(bp,nr_h,nr_v); - for(i=0;i<nr_corners;i++) - { - xi=(int)db_roundi(x[i]); - yi=(int)db_roundi(y[i]); - xpos=xi/bw; - ypos=yi/bh; - if(xpos>=0 && xpos<nr_h && ypos>=0 && ypos<nr_v) - { - br=&bp[ypos][xpos]; - nr=br->nr; - if(nr<bd) - { - pir=&(br->ptr[nr]); - pir->x=xi; - pir->y=yi; - pir->id=i; - pir->pir=0; - pir->patch=patch_space; - br->nr=nr+1; - - if(use_21) - { - db_SignedSquareNormCorr21x21_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=512; - } - else - { - if(!use_smaller_matching_window) - { - db_SignedSquareNormCorr11x11_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=128; - } - else - { - db_SignedSquareNormCorr5x5_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=32; - } - } - } - } - } - return(patch_space); -} - - - -float* db_FillBucketsPrewarped_f(float *patch_space,const float *const *f_img,db_Bucket_f **bp,int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y,int nr_corners,const double H[9]) -{ - int i,xi,yi,xpos,ypos,nr,wxi,wyi; - db_Bucket_f *br; - db_PointInfo_f *pir; - double xd[2],wx[2]; - - db_EmptyBuckets_f(bp,nr_h,nr_v); - for(i=0;i<nr_corners;i++) - { - xd[0]=x[i]; - xd[1]=y[i]; - xi=(int) xd[0]; - yi=(int) xd[1]; - db_ImageHomographyInhomogenous(wx,H,xd); - wxi=(int) wx[0]; - wyi=(int) wx[1]; - - xpos=((wxi+bw)/bw)-1; - ypos=((wyi+bh)/bh)-1; - if(xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) - { - br=&bp[ypos][xpos]; - nr=br->nr; - if(nr<bd) - { - pir=&(br->ptr[nr]); - pir->x=wxi; - pir->y=wyi; - pir->id=i; - pir->pir=0; - pir->patch=patch_space; - br->nr=nr+1; - - db_SignedSquareNormCorr11x11_PreAlign_f(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=128; - } - } - } - return(patch_space); -} - -short* db_FillBucketsPrewarped_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp, - int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y, - int nr_corners,const double H[9]) -{ - int i,xi,yi,xpos,ypos,nr,wxi,wyi; - db_Bucket_u *br; - db_PointInfo_u *pir; - double xd[2],wx[2]; - - db_EmptyBuckets_u(bp,nr_h,nr_v); - for(i=0;i<nr_corners;i++) - { - xd[0]=x[i]; - xd[1]=y[i]; - xi=(int) db_roundi(xd[0]); - yi=(int) db_roundi(xd[1]); - db_ImageHomographyInhomogenous(wx,H,xd); - wxi=(int) wx[0]; - wyi=(int) wx[1]; - - xpos=((wxi+bw)/bw)-1; - ypos=((wyi+bh)/bh)-1; - if(xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) - { - br=&bp[ypos][xpos]; - nr=br->nr; - if(nr<bd) - { - pir=&(br->ptr[nr]); - pir->x=wxi; - pir->y=wyi; - pir->id=i; - pir->pir=0; - pir->patch=patch_space; - br->nr=nr+1; - - db_SignedSquareNormCorr11x11_PreAlign_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip)); - patch_space+=128; - } - } - } - return(patch_space); -} - - - -short* db_FillBucketsPrewarpedAffine_u(short *patch_space,const unsigned char * const *f_img,db_Bucket_u **bp, - int bw,int bh,int nr_h,int nr_v,int bd,const double *x,const double *y, - int nr_corners,const double H[9],const double Hinv[9],const int warpboundsp[4], - int affine) -{ - int i,xi,yi,xpos,ypos,nr,wxi,wyi; - db_Bucket_u *br; - db_PointInfo_u *pir; - double xd[2],wx[2]; - - db_EmptyBuckets_u(bp,nr_h,nr_v); - for(i=0;i<nr_corners;i++) - { - xd[0]=x[i]; - xd[1]=y[i]; - xi=(int) db_roundi(xd[0]); - yi=(int) db_roundi(xd[1]); - db_ImageHomographyInhomogenous(wx,H,xd); - wxi=(int) wx[0]; - wyi=(int) wx[1]; - - xpos=((wxi+bw)/bw)-1; - ypos=((wyi+bh)/bh)-1; - - - if (xpos>= -1 && xpos<=nr_h && ypos>= -1 && ypos<=nr_v) - { - if( xi>warpboundsp[0] && xi<warpboundsp[1] && yi>warpboundsp[2] && yi<warpboundsp[3]) - { - - br=&bp[ypos][xpos]; - nr=br->nr; - if(nr<bd) - { - pir=&(br->ptr[nr]); - pir->x=wxi; - pir->y=wyi; - pir->id=i; - pir->pir=0; - pir->patch=patch_space; - br->nr=nr+1; - - db_SignedSquareNormCorr11x11_PreAlign_AffinePatchWarp_u(patch_space,f_img,xi,yi,&(pir->sum),&(pir->recip),Hinv,affine); - patch_space+=128; - } - } - } - } - return(patch_space); -} - - - -inline void db_MatchPointPair_f(db_PointInfo_f *pir_l,db_PointInfo_f *pir_r, - unsigned long kA,unsigned long kB) -{ - int x_l,y_l,x_r,y_r,xm,ym; - double score; - - x_l=pir_l->x; - y_l=pir_l->y; - x_r=pir_r->x; - y_r=pir_r->y; - xm=x_l-x_r; - ym=y_l-y_r; - /*Check if disparity is within the maximum disparity - with the formula xm^2*256+ym^2*kA<kB - where kA=256*w^2/h^2 - and kB=256*max_disp^2*w^2*/ - if(((xm*xm)<<8)+ym*ym*kA<kB) - { - /*Correlate*/ - score=db_SignedSquareNormCorr11x11Aligned_Post_f(pir_l->patch,pir_r->patch, - (pir_l->sum)*(pir_r->sum), - (pir_l->recip)*(pir_r->recip)); - - if((!(pir_l->pir)) || (score>pir_l->s)) - { - /*Update left corner*/ - pir_l->s=score; - pir_l->pir=pir_r; - } - if((!(pir_r->pir)) || (score>pir_r->s)) - { - /*Update right corner*/ - pir_r->s=score; - pir_r->pir=pir_l; - } - } -} - -inline void db_MatchPointPair_u(db_PointInfo_u *pir_l,db_PointInfo_u *pir_r, - unsigned long kA,unsigned long kB, unsigned int rect_window,bool use_smaller_matching_window, int use_21) -{ - int xm,ym; - double score; - bool compute_score; - - - if( rect_window ) - compute_score = ((unsigned)db_absi(pir_l->x - pir_r->x)<kA && (unsigned)db_absi(pir_l->y - pir_r->y)<kB); - else - { /*Check if disparity is within the maximum disparity - with the formula xm^2*256+ym^2*kA<kB - where kA=256*w^2/h^2 - and kB=256*max_disp^2*w^2*/ - xm= pir_l->x - pir_r->x; - ym= pir_l->y - pir_r->y; - compute_score = ((xm*xm)<<8)+ym*ym*kA < kB; - } - - if ( compute_score ) - { - if(use_21) - { - score=db_SignedSquareNormCorr21x21Aligned_Post_s(pir_l->patch,pir_r->patch, - (pir_l->sum)*(pir_r->sum), - (pir_l->recip)*(pir_r->recip)); - } - else - { - /*Correlate*/ - if(!use_smaller_matching_window) - { - score=db_SignedSquareNormCorr11x11Aligned_Post_s(pir_l->patch,pir_r->patch, - (pir_l->sum)*(pir_r->sum), - (pir_l->recip)*(pir_r->recip)); - } - else - { - score=db_SignedSquareNormCorr5x5Aligned_Post_s(pir_l->patch,pir_r->patch, - (pir_l->sum)*(pir_r->sum), - (pir_l->recip)*(pir_r->recip)); - } - } - - if((!(pir_l->pir)) || (score>pir_l->s)) - { - /*Update left corner*/ - pir_l->s=score; - pir_l->pir=pir_r; - } - if((!(pir_r->pir)) || (score>pir_r->s)) - { - /*Update right corner*/ - pir_r->s=score; - pir_r->pir=pir_l; - } - } -} - -inline void db_MatchPointAgainstBucket_f(db_PointInfo_f *pir_l,db_Bucket_f *b_r, - unsigned long kA,unsigned long kB) -{ - int p_r,nr; - db_PointInfo_f *pir_r; - - nr=b_r->nr; - pir_r=b_r->ptr; - for(p_r=0;p_r<nr;p_r++) db_MatchPointPair_f(pir_l,pir_r+p_r,kA,kB); -} - -inline void db_MatchPointAgainstBucket_u(db_PointInfo_u *pir_l,db_Bucket_u *b_r, - unsigned long kA,unsigned long kB,int rect_window, bool use_smaller_matching_window, int use_21) -{ - int p_r,nr; - db_PointInfo_u *pir_r; - - nr=b_r->nr; - pir_r=b_r->ptr; - - for(p_r=0;p_r<nr;p_r++) db_MatchPointPair_u(pir_l,pir_r+p_r,kA,kB, rect_window, use_smaller_matching_window, use_21); - -} - -void db_MatchBuckets_f(db_Bucket_f **bp_l,db_Bucket_f **bp_r,int nr_h,int nr_v, - unsigned long kA,unsigned long kB) -{ - int i,j,k,a,b,br_nr; - db_Bucket_f *br; - db_PointInfo_f *pir_l; - - /*For all buckets*/ - for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) - { - br=&bp_l[i][j]; - br_nr=br->nr; - /*For all points in bucket*/ - for(k=0;k<br_nr;k++) - { - pir_l=br->ptr+k; - for(a=i-1;a<=i+1;a++) - { - for(b=j-1;b<=j+1;b++) - { - db_MatchPointAgainstBucket_f(pir_l,&bp_r[a][b],kA,kB); - } - } - } - } -} - -void db_MatchBuckets_u(db_Bucket_u **bp_l,db_Bucket_u **bp_r,int nr_h,int nr_v, - unsigned long kA,unsigned long kB,int rect_window,bool use_smaller_matching_window, int use_21) -{ - int i,j,k,a,b,br_nr; - db_Bucket_u *br; - db_PointInfo_u *pir_l; - - /*For all buckets*/ - for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) - { - br=&bp_l[i][j]; - br_nr=br->nr; - /*For all points in bucket*/ - for(k=0;k<br_nr;k++) - { - pir_l=br->ptr+k; - for(a=i-1;a<=i+1;a++) - { - for(b=j-1;b<=j+1;b++) - { - db_MatchPointAgainstBucket_u(pir_l,&bp_r[a][b],kA,kB,rect_window,use_smaller_matching_window, use_21); - } - } - } - } -} - -void db_CollectMatches_f(db_Bucket_f **bp_l,int nr_h,int nr_v,unsigned long target,int *id_l,int *id_r,int *nr_matches) -{ - int i,j,k,br_nr; - unsigned long count; - db_Bucket_f *br; - db_PointInfo_f *pir,*pir2; - - count=0; - /*For all buckets*/ - for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) - { - br=&bp_l[i][j]; - br_nr=br->nr; - /*For all points in bucket*/ - for(k=0;k<br_nr;k++) - { - pir=br->ptr+k; - pir2=pir->pir; - if(pir2) - { - /*This point has a best match*/ - if((pir2->pir)==pir) - { - /*We have a mutually consistent match*/ - if(count<target) - { - id_l[count]=pir->id; - id_r[count]=pir2->id; - count++; - } - } - } - } - } - *nr_matches=count; -} - -void db_CollectMatches_u(db_Bucket_u **bp_l,int nr_h,int nr_v,unsigned long target,int *id_l,int *id_r,int *nr_matches) -{ - int i,j,k,br_nr; - unsigned long count; - db_Bucket_u *br; - db_PointInfo_u *pir,*pir2; - - count=0; - /*For all buckets*/ - for(i=0;i<nr_v;i++) for(j=0;j<nr_h;j++) - { - br=&bp_l[i][j]; - br_nr=br->nr; - /*For all points in bucket*/ - for(k=0;k<br_nr;k++) - { - pir=br->ptr+k; - pir2=pir->pir; - if(pir2) - { - /*This point has a best match*/ - if((pir2->pir)==pir) - { - /*We have a mutually consistent match*/ - if(count<target) - { - id_l[count]=pir->id; - id_r[count]=pir2->id; - count++; - } - } - } - } - } - *nr_matches=count; -} - -db_Matcher_f::db_Matcher_f() -{ - m_w=0; m_h=0; -} - -db_Matcher_f::~db_Matcher_f() -{ - Clean(); -} - -void db_Matcher_f::Clean() -{ - if(m_w) - { - /*Free buckets*/ - db_FreeBuckets_f(m_bp_l,m_nr_h,m_nr_v); - db_FreeBuckets_f(m_bp_r,m_nr_h,m_nr_v); - /*Free space for patch layouts*/ - delete [] m_patch_space; - } - m_w=0; m_h=0; -} - -unsigned long db_Matcher_f::Init(int im_width,int im_height,double max_disparity,int target_nr_corners) -{ - Clean(); - m_w=im_width; - m_h=im_height; - m_bw=db_maxi(1,(int) (max_disparity*((double)im_width))); - m_bh=db_maxi(1,(int) (max_disparity*((double)im_height))); - m_nr_h=1+(im_width-1)/m_bw; - m_nr_v=1+(im_height-1)/m_bh; - m_bd=db_maxi(1,(int)(((double)target_nr_corners)* - max_disparity*max_disparity)); - m_target=target_nr_corners; - m_kA=(long)(256.0*((double)(m_w*m_w))/((double)(m_h*m_h))); - m_kB=(long)(256.0*max_disparity*max_disparity*((double)(m_w*m_w))); - - /*Alloc bucket structure*/ - m_bp_l=db_AllocBuckets_f(m_nr_h,m_nr_v,m_bd); - m_bp_r=db_AllocBuckets_f(m_nr_h,m_nr_v,m_bd); - - /*Alloc 16byte-aligned space for patch layouts*/ - m_patch_space=new float [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*128+16]; - m_aligned_patch_space=db_AlignPointer_f(m_patch_space,16); - - return(m_target); -} - -void db_Matcher_f::Match(const float * const *l_img,const float * const *r_img, - const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, - int *id_l,int *id_r,int *nr_matches,const double H[9]) -{ - float *ps; - - /*Insert the corners into bucket structure*/ - ps=db_FillBuckets_f(m_aligned_patch_space,l_img,m_bp_l,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_l,y_l,nr_l); - if(H==0) db_FillBuckets_f(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r); - else db_FillBucketsPrewarped_f(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,H); - - /*Compute all the necessary match scores*/ - db_MatchBuckets_f(m_bp_l,m_bp_r,m_nr_h,m_nr_v,m_kA,m_kB); - - /*Collect the correspondences*/ - db_CollectMatches_f(m_bp_l,m_nr_h,m_nr_v,m_target,id_l,id_r,nr_matches); -} - -db_Matcher_u::db_Matcher_u() -{ - m_w=0; m_h=0; - m_rect_window = 0; - m_bw=m_bh=m_nr_h=m_nr_v=m_bd=m_target=0; - m_bp_l=m_bp_r=0; - m_patch_space=m_aligned_patch_space=0; -} - -db_Matcher_u::db_Matcher_u(const db_Matcher_u& cm) -{ - Init(cm.m_w, cm.m_h, cm.m_max_disparity, cm.m_target, cm.m_max_disparity_v); -} - -db_Matcher_u& db_Matcher_u::operator= (const db_Matcher_u& cm) -{ - if ( this == &cm ) return *this; - Init(cm.m_w, cm.m_h, cm.m_max_disparity, cm.m_target, cm.m_max_disparity_v); - return *this; -} - - -db_Matcher_u::~db_Matcher_u() -{ - Clean(); -} - -void db_Matcher_u::Clean() -{ - if(m_w) - { - /*Free buckets*/ - db_FreeBuckets_u(m_bp_l,m_nr_h,m_nr_v); - db_FreeBuckets_u(m_bp_r,m_nr_h,m_nr_v); - /*Free space for patch layouts*/ - delete [] m_patch_space; - } - m_w=0; m_h=0; -} - - -unsigned long db_Matcher_u::Init(int im_width,int im_height,double max_disparity,int target_nr_corners, - double max_disparity_v, bool use_smaller_matching_window, int use_21) -{ - Clean(); - m_w=im_width; - m_h=im_height; - m_max_disparity=max_disparity; - m_max_disparity_v=max_disparity_v; - - if ( max_disparity_v != DB_DEFAULT_NO_DISPARITY ) - { - m_rect_window = 1; - - m_bw=db_maxi(1,(int)(max_disparity*((double)im_width))); - m_bh=db_maxi(1,(int)(max_disparity_v*((double)im_height))); - - m_bd=db_maxi(1,(int)(((double)target_nr_corners)*max_disparity*max_disparity_v)); - - m_kA=(int)(max_disparity*m_w); - m_kB=(int)(max_disparity_v*m_h); - - } else - { - m_bw=(int)db_maxi(1,(int)(max_disparity*((double)im_width))); - m_bh=(int)db_maxi(1,(int)(max_disparity*((double)im_height))); - - m_bd=db_maxi(1,(int)(((double)target_nr_corners)*max_disparity*max_disparity)); - - m_kA=(long)(256.0*((double)(m_w*m_w))/((double)(m_h*m_h))); - m_kB=(long)(256.0*max_disparity*max_disparity*((double)(m_w*m_w))); - } - - m_nr_h=1+(im_width-1)/m_bw; - m_nr_v=1+(im_height-1)/m_bh; - - m_target=target_nr_corners; - - /*Alloc bucket structure*/ - m_bp_l=db_AllocBuckets_u(m_nr_h,m_nr_v,m_bd); - m_bp_r=db_AllocBuckets_u(m_nr_h,m_nr_v,m_bd); - - m_use_smaller_matching_window = use_smaller_matching_window; - m_use_21 = use_21; - - if(m_use_21) - { - /*Alloc 64byte-aligned space for patch layouts*/ - m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*512+64]; - m_aligned_patch_space=db_AlignPointer_s(m_patch_space,64); - } - else - { - if(!m_use_smaller_matching_window) - { - /*Alloc 16byte-aligned space for patch layouts*/ - m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*128+16]; - m_aligned_patch_space=db_AlignPointer_s(m_patch_space,16); - } - else - { - /*Alloc 4byte-aligned space for patch layouts*/ - m_patch_space=new short [2*(m_nr_h+2)*(m_nr_v+2)*m_bd*32+4]; - m_aligned_patch_space=db_AlignPointer_s(m_patch_space,4); - } - } - - return(m_target); -} - -void db_Matcher_u::Match(const unsigned char * const *l_img,const unsigned char * const *r_img, - const double *x_l,const double *y_l,int nr_l,const double *x_r,const double *y_r,int nr_r, - int *id_l,int *id_r,int *nr_matches,const double H[9],int affine) -{ - short *ps; - - /*Insert the corners into bucket structure*/ - ps=db_FillBuckets_u(m_aligned_patch_space,l_img,m_bp_l,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_l,y_l,nr_l,m_use_smaller_matching_window,m_use_21); - if(H==0) - db_FillBuckets_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,m_use_smaller_matching_window,m_use_21); - else - { - if (affine) - { - double Hinv[9]; - db_InvertAffineTransform(Hinv,H); - float r_w, c_w; - float stretch_x[2]; - float stretch_y[2]; - AffineWarpPointOffset(r_w,c_w,Hinv, 5,5); - stretch_x[0]=db_absf(c_w);stretch_y[0]=db_absf(r_w); - AffineWarpPointOffset(r_w,c_w,Hinv, 5,-5); - stretch_x[1]=db_absf(c_w);stretch_y[1]=db_absf(r_w); - int max_stretxh_x=(int) (db_maxd(stretch_x[0],stretch_x[1])); - int max_stretxh_y=(int) (db_maxd(stretch_y[0],stretch_y[1])); - int warpbounds[4]={max_stretxh_x,m_w-1-max_stretxh_x,max_stretxh_y,m_h-1-max_stretxh_y}; - - for (int r=-5;r<=5;r++){ - for (int c=-5;c<=5;c++){ - AffineWarpPointOffset(r_w,c_w,Hinv,r,c); - AffineWarpPoint_BL_LUT_y[r+5][c+5]=r_w; - AffineWarpPoint_BL_LUT_x[r+5][c+5]=c_w; - - AffineWarpPoint_NN_LUT_y[r+5][c+5]=db_roundi(r_w); - AffineWarpPoint_NN_LUT_x[r+5][c+5]=db_roundi(c_w); - - } - } - - db_FillBucketsPrewarpedAffine_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd, - x_r,y_r,nr_r,H,Hinv,warpbounds,affine); - } - else - db_FillBucketsPrewarped_u(ps,r_img,m_bp_r,m_bw,m_bh,m_nr_h,m_nr_v,m_bd,x_r,y_r,nr_r,H); - } - - - /*Compute all the necessary match scores*/ - db_MatchBuckets_u(m_bp_l,m_bp_r,m_nr_h,m_nr_v,m_kA,m_kB, m_rect_window,m_use_smaller_matching_window,m_use_21); - - /*Collect the correspondences*/ - db_CollectMatches_u(m_bp_l,m_nr_h,m_nr_v,m_target,id_l,id_r,nr_matches); -} - -int db_Matcher_u::IsAllocated() -{ - return (int)(m_w != 0); -} |