diff --git a/Utilities/otbsiftfast/libsiftfast.cpp b/Utilities/otbsiftfast/libsiftfast.cpp
index a61f5b31bdf47bd67a5882bcafc74cbd1e14c8f7..129492ec9bfd488c4e4366551eef63d6dcabf27d 100644
--- a/Utilities/otbsiftfast/libsiftfast.cpp
+++ b/Utilities/otbsiftfast/libsiftfast.cpp
@@ -63,10 +63,10 @@ using namespace std;
#define SQRT2 1.4142136f
// if defined, will profile the critical functions and write results to prof.txt
-//#define DVPROFILE
+//#define DVPROFILE
// if defined will align all image rows to 16 bytes
-// usually aligning is faster (can save ~100ms), however for 1024x768
+// usually aligning is faster (can save ~100ms), however for 1024x768
// cache misses with the enlarged rows make it ~400-500ms slower
//#define ALIGNED_IMAGE_ROWS
@@ -132,7 +132,7 @@ inline u64 GetMicroTime()
{
//OTB - 28/11/2014
/*For mingw LARGE_INTEGER is not defined but timeval struct exists in winsock2.h */
-#if defined(_WIN32) && !defined(_MSC_VER)
+#if defined(_WIN32) && defined(_MSC_VER)
LARGE_INTEGER count, freq;
QueryPerformanceCounter(&count);
QueryPerformanceFrequency(&freq);
@@ -223,7 +223,7 @@ Image CreateImage(int rows, int cols)
im->rows = rows;
im->cols = cols;
- // cannot make 16 byte aligned since 1024x768 images
+ // cannot make 16 byte aligned since 1024x768 images
#if defined(ALIGNED_IMAGE_ROWS) && defined(__SSE__)
im->stride = (cols+3)&~3;
#else
@@ -265,7 +265,7 @@ Image CreateImageFromMatlabData(double* pdata, int rows, int cols)
__m128d m2 = _mm_loadu_pd(pf+2*rows);
__m128d m3 = _mm_loadu_pd(pf+3*rows);
#endif
-
+
__m128 mrows0 = _mm_shuffle_ps(_mm_cvtpd_ps(m0),_mm_cvtpd_ps(m1),0x44);
__m128 mrows1 = _mm_shuffle_ps(_mm_cvtpd_ps(m2),_mm_cvtpd_ps(m3),0x44);
@@ -302,7 +302,7 @@ Keypoint GetKeypoints(Image porgimage, unsigned int nbScales)
#ifdef DVPROFILE
DVProfClear();
#endif
-
+
Image pimage = NULL;
float fscale = 1.0f;
Image halfimage = NULL;
@@ -321,11 +321,11 @@ Keypoint GetKeypoints(Image porgimage, unsigned int nbScales)
}
else
pimage = SiftCopyImage(porgimage);
-
+
float fnewscale = 1.0f;
if( !DoubleImSize )
fnewscale = 0.5f;
-
+
if( InitSigma > fnewscale ) {
GaussianBlur(pimage, pimage, sqrtf(InitSigma*InitSigma - fnewscale*fnewscale));
// {
@@ -367,7 +367,7 @@ Keypoint GetKeypoints(Image porgimage, unsigned int nbScales)
#ifdef DVPROFILE
DVProfWrite("prof.txt");
#endif
-
+
return keypts;
}
@@ -386,7 +386,7 @@ Image SiftDoubleSize(Image im)
pdst[newstride+2*j+1] = 0.25f*(psrc[j] + psrc[j+1] + psrc[stride+j] + psrc[stride+j+1]);
}
}
-
+
return newim;
}
@@ -433,7 +433,7 @@ Keypoint OctaveKeypoints(Image pimage, Image* phalfimage, float fscale, Keypoint
s_imgaus[i]->rows = rows; s_imgaus[i]->cols = cols; s_imgaus[i]->stride = stride;
GaussianBlur(s_imgaus[i], s_imgaus[i-1], fincsigma * sigma);
-
+
s_imdiff[i-1]->rows = rows; s_imdiff[i-1]->cols = cols; s_imdiff[i-1]->stride = stride;
SubtractImage(s_imdiff[i-1],s_imgaus[i-1],s_imgaus[i]);
@@ -442,7 +442,7 @@ Keypoint OctaveKeypoints(Image pimage, Image* phalfimage, float fscale, Keypoint
s_imgrad->rows = rows; s_imgrad->cols = cols; s_imgrad->stride = stride;
s_imorient->rows = rows; s_imorient->cols = cols; s_imorient->stride = stride;
-
+
*phalfimage = s_imgaus[nbScales];
return FindMaxMin(s_imdiff, s_imgaus, fscale, prevkeypts,nbScales);
}
@@ -458,7 +458,7 @@ void SubtractImage(Image imgdst, Image img0, Image img1)
float* pixels0 = _pixels0+j*stride;
float* pixels1 = _pixels1+j*stride;
float* pdst = _pdst + j*stride;
-
+
for(int k = 0; k < (cols&~7); k += 8) {
_MM_STORE_ALIGNED(pdst+k,_mm_sub_ps(_MM_LOAD_ALIGNED(pixels0+k), _MM_LOAD_ALIGNED(pixels1+k)));
_MM_STORE_ALIGNED(pdst+k+4,_mm_sub_ps(_MM_LOAD_ALIGNED(pixels0+k+4), _MM_LOAD_ALIGNED(pixels1+k+4)));
@@ -483,13 +483,13 @@ void GaussianBlur(Image imgdst, Image image, float fblur)
DVSTARTPROFILE();
const float GaussTruncate = 4.0f;
-
+
int ksize = (int)(2.0f * GaussTruncate * fblur + 1.0f);
if( ksize < 3 )
ksize = 3;
- ksize += !(ksize&1); // make it odd
-
+ ksize += !(ksize&1); // make it odd
+
float* kernel = NULL;
for( map<float, float* >::iterator it = s_mapkernel.begin(); it != s_mapkernel.end(); ++it) {
if( fabsf(fblur-it->first) < 0.001f ) {
@@ -503,14 +503,14 @@ void GaussianBlur(Image imgdst, Image image, float fblur)
// +4 for alignment and padding issues with sse
kernel = (float*)sift_aligned_malloc((ksize+9)*sizeof(float),16)+1;
-
+
int width = (ksize >= 0 ? ksize : ksize-1)>>1;
for(int i = 0; i <= ksize; ++i) {
float fweight = expf( - (float)(i-width)*(i-width) / (2.0f*fblur*fblur) );
faccum += (double)fweight;
kernel[i] = fweight;
}
-
+
for(int i = 0; i < ksize; ++i) // shouldn't it be <=?
kernel[i] /= (float)faccum;
memset(kernel+ksize,0,sizeof(float)*8);
@@ -608,9 +608,9 @@ void ConvHorizontalFast(Image imgdst, Image image, float* kernel, int ksize)
#ifdef ALIGNED_IMAGE_ROWS
assert( !(image->stride&3) );
#endif
-
+
DVSTARTPROFILE();
-
+
int width = (ksize >= 0 ? ksize : ksize-1)>>1;
float* _pixels = image->pixels, *_pdst = imgdst->pixels;
@@ -620,7 +620,7 @@ void ConvHorizontalFast(Image imgdst, Image image, float* kernel, int ksize)
for(LISTBUF::iterator it = s_listconvbuf.begin(); it != s_listconvbuf.end(); ++it)
sift_aligned_free(*it);
s_listconvbuf.clear();
-
+
// create at least one
s_listconvbuf.push_back((float*)sift_aligned_malloc(convsize,16));
s_convbufsize = convsize;
@@ -644,10 +644,10 @@ void ConvHorizontalFast(Image imgdst, Image image, float* kernel, int ksize)
#pragma omp parallel for schedule(dynamic,16)
for(int i = 0; i < rows; i++) {
-
+
#ifdef _OPENMP
float* pconvbuf;
-
+
// need to get a free buffer
#pragma omp critical
{
@@ -664,10 +664,10 @@ void ConvHorizontalFast(Image imgdst, Image image, float* kernel, int ksize)
#endif
// get 16 byte aligned array
myaccum ac;
-
+
float* pixels = _pixels+i*stride;
float* pdst = _pdst + i*stride;
-
+
float* buf = pconvbuf+1;
float f0 = pixels[0], f0e = pixels[cols-1];
for(int j = 0; j < width; ++j)
@@ -675,15 +675,15 @@ void ConvHorizontalFast(Image imgdst, Image image, float* kernel, int ksize)
memcpy(buf+width,pixels,cols*sizeof(float));
for(int j = 0; j < width; ++j)
buf[cols+width+j] = f0e;
-
+
__m128 mkerbase = _mm_and_ps(_mm_loadu_ps(kernel), _mm_load_ps((float*)s_convmask));
-
+
for(int j = 0; j < 2*(cols>>2); ++j) {
int off = 2*j-(j&1);
buf = pconvbuf+1+off;
__m128 maccum0 = _mm_mul_ps(_mm_loadu_ps(buf), mkerbase);
__m128 maccum1 = _mm_mul_ps(_mm_loadu_ps(buf+2), mkerbase);
-
+
__m128 mbufprev = _mm_loadu_ps(buf+3);
for(int k = 3; k < ksize; k += 8) {
__m128 mbuf0 = mbufprev;
@@ -726,7 +726,7 @@ void ConvHorizontalFast(Image imgdst, Image image, float* kernel, int ksize)
for(int j=(cols&~3); j < cols; ++j) {
buf = pconvbuf+j+1;
__m128 maccum0 = _mm_mul_ps(_mm_loadu_ps(buf), mkerbase);
-
+
for(int k = 3; k < ksize; k += 4) {
__m128 mbuf0 = _mm_loadu_ps(buf+k);
__m128 mker0 = _mm_load_ps(kernel+k);
@@ -755,7 +755,7 @@ void ConvHorizontalFast(Image imgdst, Image image, float* kernel, int ksize)
void ConvVerticalFast(Image image, float* kernel, int ksize)
{
int rows = image->rows, stride = image->stride;
-
+
assert( ksize >= 3); // 3 is cutting it close
#ifdef ALIGNED_IMAGE_ROWS
assert( !(image->stride&3) );
@@ -768,9 +768,9 @@ void ConvVerticalFast(Image image, float* kernel, int ksize)
if( s_listconvbuf.size() == 0 || s_convbufsize < convsize ) {
for(LISTBUF::iterator it = s_listconvbuf.begin(); it != s_listconvbuf.end(); ++it)
sift_aligned_free(*it);
-
+
s_listconvbuf.clear();
-
+
// create at least one
s_listconvbuf.push_back((float*)sift_aligned_malloc(convsize,16));
s_convbufsize = convsize;
@@ -789,12 +789,12 @@ void ConvVerticalFast(Image image, float* kernel, int ksize)
#pragma omp parallel for
for(int j = 0; j < stride; j += 4) {
-
+
float* pixels = _pixels+j;
#ifndef ALIGNED_IMAGE_ROWS
myaccum ac;
#endif
-
+
#ifdef _OPENMP
float* pconvbuf;
@@ -810,9 +810,9 @@ void ConvVerticalFast(Image image, float* kernel, int ksize)
}
}
#endif
-
+
__m128 mpprev = _MM_LOAD_ALIGNED(pixels);
-
+
__m128 mprev = mpprev;
__m128 mker0 = _mm_load1_ps(kernel);
__m128 mker1 = _mm_load1_ps(kernel+1);
@@ -837,7 +837,7 @@ void ConvVerticalFast(Image image, float* kernel, int ksize)
mprev = mnew;
buf += 8;
}
-
+
_mm_store_ps(buf,mpprev); buf += 8;
for(int i = rows-width+2; i < rows; ++i) {
__m128 mnew = _mm_loadu_ps(pixels+i*stride);
@@ -916,8 +916,8 @@ Keypoint FindMaxMin(Image* imdiff, Image* imgaus, float fscale, Keypoint keypts,
GradOriImages(imgaus[index],s_imgrad,s_imorient);
#endif
assert( imdiff[index]->stride == stride );
- float* _diffpixels = imdiff[index]->pixels;
-
+ float* _diffpixels = imdiff[index]->pixels;
+
// for(int i = 0; i < rows; ++i) {
// for(int j = 0; j < cols; ++j) {
// if( isnan(imgaus[index]->pixels[i*cols+j]) ) {
@@ -939,7 +939,7 @@ Keypoint FindMaxMin(Image* imdiff, Image* imgaus, float fscale, Keypoint keypts,
Keypoint newkeypts = NULL;
float* diffpixels = _diffpixels + rowstart*stride;
for( int colstart = 5; colstart < cols-5; ++colstart ) {
-
+
float fval = diffpixels[colstart];
if( fabsf(fval) > PeakThresh*0.8f ) {
if( LocalMaxMin(fval, imdiff[index],rowstart,colstart) &&
@@ -956,7 +956,7 @@ Keypoint FindMaxMin(Image* imdiff, Image* imgaus, float fscale, Keypoint keypts,
Keypoint lastkeypt = newkeypts;
while(lastkeypt->next)
lastkeypt = lastkeypt->next;;
-
+
#pragma omp critical
{
lastkeypt->next = keypts;
@@ -972,7 +972,7 @@ Keypoint FindMaxMin(Image* imdiff, Image* imgaus, float fscale, Keypoint keypts,
void GradOriImages(Image image, Image imgrad, Image imorient)
{
DVSTARTPROFILE();
-
+
int rows = image->rows, cols = image->cols, stride = image->stride;
float* _pixels = image->pixels, *_pfgrad = imgrad->pixels, *_pforient = imorient->pixels;
float fdiffc, fdiffr;
@@ -1008,18 +1008,18 @@ void GradOriImages(Image image, Image imgrad, Image imorient)
void GradOriImagesFast(Image image, Image imgrad, Image imorient)
{
DVSTARTPROFILE();
-
+
int rows = image->rows, cols = image->cols, stride = image->stride;
float* _pixels = image->pixels, *_pfgrad = imgrad->pixels, *_pforient = imorient->pixels;
int endcol = ((cols-1)&~3);
-
+
{
// first row is special 2*(_pixels[0]-_pixels[stride])
float fdiffc, fdiffr;
// first and last elt is 2*([1]-[0]), have to improvise for sse
__m128 mprevj = _mm_set_ps(_pixels[2],_pixels[1],_pixels[0],2.0f*_pixels[0]-_pixels[1]);
-
+
for(int j = 0; j < endcol; j += 4) {
float* pf = _pixels+j;
__m128 mnewj = _mm_loadu_ps(pf+3);
@@ -1027,16 +1027,16 @@ void GradOriImagesFast(Image image, Image imgrad, Image imorient)
__m128 mgradc = _mm_sub_ps(_mm_shuffle_ps(mprevj,mnewj,0x4e),mprevj);
mgradr = _mm_sub_ps(mgradr, _MM_LOAD_ALIGNED(pf+stride));
mgradr = _mm_add_ps(mgradr,mgradr);
-
+
__m128 mrad = _mm_sqrt_ps(_mm_add_ps(_mm_mul_ps(mgradr,mgradr),_mm_mul_ps(mgradc,mgradc)));
__m128 morient = atan2f4(mgradr,mgradc);
-
+
_MM_STORE_ALIGNED(_pfgrad+j,mrad);
mprevj = mnewj;
_MM_STORE_ALIGNED(_pforient+j,morient);
}
-
+
// compute the rest the old way
for(int j = endcol; j < cols; ++j) {
if( j == 0 )
@@ -1070,10 +1070,10 @@ void GradOriImagesFast(Image image, Image imgrad, Image imorient)
__m128 mgradr = _MM_LOAD_ALIGNED(pf-stride);
__m128 mgradc = _mm_sub_ps(_mm_shuffle_ps(mprevj,mnewj,0x4e),mprevj);
mgradr = _mm_sub_ps(mgradr,_MM_LOAD_ALIGNED(pf+stride));
-
+
__m128 mrad = _mm_sqrt_ps(_mm_add_ps(_mm_mul_ps(mgradr,mgradr),_mm_mul_ps(mgradc,mgradc)));
__m128 morient = atan2f4(mgradr,mgradc);
-
+
_MM_STORE_ALIGNED(pfgrad+j,mrad);
mprevj = mnewj;
_MM_STORE_ALIGNED(pforient+j,morient);
@@ -1111,10 +1111,10 @@ void GradOriImagesFast(Image image, Image imgrad, Image imorient)
__m128 mgradc = _mm_sub_ps(_mm_shuffle_ps(mprevj,mnewj,0x4e),mprevj);
mgradr = _mm_sub_ps(mgradr,_MM_LOAD_ALIGNED(pf));
mgradr = _mm_add_ps(mgradr,mgradr);
-
+
__m128 mrad = _mm_sqrt_ps(_mm_add_ps(_mm_mul_ps(mgradr,mgradr),_mm_mul_ps(mgradc,mgradc)));
__m128 morient = atan2f4(mgradr,mgradc);
-
+
_MM_STORE_ALIGNED(pfgrad+j,mrad);
mprevj = mnewj;
_MM_STORE_ALIGNED(pforient+j,morient);
@@ -1197,7 +1197,7 @@ Keypoint InterpKeyPoint(Image* imdiff, int index, int rowstart, int colstart,
return InterpKeyPoint(imdiff,index,newrow,newcol,imgrad,imorient,pMaxMinArray,fscale,keypts,steps-1,nbScales);
if(fabsf(X[0]) <= 1.5f && fabsf(X[1]) <= 1.5f && fabsf(X[2]) <= 1.5f && fabsf(fquadvalue) >= PeakThresh ) {
-
+
char* pmaxmin = pMaxMinArray + rowstart*imgrad->cols+colstart;
bool bgetkeypts = false;
#pragma omp critical
@@ -1207,7 +1207,7 @@ Keypoint InterpKeyPoint(Image* imdiff, int index, int rowstart, int colstart,
pmaxmin[0] = 1;
}
}
-
+
if( bgetkeypts ) {
float fSize = InitSigma * powf(2.0f,((float)index + X[0])/(float)nbScales);
return AssignOriHist(imgrad,imorient,fscale,fSize,(float)rowstart+X[1],(float)colstart+X[2],keypts);
@@ -1277,7 +1277,7 @@ void SolveLinearSystem(float* Y, float* H, int dim)
Y[j] -= Y[i]*f;
}
}
-
+
// extract solution
for(int i = dim-1; i >= 0; --i) {
for(int j = dim-1; j > i; --j)
@@ -1308,7 +1308,7 @@ Keypoint AssignOriHist(Image imgrad, Image imorient, float fscale, float fSize,
continue;
for( int colcur = colstart-windowsize; colcur <= colstart+windowsize; ++colcur ) {
-
+
if( colcur < 0 || colcur >= cols-2 )
continue;
@@ -1316,22 +1316,22 @@ Keypoint AssignOriHist(Image imgrad, Image imorient, float fscale, float fSize,
if( fdx > 0 ) {
float fdrow = (float)rowcur-frowstart, fdcol = (float)colcur-fcolstart;
float fradius2 = fdrow*fdrow+fdcol*fdcol;
-
+
if( (float)(windowsize*windowsize) + 0.5f > fradius2 ) {
float fweight = expf(fradius2*fexpmult);
int binindex = (int)(pforient[rowcur*stride+colcur]*fbinmult+fbinadd);
-
+
// there is a bug in pforient where it could be 2*PI sometimes
if( binindex > 36 ) {
//if( binindex != 54 )
fprintf(stderr,"bin %d\n",binindex);
binindex = 0;
}
-
+
assert( binindex >= 0 && binindex <= 36 );
if( binindex == 36 )
binindex = 35;
-
+
hists[binindex] += fdx*fweight;
}
}
@@ -1341,7 +1341,7 @@ Keypoint AssignOriHist(Image imgrad, Image imorient, float fscale, float fSize,
// pick an orientation with the highest votes
for(int i = 0; i < 6; ++i)
SmoothHistogram(hists,36);
-
+
#ifdef __SSE__
float SIFT_ALIGNED16(fmaxval);
__m128 m0 = _mm_load_ps(&hists[0]);
@@ -1368,19 +1368,19 @@ Keypoint AssignOriHist(Image imgrad, Image imorient, float fscale, float fSize,
fmaxval = hists[i];
}
#endif
-
+
fmaxval *= 0.8f;
const float foriadd = 0.5f*2*PI/36.0f - PI, forimult = 2*PI/36.0f;
-
+
int previndex = 35;
for(int index = 0; index < 36; ++index) {
if( index != 0 )
previndex = index-1;
-
+
int nextindex = 0;
if( index != 35 )
nextindex = index+1;
-
+
if( hists[index] <= hists[previndex] || hists[index] <= hists[nextindex] || hists[index] < fmaxval )
continue;
@@ -1390,7 +1390,7 @@ Keypoint AssignOriHist(Image imgrad, Image imorient, float fscale, float fSize,
keypts = MakeKeypoint(imgrad,imorient,fscale,fSize,frowstart,fcolstart,forient,keypts);
}
-
+
return keypts;
}
@@ -1439,7 +1439,7 @@ Keypoint MakeKeypoint(Image imgrad, Image imorient, float fscale, float fSize,
pnewkeypt->col = fscale*fcolstart;
pnewkeypt->scale = fscale*fSize;
MakeKeypointSample(pnewkeypt,imgrad,imorient,fSize,frowstart,fcolstart);
-
+
return pnewkeypt;
}
@@ -1462,7 +1462,7 @@ void MakeKeypointSample(Keypoint pkeypt, Image imgrad, Image imorient,
maccum1 = _mm_add_ps(maccum1,_mm_mul_ps(m1,m1));
}
- maccum0 = _mm_add_ps(maccum0,maccum1);
+ maccum0 = _mm_add_ps(maccum0,maccum1);
#ifdef __SSE3__
maccum0 = _mm_hadd_ps(maccum0,maccum0);
maccum0 = _mm_hadd_ps(maccum0,maccum0);
@@ -1470,7 +1470,7 @@ void MakeKeypointSample(Keypoint pkeypt, Image imgrad, Image imorient,
maccum0 = _mm_add_ps(maccum0,_mm_shuffle_ps(maccum0,maccum0,0x4e));
maccum0 = _mm_add_ss(maccum0,_mm_shuffle_ps(maccum0,maccum0,0x55));
#endif
-
+
float fthresh;
float SIFT_ALIGNED16(flength2);
_mm_store_ss(&flength2, maccum0);
@@ -1501,7 +1501,7 @@ void MakeKeypointSample(Keypoint pkeypt, Image imgrad, Image imorient,
// float flength = 512.0f/sqrtf(flength2);
// maccum0 = _mm_load1_ps(&flength);
// unsigned char* pkeydesc = pkeypt->descrip;
-//
+//
// for(int i = 0; i < 128; i += 16 ) {
// __m128 m0 = _mm_load_ps(fdesc+i);
// __m128 m1 = _mm_load_ps(fdesc+i+4);
@@ -1515,7 +1515,7 @@ void MakeKeypointSample(Keypoint pkeypt, Image imgrad, Image imorient,
// }
#else
NormalizeVec(fdesc,128);
-
+
bool brenormalize = false;
for(int i = 0; i < 128; ++i) {
if( fdesc[i] > 0.2f ) {
@@ -1523,7 +1523,7 @@ void MakeKeypointSample(Keypoint pkeypt, Image imgrad, Image imorient,
brenormalize = true;
}
}
-
+
if( brenormalize )
NormalizeVec(fdesc,128);
#endif
@@ -1551,7 +1551,7 @@ void KeySample(float* fdesc, Keypoint pkeypt, Image imgrad, Image imorient,
float frealsize = 3.0f*fSize;
float firealsize = 1.0f/(3.0f*fSize);
int windowsize = (int)(frealsize*SQRT2*5.0f*0.5f+0.5f);
-
+
float fsr = sinang*firealsize, fcr = cosang*firealsize, fdrr = -fdrow*firealsize, fdcr = -fdcol*firealsize;
for(int row = -windowsize; row <= windowsize; ++row) {
@@ -1561,7 +1561,7 @@ void KeySample(float* fdesc, Keypoint pkeypt, Image imgrad, Image imorient,
//#else
float* fnewdesc = fdesc;
//#endif
-
+
float frow = (float)row;
float fcol = -(float)windowsize;
for(int col = -windowsize; col <= windowsize; ++col, fcol += 1) {
@@ -1569,7 +1569,7 @@ void KeySample(float* fdesc, Keypoint pkeypt, Image imgrad, Image imorient,
float cpos = fcr*fcol - fsr*frow + fdcr;
float rx = rpos + (2.0f - 0.5f);
float cx = cpos + (2.0f - 0.5f);
-
+
if( rx > -0.9999f && rx < 3.9999f && cx > -0.9999f && cx < 3.9999f ) {
AddSample(fnewdesc, pkeypt, imgrad, imorient, rowstart+row, colstart+col, rpos, cpos, rx, cx);
//#ifdef _OPENMP
@@ -1605,7 +1605,7 @@ void AddSample(float* fdesc, Keypoint pkeypt, Image imgrad, Image imorient, int
int rows = imgrad->rows, cols = imgrad->cols, stride = imgrad->stride;
if( r < 0 || r >= rows || c < 0 || c >= cols )
return;
-
+
float fgrad = imgrad->pixels[r*stride+c] * expf(-0.125f*(rpos*rpos+cpos*cpos));
float forient = imorient->pixels[r*stride+c] - pkeypt->ori;
while( forient > 2*PI )
@@ -1645,17 +1645,17 @@ void PlaceInIndex(float* fdesc, float mag, float ori, float rx, float cx)
ofrac = oribin-(float)neworient;
assert( newrow >= -1 && newrow < 4 && neworient >= 0 && neworient <= 8 && rfrac >= 0 && rfrac < 1);
-
+
for(int i = 0; i < 2; ++i) {
if( (unsigned int)(i+newrow) >= 4 )
continue;
-
+
float frowgrad;
if( i == 0 )
frowgrad = mag*(1-rfrac);
else
frowgrad = mag*rfrac;
-
+
for(int j = 0; j < 2; ++j) {
if( (unsigned int)(j+newcol) >= 4 )
continue;
@@ -1665,7 +1665,7 @@ void PlaceInIndex(float* fdesc, float mag, float ori, float rx, float cx)
fcolgrad = frowgrad*(1-cfrac);
else
fcolgrad = frowgrad*cfrac;
-
+
float* pfdescorient = fdesc + 8*(4*(i+newrow)+j+newcol);
for(int k = 0; k < 2; ++k) {
float forigrad;
@@ -1711,12 +1711,12 @@ void DestroyAllResources()
#define DEI_CONST(a,b) static const vec_int4 a = {b,b,b,b};
-DEF_CONST(CF4_2414213562373095, 2.414213562373095f)
-DEF_CONST(CF4_04142135623730950, 0.4142135623730950f)
-DEF_CONST(CF4_805374449538e_2, 8.05374449538e-2f)
-DEF_CONST(CF4_138776856032E_1, 1.38776856032E-1f)
-DEF_CONST(CF4_199777106478E_1, 1.99777106478E-1f)
-DEF_CONST(CF4_333329491539E_1, 3.33329491539E-1f)
+DEF_CONST(CF4_2414213562373095, 2.414213562373095f)
+DEF_CONST(CF4_04142135623730950, 0.4142135623730950f)
+DEF_CONST(CF4_805374449538e_2, 8.05374449538e-2f)
+DEF_CONST(CF4_138776856032E_1, 1.38776856032E-1f)
+DEF_CONST(CF4_199777106478E_1, 1.99777106478E-1f)
+DEF_CONST(CF4_333329491539E_1, 3.33329491539E-1f)
#define VEC_F2I(a,b) asm("cvttps2dq %1, %0":"=x" (a) :"x" (b))
#define VEC_I2F(a,b) asm("cvtdq2ps %1, %0":"=x" (a) :"x" (b))
@@ -1750,14 +1750,14 @@ vec_float4 C-style expressions
#define vec_nmsub(a,b,c) ((c)-(a)*(b))
#define vec_splat(x,n) (typeof(x))_mm_shuffle_ps(x,x,_MM_SHUFFLE(n,n,n,n))
-DEF_CONST(CF4_0, 0.0f)
-DEF_CONST(CF4_2, 2.0f)
+DEF_CONST(CF4_0, 0.0f)
+DEF_CONST(CF4_2, 2.0f)
DEI_CONST(CI4_SIGN, static_cast<int>(0x80000000u))
-DEF_CONST(CF4__1, -1.0f)
-DEF_CONST(CF4_1, 1.0f)
-DEF_CONST(CF4_SMALL, 1.0E-35f)
-DEF_CONST(CF4_PIO2F, 1.570796326794896619f)
-DEF_CONST(CF4_PIO4F, 0.7853981633974483096f)
+DEF_CONST(CF4__1, -1.0f)
+DEF_CONST(CF4_1, 1.0f)
+DEF_CONST(CF4_SMALL, 1.0E-35f)
+DEF_CONST(CF4_PIO2F, 1.570796326794896619f)
+DEF_CONST(CF4_PIO4F, 0.7853981633974483096f)
DEF_CONST(CF4_PIF, 3.14159265358979323846f)
inline vec_int4 __attribute__((__always_inline__))
@@ -1774,11 +1774,11 @@ inline vec_float4 __attribute__((__always_inline__))
/* make argument positive and save the sign */
vec_int4 sign = _signf4( x );
VEC_XOR(x, sign);
-
+
/* range reduction */
a1 = (vec_int4)VEC_GT (x , CF4_2414213562373095 );
a2 = (vec_int4)VEC_GT (x , CF4_04142135623730950 );
- a3 = ~a2;
+ a3 = ~a2;
a2 ^= a1;
z1 = CF4__1 / (x+CF4_SMALL);
@@ -1788,7 +1788,7 @@ inline vec_float4 __attribute__((__always_inline__))
VEC_AND(x, a3);
VEC_OR(x, z1);
VEC_OR(x, z2);
-
+
y = CF4_PIO2F;
z1 = CF4_PIO4F;
VEC_AND(y, a1);