1e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/* 2e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * Copyright (C) 2011 The Android Open Source Project 3e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * 4e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * Licensed under the Apache License, Version 2.0 (the "License"); 5e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * you may not use this file except in compliance with the License. 6e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * You may obtain a copy of the License at 7e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * 8e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * http://www.apache.org/licenses/LICENSE-2.0 9e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * 10e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * Unless required by applicable law or agreed to in writing, software 11e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * distributed under the License is distributed on an "AS IS" BASIS, 12e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * See the License for the specific language governing permissions and 14e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen * limitations under the License. 15e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen */ 16e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 17e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*$Id: db_feature_detection.cpp,v 1.4 2011/06/17 14:03:30 mbansal Exp $*/ 18e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 19e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/***************************************************************** 20e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen* Lean and mean begins here * 21e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen*****************************************************************/ 22e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 23e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#include "db_utilities.h" 24e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#include "db_feature_detection.h" 25e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef _VERBOSE_ 26e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#include <iostream> 27e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif 28e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#include <float.h> 29e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 30e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#define DB_SUB_PIXEL 31e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 32e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#define BORDER 10 // 5 33e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 34e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenfloat** db_AllocStrengthImage_f(float **im,int w,int h) 35e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 36e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int i,n,aw; 37e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen long c,size; 38e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float **img,*aim,*p; 39e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 40e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Determine number of 124 element chunks needed*/ 41e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen n=(db_maxi(1,w-6)+123)/124; 42e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Determine the total allocation width aw*/ 43e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen aw=n*124+8; 44e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Allocate*/ 45e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen size=aw*h+16; 46e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen *im=new float [size]; 47e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Clean up*/ 48e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen p=(*im); 49e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(c=0;c<size;c++) p[c]=0.0; 50e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Get a 16 byte aligned pointer*/ 51e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen aim=db_AlignPointer_f(*im,16); 52e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Allocate pointer table*/ 53e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen img=new float* [h]; 54e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Initialize the pointer table*/ 55e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=0;i<h;i++) 56e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 57e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen img[i]=aim+aw*i+1; 58e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 59e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 60e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(img); 61e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 62e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 63e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid db_FreeStrengthImage_f(float *im,float **img,int h) 64e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 65e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen delete [] im; 66e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen delete [] img; 67e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 68e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 69e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Compute derivatives Ix,Iy for a subrow of img with upper left (i,j) and width chunk_width 70e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta ChenMemory references occur one pixel outside the subrow*/ 71e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_IxIyRow_f(float *Ix,float *Iy,const float * const *img,int i,int j,int chunk_width) 72e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 73e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int c; 74e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 75e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(c=0;c<chunk_width;c++) 76e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 77e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ix[c]=img[i][j+c-1]-img[i][j+c+1]; 78e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Iy[c]=img[i-1][j+c]-img[i+1][j+c]; 79e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 80e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 81e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 82e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Compute derivatives Ix,Iy for a subrow of img with upper left (i,j) and width 128 83e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta ChenMemory references occur one pixel outside the subrow*/ 84e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_IxIyRow_u(int *dxx,const unsigned char * const *img,int i,int j,int nc) 85e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 86e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_MMX 87e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen const unsigned char *r1,*r2,*r3; 88e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 89e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen r1=img[i-1]+j; r2=img[i]+j; r3=img[i+1]+j; 90e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 91e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 92e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 93e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov esi,16 94e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,r1 95e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov ebx,r2 96e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov ecx,r3 97e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov edx,dxx 98e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 99e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Get bitmask into mm7*/ 100e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov edi,7F7F7F7Fh 101e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movd mm7,edi 102e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpckldq mm7,mm7 103e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 104e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenloopstart: 105e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /***************dx part 1-12*********************************/ 106e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm0,[eax] /*1 Get upper*/ 107e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm6,mm6 /*2 Set to zero*/ 108e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm1,[ecx] /*3 Get lower*/ 109e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen psrlq mm0,1 /*4 Shift*/ 110e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen psrlq mm1,1 /*5 Shift*/ 111e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pand mm0,mm7 /*6 And*/ 112e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm2,[ebx-1] /*13 Get left*/ 113e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pand mm1,mm7 /*7 And*/ 114e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen psubb mm0,mm1 /*8 Subtract*/ 115e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm5,mm5 /*14 Set to zero*/ 116e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm1,mm0 /*9 Copy*/ 117e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pcmpgtb mm6,mm0 /*10 Create unpack mask*/ 118e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm3,[ebx+1] /*15 Get right*/ 119e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpcklbw mm0,mm6 /*11 Unpack low*/ 120e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpckhbw mm1,mm6 /*12 Unpack high*/ 121e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /***************dy part 13-24*********************************/ 122e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm4,mm0 /*25 Copy dx*/ 123e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen psrlq mm2,1 /*16 Shift*/ 124e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pmullw mm0,mm0 /*26 Multiply dx*dx*/ 125e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen psrlq mm3,1 /*17 Shift*/ 126e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pand mm2,mm7 /*18 And*/ 127e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pand mm3,mm7 /*19 And*/ 128e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 129e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen psubb mm2,mm3 /*20 Subtract*/ 130e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 131e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm3,mm2 /*21 Copy*/ 132e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pcmpgtb mm5,mm2 /*22 Create unpack mask*/ 133e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpcklbw mm2,mm5 /*23 Unpack low*/ 134e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 135e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpckhbw mm3,mm5 /*24 Unpack high*/ 136e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /***************dxx dxy dyy low part 25-49*********************************/ 137e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pmullw mm4,mm2 /*27 Multiply dx*dy*/ 138e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pmullw mm2,mm2 /*28 Multiply dy*dy*/ 139e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm6,mm6 /*29 Set to zero*/ 140e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm5,mm0 /*30 Copy dx*dx*/ 141e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pcmpgtw mm6,mm0 /*31 Create unpack mask for dx*dx*/ 142e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpcklwd mm0,mm6 /*32 Unpack dx*dx lows*/ 143e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 144e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpckhwd mm5,mm6 /*33 Unpack dx*dx highs*/ 145e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm6,mm6 /*36 Set to zero*/ 146e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx],mm0 /*34 Store dx*dx lows*/ 147e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm0,mm4 /*37 Copy dx*dy*/ 148e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+8],mm5 /*35 Store dx*dx highs*/ 149e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pcmpgtw mm6,mm4 /*38 Create unpack mask for dx*dy*/ 150e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpcklwd mm4,mm6 /*39 Unpack dx*dy lows*/ 151e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 152e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpckhwd mm0,mm6 /*40 Unpack dx*dy highs*/ 153e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm6,mm6 /*43 Set to zero*/ 154e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+512],mm4 /*41 Store dx*dy lows*/ 155e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm5,mm2 /*44 Copy dy*dy*/ 156e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+520],mm0 /*42 Store dx*dy highs*/ 157e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pcmpgtw mm6,mm2 /*45 Create unpack mask for dy*dy*/ 158e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpcklwd mm2,mm6 /*46 Unpack dy*dy lows*/ 159e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm4,mm1 /*50 Copy dx*/ 160e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpckhwd mm5,mm6 /*47 Unpack dy*dy highs*/ 161e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pmullw mm1,mm1 /*51 Multiply dx*dx*/ 162e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+1024],mm2 /*48 Store dy*dy lows*/ 163e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pmullw mm4,mm3 /*52 Multiply dx*dy*/ 164e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+1032],mm5 /*49 Store dy*dy highs*/ 165e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /***************dxx dxy dyy high part 50-79*********************************/ 166e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pmullw mm3,mm3 /*53 Multiply dy*dy*/ 167e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm6,mm6 /*54 Set to zero*/ 168e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm5,mm1 /*55 Copy dx*dx*/ 169e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pcmpgtw mm6,mm1 /*56 Create unpack mask for dx*dx*/ 170e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm2,mm2 /*61 Set to zero*/ 171e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpcklwd mm1,mm6 /*57 Unpack dx*dx lows*/ 172e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm0,mm4 /*62 Copy dx*dy*/ 173e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpckhwd mm5,mm6 /*58 Unpack dx*dx highs*/ 174e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pcmpgtw mm2,mm4 /*63 Create unpack mask for dx*dy*/ 175e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+16],mm1 /*59 Store dx*dx lows*/ 176e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpcklwd mm4,mm2 /*64 Unpack dx*dy lows*/ 177e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+24],mm5 /*60 Store dx*dx highs*/ 178e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpckhwd mm0,mm2 /*65 Unpack dx*dy highs*/ 179e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+528],mm4 /*66 Store dx*dy lows*/ 180e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm6,mm6 /*68 Set to zero*/ 181e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+536],mm0 /*67 Store dx*dy highs*/ 182e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm5,mm3 /*69 Copy dy*dy*/ 183e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pcmpgtw mm6,mm3 /*70 Create unpack mask for dy*dy*/ 184e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add eax,8 /*75*/ 185e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpcklwd mm3,mm6 /*71 Unpack dy*dy lows*/ 186e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add ebx,8 /*76*/ 187e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen punpckhwd mm5,mm6 /*72 Unpack dy*dy highs*/ 188e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add ecx,8 /*77*/ 189e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+1040],mm3 /*73 Store dy*dy lows*/ 190e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 191e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [edx+1048],mm5 /*74 Store dy*dy highs*/ 192e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 193e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add edx,32 /*78*/ 194e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dec esi /*79*/ 195e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen jnz loopstart 196e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 197e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen emms 198e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 199e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 200e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 201e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int c; 202e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int Ix,Iy; 203e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 204e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(c=0;c<nc;c++) 205e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 206e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ix=(img[i][j+c-1]-img[i][j+c+1])>>1; 207e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Iy=(img[i-1][j+c]-img[i+1][j+c])>>1; 208e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dxx[c]=Ix*Ix; 209e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dxx[c+128]=Ix*Iy; 210e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dxx[c+256]=Iy*Iy; 211e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 212e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_MMX*/ 213e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 214e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 215e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Filter vertically five rows of derivatives of length chunk_width into gxx,gxy,gyy*/ 216e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_gxx_gxy_gyy_row_f(float *gxx,float *gxy,float *gyy,int chunk_width, 217e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *Ix0,float *Ix1,float *Ix2,float *Ix3,float *Ix4, 218e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *Iy0,float *Iy1,float *Iy2,float *Iy3,float *Iy4) 219e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 220e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int c; 221e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float dx,dy; 222e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float Ixx0,Ixy0,Iyy0,Ixx1,Ixy1,Iyy1,Ixx2,Ixy2,Iyy2,Ixx3,Ixy3,Iyy3,Ixx4,Ixy4,Iyy4; 223e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 224e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(c=0;c<chunk_width;c++) 225e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 226e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dx=Ix0[c]; 227e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dy=Iy0[c]; 228e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixx0=dx*dx; 229e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixy0=dx*dy; 230e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Iyy0=dy*dy; 231e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 232e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dx=Ix1[c]; 233e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dy=Iy1[c]; 234e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixx1=dx*dx; 235e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixy1=dx*dy; 236e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Iyy1=dy*dy; 237e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 238e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dx=Ix2[c]; 239e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dy=Iy2[c]; 240e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixx2=dx*dx; 241e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixy2=dx*dy; 242e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Iyy2=dy*dy; 243e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 244e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dx=Ix3[c]; 245e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dy=Iy3[c]; 246e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixx3=dx*dx; 247e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixy3=dx*dy; 248e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Iyy3=dy*dy; 249e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 250e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dx=Ix4[c]; 251e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dy=Iy4[c]; 252e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixx4=dx*dx; 253e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixy4=dx*dy; 254e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Iyy4=dy*dy; 255e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 256e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Filter vertically*/ 257e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen gxx[c]=Ixx0+Ixx1*4.0f+Ixx2*6.0f+Ixx3*4.0f+Ixx4; 258e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen gxy[c]=Ixy0+Ixy1*4.0f+Ixy2*6.0f+Ixy3*4.0f+Ixy4; 259e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen gyy[c]=Iyy0+Iyy1*4.0f+Iyy2*6.0f+Iyy3*4.0f+Iyy4; 260e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 261e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 262e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 263e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Filter vertically five rows of derivatives of length 128 into gxx,gxy,gyy*/ 264e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_gxx_gxy_gyy_row_s(int *g,int *d0,int *d1,int *d2,int *d3,int *d4,int nc) 265e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 266e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_MMX 267e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int c; 268e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 269e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 270e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 271e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov c,64 272e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,d0 273e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov ebx,d1 274e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov ecx,d2 275e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov edx,d3 276e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov edi,d4 277e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov esi,g 278e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 279e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenloopstart: 280e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /***************dxx part 1-14*********************************/ 281e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm0,[eax] /*1 Get dxx0*/ 282e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 283e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm1,[ebx] /*2 Get dxx1*/ 284e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 285e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm2,[ecx] /*5 Get dxx2*/ 286e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm1,2 /*3 Shift dxx1*/ 287e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm3,[edx] /*10 Get dxx3*/ 288e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm1 /*4 Accumulate dxx1*/ 289e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm4,[eax+512] /*15 Get dxy0*/ 290e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm2,1 /*6 Shift dxx2 1*/ 291e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm2 /*7 Accumulate dxx2 1*/ 292e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm2,1 /*8 Shift dxx2 2*/ 293e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm5,[ebx+512] /*16 Get dxy1*/ 294e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm2 /*9 Accumulate dxx2 2*/ 295e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm3,2 /*11 Shift dxx3*/ 296e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 297e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm3 /*12 Accumulate dxx3*/ 298e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm5,2 /*17 Shift dxy1*/ 299e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,[edi] /*13 Accumulate dxx4*/ 300e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm4,mm5 /*18 Accumulate dxy1*/ 301e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm6,[ecx+512] /*19 Get dxy2*/ 302e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 303e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [esi],mm0 /*14 Store dxx sums*/ 304e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /***************dxy part 15-28*********************************/ 305e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm6,1 /*20 Shift dxy2 1*/ 306e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm4,mm6 /*21 Accumulate dxy2 1*/ 307e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm6,1 /*22 Shift dxy2 2*/ 308e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm0,[eax+1024] /*29 Get dyy0*/ 309e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm4,mm6 /*23 Accumulate dxy2 2*/ 310e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm7,[edx+512] /*24 Get dxy3*/ 311e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm7,2 /*25 Shift dxy3*/ 312e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm1,[ebx+1024] /*30 Get dyy1*/ 313e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm4,mm7 /*26 Accumulate dxy3*/ 314e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm4,[edi+512] /*27 Accumulate dxy4*/ 315e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm1,2 /*31 Shift dyy1*/ 316e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm2,[ecx+1024] /*33 Get dyy2*/ 317e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm1 /*32 Accumulate dyy1*/ 318e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [esi+512],mm4 /*28 Store dxy sums*/ 319e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm2,1 /*34 Shift dyy2 1*/ 320e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /***************dyy part 29-49*********************************/ 321e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 322e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 323e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm3,[edx+1024] /*38 Get dyy3*/ 324e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm2 /*35 Accumulate dyy2 1*/ 325e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,[edi+1024] /*41 Accumulate dyy4*/ 326e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm2,1 /*36 Shift dyy2 2*/ 327e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm2 /*37 Accumulate dyy2 2*/ 328e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm3,2 /*39 Shift dyy3*/ 329e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm3 /*40 Accumulate dyy3*/ 330e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add eax,8 /*43*/ 331e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add ebx,8 /*44*/ 332e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add ecx,8 /*45*/ 333e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [esi+1024],mm0 /*42 Store dyy sums*/ 334e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 335e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add edx,8 /*46*/ 336e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add edi,8 /*47*/ 337e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add esi,8 /*48*/ 338e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dec c /*49*/ 339e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen jnz loopstart 340e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 341e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen emms 342e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 343e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 344e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 345e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int c,dd; 346e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 347e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(c=0;c<nc;c++) 348e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 349e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Filter vertically*/ 350e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dd=d2[c]; 351e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen g[c]=d0[c]+(d1[c]<<2)+(dd<<2)+(dd<<1)+(d3[c]<<2)+d4[c]; 352e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 353e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dd=d2[c+128]; 354e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen g[c+128]=d0[c+128]+(d1[c+128]<<2)+(dd<<2)+(dd<<1)+(d3[c+128]<<2)+d4[c+128]; 355e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 356e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dd=d2[c+256]; 357e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen g[c+256]=d0[c+256]+(d1[c+256]<<2)+(dd<<2)+(dd<<1)+(d3[c+256]<<2)+d4[c+256]; 358e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 359e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_MMX*/ 360e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 361e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 362e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Filter horizontally the three rows gxx,gxy,gyy into the strength subrow starting at i,j 363e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenand with width chunk_width. gxx,gxy and gyy are assumed to be four pixels wider than chunk_width 364e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenand starting at (i,j-2)*/ 365e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_HarrisStrength_row_f(float **s,float *gxx,float *gxy,float *gyy,int i,int j,int chunk_width) 366e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 367e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float Gxx,Gxy,Gyy,det,trc; 368e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int c; 369e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 370e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(c=0;c<chunk_width;c++) 371e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 372e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Gxx=gxx[c]+gxx[c+1]*4.0f+gxx[c+2]*6.0f+gxx[c+3]*4.0f+gxx[c+4]; 373e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Gxy=gxy[c]+gxy[c+1]*4.0f+gxy[c+2]*6.0f+gxy[c+3]*4.0f+gxy[c+4]; 374e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Gyy=gyy[c]+gyy[c+1]*4.0f+gyy[c+2]*6.0f+gyy[c+3]*4.0f+gyy[c+4]; 375e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 376e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen det=Gxx*Gyy-Gxy*Gxy; 377e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen trc=Gxx+Gyy; 378e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen s[i][j+c]=det-0.06f*trc*trc; 379e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 380e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 381e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 382e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Filter g of length 128 in place with 14641. Output is shifted two steps 383e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenand of length 124*/ 384e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_Filter14641_128_i(int *g,int nc) 385e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 386e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_MMX 387e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int mask; 388e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 389e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mask=0xFFFFFFFF; 390e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 391e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 392e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov esi,31 393e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,g 394e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 395e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Get bitmask 00000000FFFFFFFF into mm7*/ 396e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movd mm7,mask 397e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 398e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Warming iteration one 1-16********************/ 399e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm6,[eax] /*1 Load new data*/ 400e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm6 /*2 Add 1* behind two steps*/ 401e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm2,mm6 /*3 Start with 1* in front two steps*/ 402e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm6,1 /*4*/ 403e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm6 /*5 Add 2* same place*/ 404e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm6,1 /*6*/ 405e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm6 /*7 Add 4* same place*/ 406e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pshufw mm6,mm6,4Eh /*8 Swap the two double-words using bitmask 01001110=4Eh*/ 407e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm6 /*9 Add 4* swapped*/ 408e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm5,mm6 /*10 Copy*/ 409e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pand mm6,mm7 /*11 Get low double-word only*/ 410e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm2,mm6 /*12 Add 4* in front one step*/ 411e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm6,mm5 /*13 Get high double-word only*/ 412e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm6 /*14 Add 4* behind one step*/ 413e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm0,mm1 /*15 Shift along*/ 414e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm1,mm2 /*16 Shift along*/ 415e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Warming iteration two 17-32********************/ 416e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm4,[eax+8] /*17 Load new data*/ 417e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm4 /*18 Add 1* behind two steps*/ 418e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm2,mm4 /*19 Start with 1* in front two steps*/ 419e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm4,1 /*20*/ 420e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm4 /*21 Add 2* same place*/ 421e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm4,1 /*22*/ 422e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm4 /*23 Add 4* same place*/ 423e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pshufw mm4,mm4,4Eh /*24 Swap the two double-words using bitmask 01001110=4Eh*/ 424e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm4 /*25 Add 4* swapped*/ 425e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm3,mm4 /*26 Copy*/ 426e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pand mm4,mm7 /*27 Get low double-word only*/ 427e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm2,mm4 /*28 Add 4* in front one step*/ 428e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm4,mm3 /*29 Get high double-word only*/ 429e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm4 /*30 Add 4* behind one step*/ 430e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm0,mm1 /*31 Shift along*/ 431e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm1,mm2 /*32 Shift along*/ 432e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 433e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Loop********************/ 434e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenloopstart: 435e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*First part of loop 33-47********/ 436e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm6,[eax+16] /*33 Load new data*/ 437e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 438e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm6 /*34 Add 1* behind two steps*/ 439e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm2,mm6 /*35 Start with 1* in front two steps*/ 440e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm4,[eax+24] /*48 Load new data*/ 441e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm6,1 /*36*/ 442e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm6 /*37 Add 2* same place*/ 443e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm6,1 /*38*/ 444e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm6 /*39 Add 4* same place*/ 445e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pshufw mm6,mm6,4Eh /*40 Swap the two double-words using bitmask 01001110=4Eh*/ 446e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm4 /*49 Add 1* behind two steps*/ 447e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm5,mm6 /*41 Copy*/ 448e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm6 /*42 Add 4* swapped*/ 449e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pand mm6,mm7 /*43 Get low double-word only*/ 450e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm2,mm6 /*44 Add 4* in front one step*/ 451e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm6,mm5 /*45 Get high double-word only*/ 452e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm6 /*46 Add 4* behind one step*/ 453e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm6,mm4 /*50a Copy*/ 454e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm4,1 /*51*/ 455e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 456e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [eax],mm0 /*47 Store result two steps behind*/ 457e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Second part of loop 48-66********/ 458e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm0,mm6 /*50b Start with 1* in front two steps*/ 459e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm2,mm4 /*52 Add 2* same place*/ 460e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pslld mm4,1 /*53*/ 461e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm2,mm4 /*54 Add 4* same place*/ 462e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pshufw mm4,mm4,4Eh /*55 Swap the two double-words using bitmask 01001110=4Eh*/ 463e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm2,mm4 /*56 Add 4* swapped*/ 464e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm3,mm4 /*57 Copy*/ 465e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pand mm4,mm7 /*58 Get low double-word only*/ 466e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 467e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm0,mm4 /*59 Add 4* in front one step*/ 468e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen pxor mm4,mm3 /*60 Get high double-word only*/ 469e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen paddd mm1,mm4 /*61 Add 4* behind one step*/ 470e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add eax,16 /*65*/ 471e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dec esi /*66*/ 472e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 473e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq [eax-8],mm1 /*62 Store result two steps behind*/ 474e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm1,mm0 /*63 Shift along*/ 475e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movq mm0,mm2 /*64 Shift along*/ 476e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen jnz loopstart 477e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 478e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen emms 479e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 480e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 481e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 482e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int c; 483e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 484e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(c=0;c<nc-4;c++) 485e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 486e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen g[c]=g[c]+(g[c+1]<<2)+(g[c+2]<<2)+(g[c+2]<<1)+(g[c+3]<<2)+g[c+4]; 487e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 488e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_MMX*/ 489e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 490e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 491e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Filter horizontally the three rows gxx,gxy,gyy of length 128 into the strength subrow s 492e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenof length 124. gxx,gxy and gyy are assumed to be starting at (i,j-2) if s[i][j] is sought. 493e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chens should be 16 byte aligned*/ 494e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_HarrisStrength_row_s(float *s,int *gxx,int *gxy,int *gyy,int nc) 495e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 496e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float k; 497e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 498e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen k=0.06f; 499e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 500e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_Filter14641_128_i(gxx,nc); 501e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_Filter14641_128_i(gxy,nc); 502e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_Filter14641_128_i(gyy,nc); 503e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 504e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_SIMD 505e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 506e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 507e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 508e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 509e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov esi,15 510e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,gxx 511e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov ebx,gxy 512e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov ecx,gyy 513e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov edx,s 514e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 515e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*broadcast k to all positions of xmm7*/ 516e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movss xmm7,k 517e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen shufps xmm7,xmm7,0 518e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 519e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*****Warm up 1-10**************************************/ 520e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm0,[eax+8] /*1 Convert two integers into floating point of low double-word*/ 521e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 522e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm1,[ebx+8] /*4 Convert two integers into floating point of low double-word*/ 523e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movlhps xmm0,xmm0 /*2 Move them to the high double-word*/ 524e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm2,[ecx+8] /*7 Convert two integers into floating point of low double-word*/ 525e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movlhps xmm1,xmm1 /*5 Move them to the high double-word*/ 526e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm0,[eax] /*3 Convert two integers into floating point of low double-word*/ 527e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movlhps xmm2,xmm2 /*8 Move them to the high double-word*/ 528e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm1,[ebx] /*6 Convert two integers into floating point of low double-word*/ 529e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,xmm0 /*10 Copy Cxx*/ 530e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm2,[ecx] /*9 Convert two integers into floating point of low double-word*/ 531e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 532e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenloopstart: 533e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*****First part of loop 11-18***********************/ 534e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm0,xmm2 /*11 Multiply to get Gxx*Gyy*/ 535e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen addps xmm2,xmm3 /*12 Add to get Gxx+Gyy*/ 536e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm4,[eax+24] /*19 Convert two integers into floating point of low double-word*/ 537e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm1,xmm1 /*13 Multiply to get Gxy*Gxy*/ 538e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm2,xmm2 /*14 Multiply to get (Gxx+Gyy)*(Gxx+Gyy)*/ 539e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movlhps xmm4,xmm4 /*20 Move them to the high double-word*/ 540e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm4,[eax+16] /*21 Convert two integers into floating point of low double-word*/ 541e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 542e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen subps xmm0,xmm1 /*15 Subtract to get Gxx*Gyy-Gxy*Gxy*/ 543e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm2,xmm7 /*16 Multiply to get k*(Gxx+Gyy)*(Gxx+Gyy)*/ 544e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm5,[ebx+24] /*22 Convert two integers into floating point of low double-word*/ 545e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 546e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movlhps xmm5,xmm5 /*23 Move them to the high double-word*/ 547e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 548e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm5,[ebx+16] /*24 Convert two integers into floating point of low double-word*/ 549e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen subps xmm0,xmm2 /*17 Subtract to get Gxx*Gyy-Gxy*Gxy-k*(Gxx+Gyy)*(Gxx+Gyy)*/ 550e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm6,[ecx+24] /*25 Convert two integers into floating point of low double-word*/ 551e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 552e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [edx],xmm0 /*18 Store*/ 553e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*****Second part of loop 26-40***********************/ 554e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movlhps xmm6,xmm6 /*26 Move them to the high double-word*/ 555e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm6,[ecx+16] /*27 Convert two integers into floating point of low double-word*/ 556e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,xmm4 /*28 Copy Cxx*/ 557e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm4,xmm6 /*29 Multiply to get Gxx*Gyy*/ 558e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen addps xmm6,xmm3 /*30 Add to get Gxx+Gyy*/ 559e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm0,[eax+40] /*(1 Next) Convert two integers into floating point of low double-word*/ 560e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm5,xmm5 /*31 Multiply to get Gxy*Gxy*/ 561e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm1,[ebx+40] /*(4 Next) Convert two integers into floating point of low double-word*/ 562e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm6,xmm6 /*32 Multiply to get (Gxx+Gyy)*(Gxx+Gyy)*/ 563e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm2,[ecx+40] /*(7 Next) Convert two integers into floating point of low double-word*/ 564e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movlhps xmm0,xmm0 /*(2 Next) Move them to the high double-word*/ 565e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen subps xmm4,xmm5 /*33 Subtract to get Gxx*Gyy-Gxy*Gxy*/ 566e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movlhps xmm1,xmm1 /*(5 Next) Move them to the high double-word*/ 567e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm0,[eax+32] /*(3 Next)Convert two integers into floating point of low double-word*/ 568e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm6,xmm7 /*34 Multiply to get k*(Gxx+Gyy)*(Gxx+Gyy)*/ 569e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm1,[ebx+32] /*(6 Next) Convert two integers into floating point of low double-word*/ 570e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movlhps xmm2,xmm2 /*(8 Next) Move them to the high double-word*/ 571e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,xmm0 /*(10 Next) Copy Cxx*/ 572e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add eax,32 /*37*/ 573e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen subps xmm4,xmm6 /*35 Subtract to get Gxx*Gyy-Gxy*Gxy-k*(Gxx+Gyy)*(Gxx+Gyy)*/ 574e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add ebx,32 /*38*/ 575e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cvtpi2ps xmm2,[ecx+32] /*(9 Next) Convert two integers into floating point of low double-word*/ 576e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 577e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [edx+16],xmm4 /*36 Store*/ 578e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Stall*/ 579e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add ecx,32 /*39*/ 580e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen add edx,32 /*40*/ 581e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen dec esi /*41*/ 582e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen jnz loopstart 583e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 584e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /****Cool down***************/ 585e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm0,xmm2 /*Multiply to get Gxx*Gyy*/ 586e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen addps xmm2,xmm3 /*Add to get Gxx+Gyy*/ 587e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm1,xmm1 /*Multiply to get Gxy*Gxy*/ 588e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm2,xmm2 /*Multiply to get (Gxx+Gyy)*(Gxx+Gyy)*/ 589e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen subps xmm0,xmm1 /*Subtract to get Gxx*Gyy-Gxy*Gxy*/ 590e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mulps xmm2,xmm7 /*Multiply to get k*(Gxx+Gyy)*(Gxx+Gyy)*/ 591e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen subps xmm0,xmm2 /*Subtract to get Gxx*Gyy-Gxy*Gxy-k*(Gxx+Gyy)*(Gxx+Gyy)*/ 592e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [edx],xmm0 /*Store*/ 593e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 594e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 595e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 596e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float Gxx,Gxy,Gyy,det,trc; 597e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int c; 598e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 599e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen //for(c=0;c<124;c++) 600e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(c=0;c<nc-4;c++) 601e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 602e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Gxx=(float)gxx[c]; 603e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Gxy=(float)gxy[c]; 604e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Gyy=(float)gyy[c]; 605e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 606e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen det=Gxx*Gyy-Gxy*Gxy; 607e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen trc=Gxx+Gyy; 608e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen s[c]=det-k*trc*trc; 609e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 610e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_SIMD*/ 611e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 612e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 613e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Compute the Harris corner strength of the chunk [left,top,right,bottom] of img and 614e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenstore it into the corresponding region of s. left and top have to be at least 3 and 615e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenright and bottom have to be at most width-4,height-4*/ 616e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_HarrisStrengthChunk_f(float **s,const float * const *img,int left,int top,int right,int bottom, 617e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*temp should point to at least 618e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 13*(right-left+5) of allocated memory*/ 619e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *temp) 620e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 621e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *Ix[5],*Iy[5]; 622e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *gxx,*gxy,*gyy; 623e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int i,chunk_width,chunk_width_p4; 624e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 625e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen chunk_width=right-left+1; 626e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen chunk_width_p4=chunk_width+4; 627e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen gxx=temp; 628e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen gxy=gxx+chunk_width_p4; 629e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen gyy=gxy+chunk_width_p4; 630e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=0;i<5;i++) 631e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 632e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ix[i]=gyy+chunk_width_p4+(2*i*chunk_width_p4); 633e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Iy[i]=Ix[i]+chunk_width_p4; 634e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 635e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 636e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Fill four rows of the wrap-around derivative buffers*/ 637e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=top-2;i<top+2;i++) db_IxIyRow_f(Ix[i%5],Iy[i%5],img,i,left-2,chunk_width_p4); 638e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 639e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*For each output row*/ 640e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=top;i<=bottom;i++) 641e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 642e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Step the derivative buffers*/ 643e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_IxIyRow_f(Ix[(i+2)%5],Iy[(i+2)%5],img,(i+2),left-2,chunk_width_p4); 644e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 645e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Filter Ix2,IxIy,Iy2 vertically into gxx,gxy,gyy*/ 646e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_gxx_gxy_gyy_row_f(gxx,gxy,gyy,chunk_width_p4, 647e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ix[(i-2)%5],Ix[(i-1)%5],Ix[i%5],Ix[(i+1)%5],Ix[(i+2)%5], 648e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Iy[(i-2)%5],Iy[(i-1)%5],Iy[i%5],Iy[(i+1)%5],Iy[(i+2)%5]); 649e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 650e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Filter gxx,gxy,gyy horizontally and compute corner response s*/ 651e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_HarrisStrength_row_f(s,gxx,gxy,gyy,i,left,chunk_width); 652e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 653e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 654e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 655e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Compute the Harris corner strength of the chunk [left,top,left+123,bottom] of img and 656e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenstore it into the corresponding region of s. left and top have to be at least 3 and 657e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenright and bottom have to be at most width-4,height-4. The left of the region in s should 658e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenbe 16 byte aligned*/ 659e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_HarrisStrengthChunk_u(float **s,const unsigned char * const *img,int left,int top,int bottom, 660e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*temp should point to at least 661e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 18*128 of allocated memory*/ 662e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int *temp, int nc) 663e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 664e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int *Ixx[5],*Ixy[5],*Iyy[5]; 665e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int *gxx,*gxy,*gyy; 666e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int i; 667e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 668e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen gxx=temp; 669e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen gxy=gxx+128; 670e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen gyy=gxy+128; 671e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=0;i<5;i++) 672e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 673e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixx[i]=gyy+(3*i+1)*128; 674e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Ixy[i]=gyy+(3*i+2)*128; 675e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Iyy[i]=gyy+(3*i+3)*128; 676e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 677e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 678e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Fill four rows of the wrap-around derivative buffers*/ 679e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=top-2;i<top+2;i++) db_IxIyRow_u(Ixx[i%5],img,i,left-2,nc); 680e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 681e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*For each output row*/ 682e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=top;i<=bottom;i++) 683e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 684e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Step the derivative buffers*/ 685e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_IxIyRow_u(Ixx[(i+2)%5],img,(i+2),left-2,nc); 686e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 687e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Filter Ix2,IxIy,Iy2 vertically into gxx,gxy,gyy*/ 688e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_gxx_gxy_gyy_row_s(gxx,Ixx[(i-2)%5],Ixx[(i-1)%5],Ixx[i%5],Ixx[(i+1)%5],Ixx[(i+2)%5],nc); 689e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 690e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Filter gxx,gxy,gyy horizontally and compute corner response s*/ 691e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_HarrisStrength_row_s(s[i]+left,gxx,gxy,gyy,nc); 692e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 693e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 694e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 695e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 696e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Compute Harris corner strength of img. Strength is returned for the region 697e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenwith (3,3) as upper left and (w-4,h-4) as lower right, positioned in the 698e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chensame place in s. In other words,image should be at least 7 pixels wide and 7 pixels high 699e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenfor a meaningful result*/ 700e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid db_HarrisStrength_f(float **s,const float * const *img,int w,int h, 701e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*temp should point to at least 702e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 13*(chunk_width+4) of allocated memory*/ 703e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *temp, 704e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int chunk_width) 705e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 706e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int x,next_x,last,right; 707e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 708e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen last=w-4; 709e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(x=3;x<=last;x=next_x) 710e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 711e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen next_x=x+chunk_width; 712e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen right=next_x-1; 713e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(right>last) right=last; 714e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Compute the Harris strength of a chunk*/ 715e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_HarrisStrengthChunk_f(s,img,x,3,right,h-4,temp); 716e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 717e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 718e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 719e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Compute Harris corner strength of img. Strength is returned for the region 720e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenwith (3,3) as upper left and (w-4,h-4) as lower right, positioned in the 721e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chensame place in s. In other words,image should be at least 7 pixels wide and 7 pixels high 722e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenfor a meaningful result.Moreover, the image should be overallocated by 256 bytes. 723e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chens[i][3] should by 16 byte aligned for any i*/ 724e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid db_HarrisStrength_u(float **s, const unsigned char * const *img,int w,int h, 725e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*temp should point to at least 726e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 18*128 of allocated memory*/ 727e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int *temp) 728e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 729e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int x,next_x,last; 730e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int nc; 731e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 732e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen last=w-4; 733e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(x=3;x<=last;x=next_x) 734e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 735e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen next_x=x+124; 736e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 737e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen // mayban: to revert to the original full chunks state, change the line below to: nc = 128; 738e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen nc = db_mini(128,last-x+1); 739e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen //nc = 128; 740e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 741e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Compute the Harris strength of a chunk*/ 742e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_HarrisStrengthChunk_u(s,img,x,3,h-4,temp,nc); 743e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 744e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 745e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 746e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline float db_Max_128Aligned16_f(float *v) 747e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 748e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_SIMD 749e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float back; 750e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 751e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 752e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 753e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,v 754e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 755e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk1*/ 756e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm0,[eax] 757e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm1,[eax+16] 758e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm2,[eax+32] 759e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,[eax+48] 760e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm4,[eax+64] 761e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm5,[eax+80] 762e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm6,[eax+96] 763e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm7,[eax+112] 764e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 765e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk2*/ 766e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[eax+128] 767e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[eax+144] 768e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[eax+160] 769e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[eax+176] 770e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[eax+192] 771e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[eax+208] 772e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[eax+224] 773e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[eax+240] 774e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 775e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk3*/ 776e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[eax+256] 777e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[eax+272] 778e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[eax+288] 779e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[eax+304] 780e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[eax+320] 781e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[eax+336] 782e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[eax+352] 783e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[eax+368] 784e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 785e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk4*/ 786e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[eax+384] 787e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[eax+400] 788e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[eax+416] 789e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[eax+432] 790e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[eax+448] 791e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[eax+464] 792e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[eax+480] 793e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[eax+496] 794e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 795e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Collect*/ 796e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 797e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,xmm3 798e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,xmm5 799e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,xmm7 800e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm2 801e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,xmm6 802e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm4 803e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movhlps xmm1,xmm0 804e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 805e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen shufps xmm1,xmm0,1 806e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 807e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movss back,xmm0 808e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 809e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 810e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(back); 811e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 812e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float val,max_val; 813e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *p,*stop_p; 814e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen max_val=v[0]; 815e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(p=v+1,stop_p=v+128;p!=stop_p;) 816e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 817e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val= *p++; 818e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 819e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 820e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(max_val); 821e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_SIMD*/ 822e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 823e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 824e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline float db_Max_64Aligned16_f(float *v) 825e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 826e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_SIMD 827e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float back; 828e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 829e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 830e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 831e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,v 832e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 833e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk1*/ 834e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm0,[eax] 835e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm1,[eax+16] 836e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm2,[eax+32] 837e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,[eax+48] 838e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm4,[eax+64] 839e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm5,[eax+80] 840e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm6,[eax+96] 841e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm7,[eax+112] 842e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 843e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk2*/ 844e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[eax+128] 845e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[eax+144] 846e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[eax+160] 847e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[eax+176] 848e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[eax+192] 849e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[eax+208] 850e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[eax+224] 851e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[eax+240] 852e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 853e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Collect*/ 854e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 855e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,xmm3 856e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,xmm5 857e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,xmm7 858e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm2 859e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,xmm6 860e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm4 861e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movhlps xmm1,xmm0 862e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 863e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen shufps xmm1,xmm0,1 864e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 865e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movss back,xmm0 866e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 867e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 868e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(back); 869e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 870e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float val,max_val; 871e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *p,*stop_p; 872e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen max_val=v[0]; 873e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(p=v+1,stop_p=v+64;p!=stop_p;) 874e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 875e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val= *p++; 876e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 877e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 878e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(max_val); 879e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_SIMD*/ 880e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 881e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 882e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline float db_Max_32Aligned16_f(float *v) 883e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 884e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_SIMD 885e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float back; 886e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 887e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 888e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 889e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,v 890e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 891e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk1*/ 892e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm0,[eax] 893e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm1,[eax+16] 894e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm2,[eax+32] 895e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,[eax+48] 896e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm4,[eax+64] 897e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm5,[eax+80] 898e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm6,[eax+96] 899e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm7,[eax+112] 900e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 901e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Collect*/ 902e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 903e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,xmm3 904e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,xmm5 905e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,xmm7 906e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm2 907e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,xmm6 908e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm4 909e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movhlps xmm1,xmm0 910e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 911e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen shufps xmm1,xmm0,1 912e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 913e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movss back,xmm0 914e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 915e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 916e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(back); 917e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 918e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float val,max_val; 919e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *p,*stop_p; 920e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen max_val=v[0]; 921e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(p=v+1,stop_p=v+32;p!=stop_p;) 922e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 923e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val= *p++; 924e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 925e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 926e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(max_val); 927e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_SIMD*/ 928e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 929e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 930e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline float db_Max_16Aligned16_f(float *v) 931e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 932e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_SIMD 933e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float back; 934e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 935e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 936e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 937e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,v 938e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 939e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk1*/ 940e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm0,[eax] 941e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm1,[eax+16] 942e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm2,[eax+32] 943e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,[eax+48] 944e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 945e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Collect*/ 946e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 947e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,xmm3 948e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm2 949e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movhlps xmm1,xmm0 950e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 951e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen shufps xmm1,xmm0,1 952e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 953e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movss back,xmm0 954e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 955e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 956e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(back); 957e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 958e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float val,max_val; 959e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *p,*stop_p; 960e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen max_val=v[0]; 961e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(p=v+1,stop_p=v+16;p!=stop_p;) 962e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 963e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val= *p++; 964e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 965e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 966e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(max_val); 967e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_SIMD*/ 968e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 969e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 970e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline float db_Max_8Aligned16_f(float *v) 971e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 972e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_SIMD 973e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float back; 974e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 975e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 976e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 977e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,v 978e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 979e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk1*/ 980e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm0,[eax] 981e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm1,[eax+16] 982e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 983e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Collect*/ 984e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 985e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movhlps xmm1,xmm0 986e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 987e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen shufps xmm1,xmm0,1 988e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,xmm1 989e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movss back,xmm0 990e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 991e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 992e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(back); 993e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 994e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float val,max_val; 995e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *p,*stop_p; 996e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen max_val=v[0]; 997e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(p=v+1,stop_p=v+8;p!=stop_p;) 998e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 999e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val= *p++; 1000e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 1001e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1002e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(max_val); 1003e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_SIMD*/ 1004e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1005e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1006e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline float db_Max_Aligned16_f(float *v,int size) 1007e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1008e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float val,max_val; 1009e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *stop_v; 1010e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1011e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen max_val=v[0]; 1012e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(;size>=128;size-=128) 1013e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1014e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val=db_Max_128Aligned16_f(v); 1015e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen v+=128; 1016e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 1017e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1018e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(size&64) 1019e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1020e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val=db_Max_64Aligned16_f(v); 1021e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen v+=64; 1022e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 1023e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1024e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(size&32) 1025e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1026e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val=db_Max_32Aligned16_f(v); 1027e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen v+=32; 1028e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 1029e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1030e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(size&16) 1031e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1032e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val=db_Max_16Aligned16_f(v); 1033e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen v+=16; 1034e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 1035e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1036e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(size&8) 1037e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1038e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val=db_Max_8Aligned16_f(v); 1039e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen v+=8; 1040e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 1041e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1042e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(size&7) 1043e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1044e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(stop_v=v+(size&7);v!=stop_v;) 1045e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1046e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val= *v++; 1047e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 1048e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1049e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1050e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1051e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(max_val); 1052e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1053e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1054e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Find maximum value of img in the region starting at (left,top) 1055e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenand with width w and height h. img[left] should be 16 byte aligned*/ 1056e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenfloat db_MaxImage_Aligned16_f(float **img,int left,int top,int w,int h) 1057e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1058e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float val,max_val; 1059e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int i,stop_i; 1060e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1061e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(w && h) 1062e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1063e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen stop_i=top+h; 1064e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen max_val=img[top][left]; 1065e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1066e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=top;i<stop_i;i++) 1067e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1068e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen val=db_Max_Aligned16_f(img[i]+left,w); 1069e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(val>max_val) max_val=val; 1070e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1071e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(max_val); 1072e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1073e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(0.0); 1074e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1075e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1076e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_MaxVector_128_Aligned16_f(float *m,float *v1,float *v2) 1077e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1078e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_SIMD 1079e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 1080e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1081e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,v1 1082e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov ebx,v2 1083e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov ecx,m 1084e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1085e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk1*/ 1086e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm0,[eax] 1087e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm1,[eax+16] 1088e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm2,[eax+32] 1089e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,[eax+48] 1090e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm4,[eax+64] 1091e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm5,[eax+80] 1092e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm6,[eax+96] 1093e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm7,[eax+112] 1094e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[ebx] 1095e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[ebx+16] 1096e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[ebx+32] 1097e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[ebx+48] 1098e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[ebx+64] 1099e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[ebx+80] 1100e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[ebx+96] 1101e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[ebx+112] 1102e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx],xmm0 1103e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+16],xmm1 1104e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+32],xmm2 1105e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+48],xmm3 1106e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+64],xmm4 1107e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+80],xmm5 1108e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+96],xmm6 1109e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+112],xmm7 1110e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1111e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk2*/ 1112e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm0,[eax+128] 1113e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm1,[eax+144] 1114e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm2,[eax+160] 1115e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,[eax+176] 1116e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm4,[eax+192] 1117e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm5,[eax+208] 1118e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm6,[eax+224] 1119e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm7,[eax+240] 1120e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[ebx+128] 1121e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[ebx+144] 1122e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[ebx+160] 1123e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[ebx+176] 1124e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[ebx+192] 1125e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[ebx+208] 1126e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[ebx+224] 1127e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[ebx+240] 1128e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+128],xmm0 1129e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+144],xmm1 1130e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+160],xmm2 1131e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+176],xmm3 1132e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+192],xmm4 1133e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+208],xmm5 1134e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+224],xmm6 1135e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+240],xmm7 1136e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1137e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk3*/ 1138e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm0,[eax+256] 1139e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm1,[eax+272] 1140e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm2,[eax+288] 1141e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,[eax+304] 1142e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm4,[eax+320] 1143e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm5,[eax+336] 1144e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm6,[eax+352] 1145e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm7,[eax+368] 1146e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[ebx+256] 1147e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[ebx+272] 1148e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[ebx+288] 1149e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[ebx+304] 1150e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[ebx+320] 1151e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[ebx+336] 1152e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[ebx+352] 1153e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[ebx+368] 1154e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+256],xmm0 1155e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+272],xmm1 1156e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+288],xmm2 1157e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+304],xmm3 1158e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+320],xmm4 1159e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+336],xmm5 1160e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+352],xmm6 1161e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+368],xmm7 1162e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1163e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk4*/ 1164e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm0,[eax+384] 1165e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm1,[eax+400] 1166e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm2,[eax+416] 1167e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm3,[eax+432] 1168e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm4,[eax+448] 1169e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm5,[eax+464] 1170e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm6,[eax+480] 1171e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps xmm7,[eax+496] 1172e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[ebx+384] 1173e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[ebx+400] 1174e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[ebx+416] 1175e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[ebx+432] 1176e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[ebx+448] 1177e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[ebx+464] 1178e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[ebx+480] 1179e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[ebx+496] 1180e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+384],xmm0 1181e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+400],xmm1 1182e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+416],xmm2 1183e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+432],xmm3 1184e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+448],xmm4 1185e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+464],xmm5 1186e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+480],xmm6 1187e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+496],xmm7 1188e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1189e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 1190e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int i; 1191e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float a,b; 1192e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=0;i<128;i++) 1193e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1194e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen a=v1[i]; 1195e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen b=v2[i]; 1196e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(a>=b) m[i]=a; 1197e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen else m[i]=b; 1198e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1199e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_SIMD*/ 1200e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1201e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1202e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_MaxVector_128_SecondSourceDestAligned16_f(float *m,float *v1,float *v2) 1203e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1204e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_SIMD 1205e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen _asm 1206e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1207e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov eax,v1 1208e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov ebx,v2 1209e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen mov ecx,m 1210e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1211e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk1*/ 1212e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm0,[eax] 1213e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm1,[eax+16] 1214e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm2,[eax+32] 1215e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm3,[eax+48] 1216e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm4,[eax+64] 1217e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm5,[eax+80] 1218e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm6,[eax+96] 1219e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm7,[eax+112] 1220e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[ebx] 1221e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[ebx+16] 1222e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[ebx+32] 1223e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[ebx+48] 1224e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[ebx+64] 1225e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[ebx+80] 1226e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[ebx+96] 1227e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[ebx+112] 1228e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx],xmm0 1229e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+16],xmm1 1230e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+32],xmm2 1231e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+48],xmm3 1232e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+64],xmm4 1233e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+80],xmm5 1234e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+96],xmm6 1235e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+112],xmm7 1236e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1237e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk2*/ 1238e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm0,[eax+128] 1239e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm1,[eax+144] 1240e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm2,[eax+160] 1241e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm3,[eax+176] 1242e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm4,[eax+192] 1243e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm5,[eax+208] 1244e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm6,[eax+224] 1245e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm7,[eax+240] 1246e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[ebx+128] 1247e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[ebx+144] 1248e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[ebx+160] 1249e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[ebx+176] 1250e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[ebx+192] 1251e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[ebx+208] 1252e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[ebx+224] 1253e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[ebx+240] 1254e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+128],xmm0 1255e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+144],xmm1 1256e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+160],xmm2 1257e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+176],xmm3 1258e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+192],xmm4 1259e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+208],xmm5 1260e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+224],xmm6 1261e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+240],xmm7 1262e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1263e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk3*/ 1264e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm0,[eax+256] 1265e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm1,[eax+272] 1266e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm2,[eax+288] 1267e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm3,[eax+304] 1268e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm4,[eax+320] 1269e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm5,[eax+336] 1270e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm6,[eax+352] 1271e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm7,[eax+368] 1272e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[ebx+256] 1273e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[ebx+272] 1274e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[ebx+288] 1275e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[ebx+304] 1276e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[ebx+320] 1277e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[ebx+336] 1278e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[ebx+352] 1279e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[ebx+368] 1280e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+256],xmm0 1281e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+272],xmm1 1282e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+288],xmm2 1283e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+304],xmm3 1284e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+320],xmm4 1285e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+336],xmm5 1286e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+352],xmm6 1287e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+368],xmm7 1288e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1289e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Chunk4*/ 1290e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm0,[eax+384] 1291e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm1,[eax+400] 1292e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm2,[eax+416] 1293e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm3,[eax+432] 1294e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm4,[eax+448] 1295e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm5,[eax+464] 1296e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm6,[eax+480] 1297e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movups xmm7,[eax+496] 1298e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm0,[ebx+384] 1299e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm1,[ebx+400] 1300e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm2,[ebx+416] 1301e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm3,[ebx+432] 1302e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm4,[ebx+448] 1303e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm5,[ebx+464] 1304e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm6,[ebx+480] 1305e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen maxps xmm7,[ebx+496] 1306e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+384],xmm0 1307e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+400],xmm1 1308e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+416],xmm2 1309e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+432],xmm3 1310e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+448],xmm4 1311e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+464],xmm5 1312e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+480],xmm6 1313e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen movaps [ecx+496],xmm7 1314e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1315e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 1316e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int i; 1317e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float a,b; 1318e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=0;i<128;i++) 1319e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1320e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen a=v1[i]; 1321e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen b=v2[i]; 1322e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(a>=b) m[i]=a; 1323e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen else m[i]=b; 1324e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1325e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_SIMD*/ 1326e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1327e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1328e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Compute Max-suppression-filtered image for a chunk of sf starting at (left,top), of width 124 and 1329e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenstopping at bottom. The output is shifted two steps left and overwrites 128 elements for each row. 1330e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta ChenThe input s should be of width at least 128, and exist for 2 pixels outside the specified region. 1331e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chens[i][left-2] and sf[i][left-2] should be 16 byte aligned. Top must be at least 3*/ 1332e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_MaxSuppressFilterChunk_5x5_Aligned16_f(float **sf,float **s,int left,int top,int bottom, 1333e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*temp should point to at least 1334e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 6*132 floats of 16-byte-aligned allocated memory*/ 1335e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *temp) 1336e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1337e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_USE_SIMD 1338e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int i,lm2; 1339e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *two[4]; 1340e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *four,*five; 1341e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1342e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen lm2=left-2; 1343e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1344e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Set pointers to pre-allocated memory*/ 1345e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen four=temp; 1346e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen five=four+132; 1347e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=0;i<4;i++) 1348e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1349e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen two[i]=five+(i+1)*132; 1350e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1351e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1352e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Set rests of four and five to zero to avoid 1353e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen floating point exceptions*/ 1354e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=129;i<132;i++) 1355e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1356e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen four[i]=0.0; 1357e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen five[i]=0.0; 1358e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1359e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1360e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Fill three rows of the wrap-around max buffers*/ 1361e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=top-3;i<top;i++) db_MaxVector_128_Aligned16_f(two[i&3],s[i+1]+lm2,s[i+2]+lm2); 1362e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1363e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*For each output row*/ 1364e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(;i<=bottom;i++) 1365e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1366e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Compute max of the lowest pair of rows in the five row window*/ 1367e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_MaxVector_128_Aligned16_f(two[i&3],s[i+1]+lm2,s[i+2]+lm2); 1368e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Compute max of the lowest and highest pair of rows in the five row window*/ 1369e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_MaxVector_128_Aligned16_f(four,two[i&3],two[(i-3)&3]); 1370e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Compute max of all rows*/ 1371e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_MaxVector_128_Aligned16_f(five,four,two[(i-1)&3]); 1372e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Compute max of 2x5 chunks*/ 1373e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_MaxVector_128_SecondSourceDestAligned16_f(five,five+1,five); 1374e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Compute max of pairs of 2x5 chunks*/ 1375e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_MaxVector_128_SecondSourceDestAligned16_f(five,five+3,five); 1376e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*Compute max of pairs of 5x5 except middle*/ 1377e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_MaxVector_128_SecondSourceDestAligned16_f(sf[i]+lm2,four+2,five); 1378e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1379e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1380e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#else 1381e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int i,j,right; 1382e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float sv; 1383e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1384e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen right=left+128; 1385e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=top;i<=bottom;i++) for(j=left;j<right;j++) 1386e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1387e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen sv=s[i][j]; 1388e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1389e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if( sv>s[i-2][j-2] && sv>s[i-2][j-1] && sv>s[i-2][j] && sv>s[i-2][j+1] && sv>s[i-2][j+2] && 1390e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen sv>s[i-1][j-2] && sv>s[i-1][j-1] && sv>s[i-1][j] && sv>s[i-1][j+1] && sv>s[i-1][j+2] && 1391e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen sv>s[ i][j-2] && sv>s[ i][j-1] && sv>s[ i][j+1] && sv>s[ i][j+2] && 1392e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen sv>s[i+1][j-2] && sv>s[i+1][j-1] && sv>s[i+1][j] && sv>s[i+1][j+1] && sv>s[i+1][j+2] && 1393e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen sv>s[i+2][j-2] && sv>s[i+2][j-1] && sv>s[i+2][j] && sv>s[i+2][j+1] && sv>s[i+2][j+2]) 1394e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1395e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen sf[i][j-2]=0.0; 1396e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1397e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen else sf[i][j-2]=sv; 1398e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1399e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_USE_SIMD*/ 1400e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1401e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1402e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Compute Max-suppression-filtered image for a chunk of sf starting at (left,top) and 1403e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenstopping at bottom. The output is shifted two steps left. The input s should exist for 2 pixels 1404e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenoutside the specified region. s[i][left-2] and sf[i][left-2] should be 16 byte aligned. 1405e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta ChenTop must be at least 3. Reading and writing from and to the input and output images is done 1406e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenas if the region had a width equal to a multiple of 124. If this is not the case, the images 1407e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenshould be over-allocated and the input cleared for a sufficient region*/ 1408e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid db_MaxSuppressFilter_5x5_Aligned16_f(float **sf,float **s,int left,int top,int right,int bottom, 1409e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen /*temp should point to at least 1410e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 6*132 floats of 16-byte-aligned allocated memory*/ 1411e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float *temp) 1412e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1413e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int x,next_x; 1414e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1415e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(x=left;x<=right;x=next_x) 1416e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1417e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen next_x=x+124; 1418e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_MaxSuppressFilterChunk_5x5_Aligned16_f(sf,s,x,top,bottom,temp); 1419e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1420e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1421e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1422e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Extract corners from the chunk (left,top) to (right,bottom). Store in x_temp,y_temp and s_temp 1423e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenwhich should point to space of at least as many positions as there are pixels in the chunk*/ 1424e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline int db_CornersFromChunk(float **strength,int left,int top,int right,int bottom,float threshold,double *x_temp,double *y_temp,double *s_temp) 1425e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1426e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int i,j,nr; 1427e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float s; 1428e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1429e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen nr=0; 1430e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=top;i<=bottom;i++) for(j=left;j<=right;j++) 1431e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1432e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen s=strength[i][j]; 1433e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1434e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(s>=threshold && 1435e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen s>strength[i-2][j-2] && s>strength[i-2][j-1] && s>strength[i-2][j] && s>strength[i-2][j+1] && s>strength[i-2][j+2] && 1436e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen s>strength[i-1][j-2] && s>strength[i-1][j-1] && s>strength[i-1][j] && s>strength[i-1][j+1] && s>strength[i-1][j+2] && 1437e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen s>strength[ i][j-2] && s>strength[ i][j-1] && s>strength[ i][j+1] && s>strength[ i][j+2] && 1438e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen s>strength[i+1][j-2] && s>strength[i+1][j-1] && s>strength[i+1][j] && s>strength[i+1][j+1] && s>strength[i+1][j+2] && 1439e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen s>strength[i+2][j-2] && s>strength[i+2][j-1] && s>strength[i+2][j] && s>strength[i+2][j+1] && s>strength[i+2][j+2]) 1440e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1441e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen x_temp[nr]=(double) j; 1442e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen y_temp[nr]=(double) i; 1443e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen s_temp[nr]=(double) s; 1444e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen nr++; 1445e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1446e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1447e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(nr); 1448e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1449e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1450e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1451e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen//Sub-pixel accuracy using 2D quadratic interpolation.(YCJ) 1452e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Cheninline void db_SubPixel(float **strength, const double xd, const double yd, double &xs, double &ys) 1453e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1454e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int x = (int) xd; 1455e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int y = (int) yd; 1456e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1457e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float fxx = strength[y][x-1] - strength[y][x] - strength[y][x] + strength[y][x+1]; 1458e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float fyy = strength[y-1][x] - strength[y][x] - strength[y][x] + strength[y+1][x]; 1459e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float fxy = (strength[y-1][x-1] - strength[y-1][x+1] - strength[y+1][x-1] + strength[y+1][x+1])/(float)4.0; 1460e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1461e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float denom = (fxx * fyy - fxy * fxy) * (float) 2.0; 1462e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1463e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen xs = xd; 1464e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen ys = yd; 1465e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1466e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if ( db_absf(denom) <= FLT_EPSILON ) 1467e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1468e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return; 1469e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1470e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen else 1471e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1472e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float fx = strength[y][x+1] - strength[y][x-1]; 1473e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float fy = strength[y+1][x] - strength[y-1][x]; 1474e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1475e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float dx = (fyy * fx - fxy * fy) / denom; 1476e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float dy = (fxx * fy - fxy * fx) / denom; 1477e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1478e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if ( db_absf(dx) > 1.0 || db_absf(dy) > 1.0 ) 1479e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1480e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return; 1481e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1482e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen else 1483e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1484e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen xs -= dx; 1485e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen ys -= dy; 1486e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1487e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1488e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1489e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return; 1490e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1491e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1492e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen/*Extract corners from the image part from (left,top) to (right,bottom). 1493e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta ChenStore in x and y, extracting at most satnr corners in each block of size (bw,bh). 1494e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta ChenThe pointer temp_d should point to at least 5*bw*bh positions. 1495e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenarea_factor holds how many corners max to extract per 10000 pixels*/ 1496e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid db_ExtractCornersSaturated(float **strength,int left,int top,int right,int bottom, 1497e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int bw,int bh,unsigned long area_factor, 1498e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float threshold,double *temp_d, 1499e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen double *x_coord,double *y_coord,int *nr_corners) 1500e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1501e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen double *x_temp,*y_temp,*s_temp,*select_temp; 1502e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen double loc_thresh; 1503e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen unsigned long bwbh,area,saturation; 1504e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int x,next_x,last_x; 1505e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int y,next_y,last_y; 1506e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int nr,nr_points,i,stop; 1507e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1508e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen bwbh=bw*bh; 1509e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen x_temp=temp_d; 1510e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen y_temp=x_temp+bwbh; 1511e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen s_temp=y_temp+bwbh; 1512e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen select_temp=s_temp+bwbh; 1513e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1514e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#ifdef DB_SUB_PIXEL 1515e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen // subpixel processing may sometimes push the corner ourside the real border 1516e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen // increasing border size: 1517e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen left++; 1518e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen top++; 1519e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen bottom--; 1520e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen right--; 1521e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen#endif /*DB_SUB_PIXEL*/ 1522e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1523e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen nr_points=0; 1524e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(y=top;y<=bottom;y=next_y) 1525e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1526e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen next_y=y+bh; 1527e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen last_y=next_y-1; 1528e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(last_y>bottom) last_y=bottom; 1529e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(x=left;x<=right;x=next_x) 1530e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1531e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen next_x=x+bw; 1532e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen last_x=next_x-1; 1533e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(last_x>right) last_x=right; 1534e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1535e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen area=(last_x-x+1)*(last_y-y+1); 1536e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen saturation=(area*area_factor)/10000; 1537e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen nr=db_CornersFromChunk(strength,x,y,last_x,last_y,threshold,x_temp,y_temp,s_temp); 1538e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(nr) 1539e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1540e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(((unsigned long)nr)>saturation) loc_thresh=db_LeanQuickSelect(s_temp,nr,nr-saturation,select_temp); 1541e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen else loc_thresh=threshold; 1542e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1543e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen stop=nr_points+saturation; 1544e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for(i=0;(i<nr)&&(nr_points<stop);i++) 1545e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1546e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(s_temp[i]>=loc_thresh) 1547e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1548e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen #ifdef DB_SUB_PIXEL 1549e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_SubPixel(strength, x_temp[i], y_temp[i], x_coord[nr_points], y_coord[nr_points]); 1550e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen #else 1551e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen x_coord[nr_points]=x_temp[i]; 1552e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen y_coord[nr_points]=y_temp[i]; 1553e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen #endif 1554e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1555e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen nr_points++; 1556e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1557e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1558e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1559e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1560e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1561e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen *nr_corners=nr_points; 1562e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1563e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1564e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chendb_CornerDetector_f::db_CornerDetector_f() 1565e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1566e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_w=0; m_h=0; 1567e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1568e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1569e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chendb_CornerDetector_f::~db_CornerDetector_f() 1570e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1571e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Clean(); 1572e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1573e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1574e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid db_CornerDetector_f::Clean() 1575e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1576e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(m_w!=0) 1577e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1578e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen delete [] m_temp_f; 1579e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen delete [] m_temp_d; 1580e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_FreeStrengthImage_f(m_strength_mem,m_strength,m_h); 1581e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1582e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_w=0; m_h=0; 1583e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1584e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1585e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenunsigned long db_CornerDetector_f::Init(int im_width,int im_height,int target_nr_corners, 1586e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int nr_horizontal_blocks,int nr_vertical_blocks, 1587e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen double absolute_threshold,double relative_threshold) 1588e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1589e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int chunkwidth=208; 1590e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int block_width,block_height; 1591e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen unsigned long area_factor; 1592e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int active_width,active_height; 1593e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1594e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen active_width=db_maxi(1,im_width-10); 1595e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen active_height=db_maxi(1,im_height-10); 1596e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen block_width=db_maxi(1,active_width/nr_horizontal_blocks); 1597e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen block_height=db_maxi(1,active_height/nr_vertical_blocks); 1598e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1599e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen area_factor=db_minl(1000,db_maxl(1,(long)(10000.0*((double)target_nr_corners)/ 1600e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen (((double)active_width)*((double)active_height))))); 1601e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1602e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(Start(im_width,im_height,block_width,block_height,area_factor, 1603e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen absolute_threshold,relative_threshold,chunkwidth)); 1604e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1605e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1606e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenunsigned long db_CornerDetector_f::Start(int im_width,int im_height, 1607e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int block_width,int block_height,unsigned long area_factor, 1608e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen double absolute_threshold,double relative_threshold,int chunkwidth) 1609e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1610e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Clean(); 1611e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1612e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_w=im_width; 1613e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_h=im_height; 1614e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_cw=chunkwidth; 1615e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_bw=block_width; 1616e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_bh=block_height; 1617e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_area_factor=area_factor; 1618e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_r_thresh=relative_threshold; 1619e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_a_thresh=absolute_threshold; 1620e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_max_nr=db_maxl(1,1+(m_w*m_h*m_area_factor)/10000); 1621e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1622e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_temp_f=new float[13*(m_cw+4)]; 1623e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_temp_d=new double[5*m_bw*m_bh]; 1624e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_strength=db_AllocStrengthImage_f(&m_strength_mem,m_w,m_h); 1625e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1626e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(m_max_nr); 1627e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1628e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1629e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid db_CornerDetector_f::DetectCorners(const float * const *img,double *x_coord,double *y_coord,int *nr_corners) const 1630e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1631e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float max_val,threshold; 1632e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1633e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_HarrisStrength_f(m_strength,img,m_w,m_h,m_temp_f,m_cw); 1634e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1635e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(m_r_thresh) 1636e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1637e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen max_val=db_MaxImage_Aligned16_f(m_strength,3,3,m_w-6,m_h-6); 1638e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen threshold= (float) db_maxd(m_a_thresh,max_val*m_r_thresh); 1639e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1640e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen else threshold= (float) m_a_thresh; 1641e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1642e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_ExtractCornersSaturated(m_strength,BORDER,BORDER,m_w-BORDER-1,m_h-BORDER-1,m_bw,m_bh,m_area_factor,threshold, 1643e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_temp_d,x_coord,y_coord,nr_corners); 1644e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1645e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1646e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chendb_CornerDetector_u::db_CornerDetector_u() 1647e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1648e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_w=0; m_h=0; 1649e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1650e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1651e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chendb_CornerDetector_u::~db_CornerDetector_u() 1652e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1653e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Clean(); 1654e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1655e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1656e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chendb_CornerDetector_u::db_CornerDetector_u(const db_CornerDetector_u& cd) 1657e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1658e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Start(cd.m_w, cd.m_h, cd.m_bw, cd.m_bh, cd.m_area_factor, 1659e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cd.m_a_thresh, cd.m_r_thresh); 1660e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1661e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1662e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chendb_CornerDetector_u& db_CornerDetector_u::operator=(const db_CornerDetector_u& cd) 1663e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1664e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if ( this == &cd ) return *this; 1665e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1666e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Clean(); 1667e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1668e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Start(cd.m_w, cd.m_h, cd.m_bw, cd.m_bh, cd.m_area_factor, 1669e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen cd.m_a_thresh, cd.m_r_thresh); 1670e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1671e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return *this; 1672e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1673e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1674e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid db_CornerDetector_u::Clean() 1675e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1676e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(m_w!=0) 1677e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1678e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen delete [] m_temp_i; 1679e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen delete [] m_temp_d; 1680e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_FreeStrengthImage_f(m_strength_mem,m_strength,m_h); 1681e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1682e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_w=0; m_h=0; 1683e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1684e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1685e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenunsigned long db_CornerDetector_u::Init(int im_width,int im_height,int target_nr_corners, 1686e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int nr_horizontal_blocks,int nr_vertical_blocks, 1687e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen double absolute_threshold,double relative_threshold) 1688e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1689e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int block_width,block_height; 1690e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen unsigned long area_factor; 1691e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int active_width,active_height; 1692e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1693e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen active_width=db_maxi(1,im_width-10); 1694e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen active_height=db_maxi(1,im_height-10); 1695e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen block_width=db_maxi(1,active_width/nr_horizontal_blocks); 1696e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen block_height=db_maxi(1,active_height/nr_vertical_blocks); 1697e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1698e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen area_factor=db_minl(1000,db_maxl(1,(long)(10000.0*((double)target_nr_corners)/ 1699e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen (((double)active_width)*((double)active_height))))); 1700e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1701e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(Start(im_width,im_height,block_width,block_height,area_factor, 1702e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 16.0*absolute_threshold,relative_threshold)); 1703e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1704e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1705e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenunsigned long db_CornerDetector_u::Start(int im_width,int im_height, 1706e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int block_width,int block_height,unsigned long area_factor, 1707e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen double absolute_threshold,double relative_threshold) 1708e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1709e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen Clean(); 1710e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1711e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_w=im_width; 1712e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_h=im_height; 1713e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_bw=block_width; 1714e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_bh=block_height; 1715e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_area_factor=area_factor; 1716e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_r_thresh=relative_threshold; 1717e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_a_thresh=absolute_threshold; 1718e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_max_nr=db_maxl(1,1+(m_w*m_h*m_area_factor)/10000); 1719e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1720e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_temp_i=new int[18*128]; 1721e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_temp_d=new double[5*m_bw*m_bh]; 1722e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_strength=db_AllocStrengthImage_f(&m_strength_mem,m_w,m_h); 1723e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1724e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen return(m_max_nr); 1725e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1726e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1727e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid db_CornerDetector_u::DetectCorners(const unsigned char * const *img,double *x_coord,double *y_coord,int *nr_corners, 1728e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen const unsigned char * const *msk, unsigned char fgnd) const 1729e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen{ 1730e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen float max_val,threshold; 1731e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1732e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_HarrisStrength_u(m_strength,img,m_w,m_h,m_temp_i); 1733e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1734e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1735e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if(m_r_thresh) 1736e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1737e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen max_val=db_MaxImage_Aligned16_f(m_strength,3,3,m_w-6,m_h-6); 1738e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen threshold= (float) db_maxd(m_a_thresh,max_val*m_r_thresh); 1739e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1740e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen else threshold= (float) m_a_thresh; 1741e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1742e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_ExtractCornersSaturated(m_strength,BORDER,BORDER,m_w-BORDER-1,m_h-BORDER-1,m_bw,m_bh,m_area_factor,threshold, 1743e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_temp_d,x_coord,y_coord,nr_corners); 1744e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1745e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1746e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if ( msk ) 1747e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1748e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int nr_corners_mask=0; 1749e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1750e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen for ( int i = 0; i < *nr_corners; ++i) 1751e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1752e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int cor_x = db_roundi(*(x_coord+i)); 1753e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen int cor_y = db_roundi(*(y_coord+i)); 1754e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if ( msk[cor_y][cor_x] == fgnd ) 1755e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen { 1756e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen x_coord[nr_corners_mask] = x_coord[i]; 1757e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen y_coord[nr_corners_mask] = y_coord[i]; 1758e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen nr_corners_mask++; 1759e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1760e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1761e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen *nr_corners = nr_corners_mask; 1762e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen } 1763e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1764e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1765e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chenvoid db_CornerDetector_u::ExtractCorners(float ** strength, double *x_coord, double *y_coord, int *nr_corners) { 1766e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen if ( m_w!=0 ) 1767e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen db_ExtractCornersSaturated(strength,BORDER,BORDER,m_w-BORDER-1,m_h-BORDER-1,m_bw,m_bh,m_area_factor,float(m_a_thresh), 1768e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen m_temp_d,x_coord,y_coord,nr_corners); 1769e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen} 1770e295e32b68cf04f0d99138bf4a6d25555f3aef99Wei-Ta Chen 1771