__device__ __forceinline__ int operator() (unsigned int y, unsigned int x, uchar4 feature, const DevMem2Di integral) const
{
int x_off = 2 * feature.z;
- int y_off = 2 * feature.w;
- feature.z += feature.x;
- feature.w += feature.y;
-
- // load feature key points
- int anchors[16];
- /*
- P0-----P1-----P2-----P3
- | | | |
- P4-----P5-----P6-----P7
- | | | |
- P8-----P9-----P10----P11
- | | | |
- P12----P13----P14----15
- */
- anchors[0] = integral(y + feature.y, x + feature.x);
- anchors[1] = integral(y + feature.y, x + feature.z);
- anchors[2] = integral(y + feature.y, x + feature.x + x_off);
- anchors[3] = integral(y + feature.y, x + feature.z + x_off);
-
- anchors[4] = integral(y + feature.w, x + feature.x);
- anchors[5] = integral(y + feature.w, x + feature.z);
- anchors[6] = integral(y + feature.w, x + feature.x + x_off);
- anchors[7] = integral(y + feature.w, x + feature.z + x_off);
-
- anchors[8] = integral(y + y_off + feature.y, x + feature.x);
- anchors[9] = integral(y + y_off + feature.y, x + feature.z);
- anchors[10] = integral(y + y_off + feature.y, x + x_off + feature.x);
- anchors[11] = integral(y + y_off + feature.y, x + x_off + feature.z);
-
- anchors[12] = integral(y + y_off + feature.w, x + feature.x);
- anchors[13] = integral(y + y_off + feature.w, x + feature.z);
- anchors[14] = integral(y + y_off + feature.w, x + x_off + feature.x);
- anchors[15] = integral(y + y_off + feature.w, x + x_off + feature.z);
-
- // calculate responce
- int sum = anchors[5] - anchors[6] - anchors[9] + anchors[10];
-
- int response = (( (anchors[ 0] - anchors[ 1] - anchors[ 4] + anchors[ 5]) >= sum )? 128 : 0)
- |(( (anchors[ 1] - anchors[ 2] - anchors[ 5] + anchors[ 6]) >= sum )? 64 : 0)
- |(( (anchors[ 2] - anchors[ 3] - anchors[ 6] + anchors[ 7]) >= sum )? 32 : 0)
- |(( (anchors[ 6] - anchors[ 7] - anchors[10] + anchors[11]) >= sum )? 16 : 0)
- |(( (anchors[10] - anchors[11] - anchors[14] + anchors[15]) >= sum )? 8 : 0)
- |(( (anchors[ 9] - anchors[10] - anchors[13] + anchors[14]) >= sum )? 4 : 0)
- |(( (anchors[ 8] - anchors[ 9] - anchors[12] + anchors[13]) >= sum )? 2 : 0)
- |(( (anchors[ 4] - anchors[ 5] - anchors[ 8] + anchors[ 9]) >= sum )? 1 : 0);
+ int anchors[9];// = {0,0,0, 0,0,0, 0,0,0};
+
+ x +=feature.x;
+ y +=feature.y;
+ anchors[0] = integral(y, x);
+ anchors[1] = integral(y, x + feature.z);
+ anchors[0] -= anchors[1];
+ anchors[2] = integral(y, x + x_off);
+ anchors[1] -= anchors[2];
+ anchors[2] -= integral(y, x + feature.z + x_off);
+ y+=feature.w;
+
+ anchors[3] = integral(y, x);
+ anchors[4] = integral(y, x + feature.z);
+ anchors[3] -= anchors[4];
+ anchors[5] = integral(y, x + x_off);
+ anchors[4] -= anchors[5];
+ anchors[5] -= integral(y, x + feature.z + x_off);
+
+ anchors[0] -= anchors[3];
+ anchors[1] -= anchors[4];
+ anchors[2] -= anchors[5];
+ // 0 - 2 contains s0 - s2
+
+ y+=feature.w;
+ anchors[6] = integral(y, x);
+ anchors[7] = integral(y, x + feature.z);
+ anchors[6] -= anchors[7];
+ anchors[8] = integral(y, x + x_off);
+ anchors[7] -= anchors[8];
+ anchors[8] -= integral(y, x + x_off + feature.z);
+
+ anchors[3] -= anchors[6];
+ anchors[4] -= anchors[7];
+ anchors[5] -= anchors[8];
+ // 3 - 5 contains s3 - s5
+
+ int response = ((1 - ((unsigned int)(anchors[0] - anchors[4]) >> 31)) << 7);
+ response |= ((1 - ((unsigned int)(anchors[1] - anchors[4]) >> 31)) << 6);
+ response |= ((1 - ((unsigned int)(anchors[2] - anchors[4]) >> 31)) << 5);
+ response |= ((1 - ((unsigned int)(anchors[5] - anchors[4]) >> 31)) << 4);
+ response |= ((1 - ((unsigned int)(anchors[3] - anchors[4]) >> 31)) << 0);
+
+ y+=feature.w;
+ anchors[0] = integral(y, x);
+ anchors[1] = integral(y, x + feature.z);
+ anchors[0] -= anchors[1];
+ anchors[2] = integral(y, x + x_off);
+ anchors[1] -= anchors[2];
+ anchors[2] -= integral(y, x + x_off + feature.z);
+
+ anchors[6] -= anchors[0];
+ anchors[7] -= anchors[1];
+ anchors[8] -= anchors[2];
+ // 0 -2 contains s6 - s8
+
+ response |= ((1 - ((unsigned int)(anchors[6] - anchors[4]) >> 31)) << 1);
+ response |= ((1 - ((unsigned int)(anchors[7] - anchors[4]) >> 31)) << 2);
+ response |= ((1 - ((unsigned int)(anchors[8] - anchors[4]) >> 31)) << 3);
+
return response;
}
};