24 # include <emmintrin.h>
40 int half_window_size) {
42 int min_x =
floor(
x) - half_window_size - 1;
43 int min_y =
floor(
y) - half_window_size - 1;
44 if (min_x < 0.0 || min_y < 0.0) {
49 int max_x =
ceil(
x) + half_window_size + 1;
50 int max_y =
ceil(
y) + half_window_size + 1;
51 if (max_x > image1.cols() || max_y > image1.rows()) {
70 inline static __m128i SumOfAbsoluteDifferencesContiguousSSE(
71 const unsigned char*
a,
72 const unsigned char*
b,
76 for (
unsigned int j = 0; j <
size / 16; j++) {
77 sad = _mm_add_epi32(sad,
78 _mm_sad_epu8(_mm_load_si128((__m128i*)(
a + 16 * j)),
79 _mm_loadu_si128((__m128i*)(
b + 16 * j))));
90 unsigned int remainder =
size % 16u;
92 unsigned int j =
size / 16;
93 __m128i a_trail = _mm_load_si128((__m128i*)(
a + 16 * j));
94 __m128i b_trail = _mm_loadu_si128((__m128i*)(
b + 16 * j));
99 mask = _mm_setr_epi8(X, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
102 mask = _mm_setr_epi8(X, X, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
105 mask = _mm_setr_epi8(X, X, X, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
108 mask = _mm_setr_epi8(X, X, X, X, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
111 mask = _mm_setr_epi8(X, X, X, X, X, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
114 mask = _mm_setr_epi8(X, X, X, X, X, X, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
117 mask = _mm_setr_epi8(X, X, X, X, X, X, X, 0, 0, 0, 0, 0, 0, 0, 0, 0);
120 mask = _mm_setr_epi8(X, X, X, X, X, X, X, X, 0, 0, 0, 0, 0, 0, 0, 0);
123 mask = _mm_setr_epi8(X, X, X, X, X, X, X, X, X, 0, 0, 0, 0, 0, 0, 0);
126 mask = _mm_setr_epi8(X, X, X, X, X, X, X, X, X, X, 0, 0, 0, 0, 0, 0);
129 mask = _mm_setr_epi8(X, X, X, X, X, X, X, X, X, X, X, 0, 0, 0, 0, 0);
132 mask = _mm_setr_epi8(X, X, X, X, X, X, X, X, X, X, X, X, 0, 0, 0, 0);
135 mask = _mm_setr_epi8(X, X, X, X, X, X, X, X, X, X, X, X, X, 0, 0, 0);
138 mask = _mm_setr_epi8(X, X, X, X, X, X, X, X, X, X, X, X, X, X, 0, 0);
141 mask = _mm_setr_epi8(X, X, X, X, X, X, X, X, X, X, X, X, X, X, X, 0);
144 default:
mask = _mm_setzero_si128();
break;
147 sad = _mm_add_epi32(sad,
148 _mm_sad_epu8(_mm_and_si128(
mask, a_trail),
149 _mm_and_si128(
mask, b_trail)));
158 int SumOfAbsoluteDifferencesContiguousImage(
const unsigned char* pattern,
159 unsigned int pattern_width,
160 unsigned int pattern_height,
161 unsigned int pattern_stride,
162 const unsigned char*
image,
163 unsigned int image_stride) {
170 __m128i sad = _mm_setzero_si128();
171 for (
int r = 0;
r < pattern_height; ++
r) {
172 sad = SumOfAbsoluteDifferencesContiguousSSE(&pattern[pattern_stride *
r],
177 return _mm_cvtsi128_si32(
178 _mm_add_epi32(sad, _mm_shuffle_epi32(sad, _MM_SHUFFLE(3, 0, 1, 2))));
181 for (
int r = 0;
r < pattern_height; ++
r) {
182 for (
int c = 0;
c < pattern_width; ++
c) {
183 sad +=
abs(pattern[pattern_stride *
r +
c] -
image[image_stride *
r +
c]);
199 unsigned char* pattern) {
206 for (
int r = -
height / 2;
r < end_height; ++
r) {
207 for (
int c = -
width / 2;
c < end_width; ++
c) {
215 inline int PadToAlignment(
int x,
int alignment) {
216 if (
x % alignment != 0) {
217 x += alignment - (
x % alignment);
232 unsigned char** pattern,
233 int* pattern_stride) {
234 int width = 2 * half_width + 1;
237 *pattern_stride = PadToAlignment(
width, 16);
238 int pattern_size_bytes = *pattern_stride *
width;
240 static_cast<unsigned char*
>(
aligned_malloc(pattern_size_bytes, 16));
241 SampleRectangularPattern(
246 void FloatArrayToByteArrayWithPadding(
const FloatImage& float_image,
247 unsigned char**
image,
250 *image_stride = float_image.Width() + 16;
251 *
image =
static_cast<unsigned char*
>(
253 for (
int i = 0; i < float_image.Height(); ++i) {
254 for (
int j = 0; j < float_image.Width(); ++j) {
255 (*image)[*image_stride * i + j] =
256 static_cast<unsigned char>(255.0 * float_image(i, j, 0));
275 LG <<
"Fell out of image1's window with x1=" << x1 <<
", y1=" <<
y1
287 unsigned char* pattern;
293 unsigned char* search_area;
294 int search_area_stride;
295 FloatArrayToByteArrayWithPadding(
296 image_and_gradient2, &search_area, &search_area_stride);
299 int best_i = -1, best_j = -1, best_sad = INT_MAX;
300 for (
int i = 0; i < image2.
Height() - pattern_width; ++i) {
301 for (
int j = 0; j < image2.
Width() - pattern_width; ++j) {
302 int sad = SumOfAbsoluteDifferencesContiguousImage(
307 search_area + search_area_stride * i + j,
309 if (sad < best_sad) {
323 if (best_sad == INT_MAX) {
324 LG <<
"Hit INT_MAX in SAD; failing.";
332 double dx2 = *
x2 - x1;
333 double dy2 = *y2 -
y1;
334 double fine_shift =
sqrt(dx2 * dx2 + dy2 * dy2);
335 LG <<
"Brute shift: dx=" << dx2 <<
" dy=" << dy2 <<
", d=" << fine_shift;
339 LG <<
"No correlation checking; returning success. best_sad: " << best_sad;
343 Array3Df image_and_gradient1_sampled, image_and_gradient2_sampled;
349 &image_and_gradient1_sampled);
355 &image_and_gradient2_sampled);
360 image_and_gradient1_sampled, image_and_gradient2_sampled);
362 LG <<
"Final correlation: " << correlation;
365 LG <<
"Correlation " << correlation <<
" greater than "
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble y1
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble y2 _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat y2 _GL_VOID_RET _GL_VOID GLint GLint GLint y2 _GL_VOID_RET _GL_VOID GLshort GLshort GLshort y2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLuint *buffer _GL_VOID_RET _GL_VOID GLdouble t _GL_VOID_RET _GL_VOID GLfloat t _GL_VOID_RET _GL_VOID GLint t _GL_VOID_RET _GL_VOID GLshort t _GL_VOID_RET _GL_VOID GLdouble GLdouble r _GL_VOID_RET _GL_VOID GLfloat GLfloat r _GL_VOID_RET _GL_VOID GLint GLint r _GL_VOID_RET _GL_VOID GLshort GLshort r _GL_VOID_RET _GL_VOID GLdouble GLdouble r
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei height
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint y
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble GLdouble x2
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei width
static DBVT_INLINE btScalar size(const btDbvtVolume &a)
3D array (row, column, channel).
depth_tx normal_tx diffuse_light_tx specular_light_tx volume_light_tx environment_tx ambient_occlusion_tx aov_value_tx in_weight_img image(1, GPU_R32F, Qualifier::WRITE, ImageType::FLOAT_2D_ARRAY, "out_weight_img") .image(3
ccl_device_inline float3 ceil(const float3 &a)
ccl_device_inline float4 mask(const int4 &mask, const float4 &a)
double PearsonProductMomentCorrelation(const FloatImage &image_and_gradient1_sampled, const FloatImage &image_and_gradient2_sampled)
static bool RegionIsInBounds(const FloatImage &image1, double x, double y, int half_window_size)
T SampleLinear(const Array3D< T > &image, float y, float x, int v=0)
Linear interpolation.
void BlurredImageAndDerivativesChannels(const Array3Df &in, double sigma, Array3Df *blurred_and_gradxy)
void SamplePattern(const FloatImage &image, double x, double y, int half_width, int channels, FloatImage *sampled)
void aligned_free(void *ptr)
void * aligned_malloc(int size, int alignment)
static const pxr::TfToken b("b", pxr::TfToken::Immortal)
virtual bool Track(const FloatImage &image1, const FloatImage &image2, double x1, double y1, double *x2, double *y2) const
double minimum_correlation