void FAST_t(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression)
{
Mat img = _img.getMat();
const int K = patternSize/2, N = patternSize + K + 1;
#if CV_SSE2
const int quarterPatternSize = patternSize/4;
(void)quarterPatternSize;
#endif
int i, j, k, pixel[25];
makeOffsets(pixel, (int)img.step, patternSize);
keypoints.clear();
threshold = std::min(std::max(threshold, 0), 255);
#if CV_SSE2
__m128i delta = _mm_set1_epi8(-128), t = _mm_set1_epi8((char)threshold), K16 = _mm_set1_epi8((char)K);
(void)K16;
(void)delta;
(void)t;
#endif
uchar threshold_tab[512];
for( i = -255; i <= 255; i++ )
threshold_tab[i+255] = (uchar)(i < -threshold ? 1 : i > threshold ? 2 : 0);
AutoBuffer<uchar> _buf((img.cols+16)*3*(sizeof(int) + sizeof(uchar)) + 128);
uchar* buf[3];
buf[0] = _buf; buf[1] = buf[0] + img.cols; buf[2] = buf[1] + img.cols;
int* cpbuf[3];
cpbuf[0] = (int*)alignPtr(buf[2] + img.cols, sizeof(int)) + 1;
cpbuf[1] = cpbuf[0] + img.cols + 1;
cpbuf[2] = cpbuf[1] + img.cols + 1;
memset(buf[0], 0, img.cols*3);
for(i = 3; i < img.rows-2; i++)
{
const uchar* ptr = img.ptr<uchar>(i) + 3;
uchar* curr = buf[(i - 3)%3];
int* cornerpos = cpbuf[(i - 3)%3];
memset(curr, 0, img.cols);
int ncorners = 0;
if( i < img.rows - 3 )
{
j = 3;
#if CV_SSE2
if( patternSize == 16 )
{
for(; j < img.cols - 16 - 3; j += 16, ptr += 16)
{
__m128i m0, m1;
__m128i v0 = _mm_loadu_si128((const __m128i*)ptr);
__m128i v1 = _mm_xor_si128(_mm_subs_epu8(v0, t), delta);
v0 = _mm_xor_si128(_mm_adds_epu8(v0, t), delta);
__m128i x0 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[0])), delta);
__m128i x1 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[quarterPatternSize])), delta);
__m128i x2 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[2*quarterPatternSize])), delta);
__m128i x3 = _mm_sub_epi8(_mm_loadu_si128((const __m128i*)(ptr + pixel[3*quarterPatternSize])), delta);
m0 = _mm_and_si128(_mm_cmpgt_epi8(x0, v0), _mm_cmpgt_epi8(x1, v0));
m1 = _mm_and_si128(_mm_cmpgt_epi8(v1, x0), _mm_cmpgt_epi8(v1, x1));
m0 = _mm_or_si128(m0, _mm_and_si128(_mm_cmpgt_epi8(x1, v0), _mm_cmpgt_epi8(x2, v0)));
m1 = _mm_or_si128(m1, _mm_and_si128(_mm_cmpgt_epi8(v1, x1), _mm_cmpgt_epi8(v1, x2)));
m0 = _mm_or_si128(m0, _mm_and_si128(_mm_cmpgt_epi8(x2, v0), _mm_cmpgt_epi8(x3, v0)));
m1 = _mm_or_si128(m1, _mm_and_si128(_mm_cmpgt_epi8(v1, x2), _mm_cmpgt_epi8(v1, x3)));
m0 = _mm_or_si128(m0, _mm_and_si128(_mm_cmpgt_epi8(x3, v0), _mm_cmpgt_epi8(x0, v0)));
m1 = _mm_or_si128(m1, _mm_and_si128(_mm_cmpgt_epi8(v1, x3), _mm_cmpgt_epi8(v1, x0)));
m0 = _mm_or_si128(m0, m1);
int mask = _mm_movemask_epi8(m0);
if( mask == 0 )
continue;
if( (mask & 255) == 0 )
{
j -= 8;
ptr -= 8;
continue;
}
__m128i c0 = _mm_setzero_si128(), c1 = c0, max0 = c0, max1 = c0;
for( k = 0; k < N; k++ )
{
__m128i x = _mm_xor_si128(_mm_loadu_si128((const __m128i*)(ptr + pixel[k])), delta);
m0 = _mm_cmpgt_epi8(x, v0);
m1 = _mm_cmpgt_epi8(v1, x);
c0 = _mm_and_si128(_mm_sub_epi8(c0, m0), m0);
c1 = _mm_and_si128(_mm_sub_epi8(c1, m1), m1);
max0 = _mm_max_epu8(max0, c0);
max1 = _mm_max_epu8(max1, c1);
}
max0 = _mm_max_epu8(max0, max1);
int m = _mm_movemask_epi8(_mm_cmpgt_epi8(max0, K16));
for( k = 0; m > 0 && k < 16; k++, m >>= 1 )
if(m & 1)
{
cornerpos[ncorners++] = j+k;
if(nonmax_suppression)
curr[j+k] = (uchar)cornerScore<patternSize>(ptr+k, pixel, threshold);
}
}
}
#endif
for( ; j < img.cols - 3; j++, ptr++ )
{
int v = ptr[0];
const uchar* tab = &threshold_tab[0] - v + 255;
int d = tab[ptr[pixel[0]]] | tab[ptr[pixel[8]]];
if( d == 0 )
continue;
d &= tab[ptr[pixel[2]]] | tab[ptr[pixel[10]]];
d &= tab[ptr[pixel[4]]] | tab[ptr[pixel[12]]];
d &= tab[ptr[pixel[6]]] | tab[ptr[pixel[14]]];
if( d == 0 )
continue;
d &= tab[ptr[pixel[1]]] | tab[ptr[pixel[9]]];
d &= tab[ptr[pixel[3]]] | tab[ptr[pixel[11]]];
d &= tab[ptr[pixel[5]]] | tab[ptr[pixel[13]]];
d &= tab[ptr[pixel[7]]] | tab[ptr[pixel[15]]];
if( d & 1 )
{
int vt = v - threshold, count = 0;
for( k = 0; k < N; k++ )
{
int x = ptr[pixel[k]];
if(x < vt)
{
if( ++count > K )
{
cornerpos[ncorners++] = j;
if(nonmax_suppression)
curr[j] = (uchar)cornerScore<patternSize>(ptr, pixel, threshold);
break;
}
}
else
count = 0;
}
}
if( d & 2 )
{
int vt = v + threshold, count = 0;
for( k = 0; k < N; k++ )
{
int x = ptr[pixel[k]];
if(x > vt)
{
if( ++count > K )
{
cornerpos[ncorners++] = j;
if(nonmax_suppression)
curr[j] = (uchar)cornerScore<patternSize>(ptr, pixel, threshold);
break;
}
}
else
count = 0;
}
}
}
}
cornerpos[-1] = ncorners;
if( i == 3 )
continue;
const uchar* prev = buf[(i - 4 + 3)%3];
const uchar* pprev = buf[(i - 5 + 3)%3];
cornerpos = cpbuf[(i - 4 + 3)%3];
ncorners = cornerpos[-1];
for( k = 0; k < ncorners; k++ )
{
j = cornerpos[k];
int score = prev[j];
if( !nonmax_suppression ||
(score > prev[j+1] && score > prev[j-1] &&
score > pprev[j-1] && score > pprev[j] && score > pprev[j+1] &&
score > curr[j-1] && score > curr[j] && score > curr[j+1]) )
{
keypoints.push_back(KeyPoint((float)j, (float)(i-1), 7.f, -1, (float)score));
}
}
}
void FAST_t(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression)
{
Mat img = _img.getMat();
const int K = patternSize/2, N = patternSize + K + 1;
int i, j, k, pixel[25];
makeOffsets(pixel, (int)img.step, patternSize);
#if CV_SIMD128
const int quarterPatternSize = patternSize/4;
v_uint8x16 delta = v_setall_u8(0x80), t = v_setall_u8((char)threshold), K16 = v_setall_u8((char)K);
bool hasSimd = hasSIMD128();
#if CV_TRY_AVX2
Ptr<opt_AVX2::FAST_t_patternSize16_AVX2> fast_t_impl_avx2;
if(CV_CPU_HAS_SUPPORT_AVX2)
fast_t_impl_avx2 = opt_AVX2::FAST_t_patternSize16_AVX2::getImpl(img.cols, threshold, nonmax_suppression, pixel);
#endif
#endif
keypoints.clear();
threshold = std::min(std::max(threshold, 0), 255);
uchar threshold_tab[512];
for( i = -255; i <= 255; i++ )
threshold_tab[i+255] = (uchar)(i < -threshold ? 1 : i > threshold ? 2 : 0);
AutoBuffer<uchar> _buf((img.cols+16)*3*(sizeof(int) + sizeof(uchar)) + 128);
uchar* buf[3];
buf[0] = _buf.data(); buf[1] = buf[0] + img.cols; buf[2] = buf[1] + img.cols;
int* cpbuf[3];
cpbuf[0] = (int*)alignPtr(buf[2] + img.cols, sizeof(int)) + 1;
cpbuf[1] = cpbuf[0] + img.cols + 1;
cpbuf[2] = cpbuf[1] + img.cols + 1;
memset(buf[0], 0, img.cols*3);
for(i = 3; i < img.rows-2; i++)
{
const uchar* ptr = img.ptr<uchar>(i) + 3;
uchar* curr = buf[(i - 3)%3];
int* cornerpos = cpbuf[(i - 3)%3];
memset(curr, 0, img.cols);
int ncorners = 0;
if( i < img.rows - 3 )
{
j = 3;
#if CV_SIMD128
if( hasSimd )
{
if( patternSize == 16 )
{
#if CV_TRY_AVX2
if (fast_t_impl_avx2)
fast_t_impl_avx2->process(j, ptr, curr, cornerpos, ncorners);
#endif
//vz if (j <= (img.cols - 27)) //it doesn't make sense using vectors for less than 8 elements
{
for (; j < img.cols - 16 - 3; j += 16, ptr += 16)
{
v_uint8x16 v = v_load(ptr);
v_int8x16 v0 = v_reinterpret_as_s8((v + t) ^ delta);
v_int8x16 v1 = v_reinterpret_as_s8((v - t) ^ delta);
v_int8x16 x0 = v_reinterpret_as_s8(v_sub_wrap(v_load(ptr + pixel[0]), delta));
v_int8x16 x1 = v_reinterpret_as_s8(v_sub_wrap(v_load(ptr + pixel[quarterPatternSize]), delta));
v_int8x16 x2 = v_reinterpret_as_s8(v_sub_wrap(v_load(ptr + pixel[2*quarterPatternSize]), delta));
v_int8x16 x3 = v_reinterpret_as_s8(v_sub_wrap(v_load(ptr + pixel[3*quarterPatternSize]), delta));
v_int8x16 m0, m1;
m0 = (v0 < x0) & (v0 < x1);
m1 = (x0 < v1) & (x1 < v1);
m0 = m0 | ((v0 < x1) & (v0 < x2));
m1 = m1 | ((x1 < v1) & (x2 < v1));
m0 = m0 | ((v0 < x2) & (v0 < x3));
m1 = m1 | ((x2 < v1) & (x3 < v1));
m0 = m0 | ((v0 < x3) & (v0 < x0));
m1 = m1 | ((x3 < v1) & (x0 < v1));
m0 = m0 | m1;
int mask = v_signmask(m0);
if( mask == 0 )
continue;
if( (mask & 255) == 0 )
{
j -= 8;
ptr -= 8;
continue;
}
v_int8x16 c0 = v_setzero_s8();
v_int8x16 c1 = v_setzero_s8();
v_uint8x16 max0 = v_setzero_u8();
v_uint8x16 max1 = v_setzero_u8();
for( k = 0; k < N; k++ )
{
v_int8x16 x = v_reinterpret_as_s8(v_load((ptr + pixel[k])) ^ delta);
m0 = v0 < x;
m1 = x < v1;
c0 = v_sub_wrap(c0, m0) & m0;
c1 = v_sub_wrap(c1, m1) & m1;
max0 = v_max(max0, v_reinterpret_as_u8(c0));
max1 = v_max(max1, v_reinterpret_as_u8(c1));
}
max0 = v_max(max0, max1);
int m = v_signmask(K16 < max0);
for( k = 0; m > 0 && k < 16; k++, m >>= 1 )
{
if(m & 1)
{
cornerpos[ncorners++] = j+k;
if(nonmax_suppression)
curr[j+k] = (uchar)cornerScore<patternSize>(ptr+k, pixel, threshold);
}
}
}
}
}
}
#endif
for( ; j < img.cols - 3; j++, ptr++ )
{
int v = ptr[0];
const uchar* tab = &threshold_tab[0] - v + 255;
int d = tab[ptr[pixel[0]]] | tab[ptr[pixel[8]]];
if( d == 0 )
continue;
d &= tab[ptr[pixel[2]]] | tab[ptr[pixel[10]]];
d &= tab[ptr[pixel[4]]] | tab[ptr[pixel[12]]];
d &= tab[ptr[pixel[6]]] | tab[ptr[pixel[14]]];
if( d == 0 )
continue;
d &= tab[ptr[pixel[1]]] | tab[ptr[pixel[9]]];
d &= tab[ptr[pixel[3]]] | tab[ptr[pixel[11]]];
d &= tab[ptr[pixel[5]]] | tab[ptr[pixel[13]]];
d &= tab[ptr[pixel[7]]] | tab[ptr[pixel[15]]];
if( d & 1 )
{
int vt = v - threshold, count = 0;
for( k = 0; k < N; k++ )
{
int x = ptr[pixel[k]];
if(x < vt)
{
if( ++count > K )
{
cornerpos[ncorners++] = j;
if(nonmax_suppression)
curr[j] = (uchar)cornerScore<patternSize>(ptr, pixel, threshold);
break;
}
}
else
count = 0;
}
}
if( d & 2 )
{
int vt = v + threshold, count = 0;
for( k = 0; k < N; k++ )
{
int x = ptr[pixel[k]];
if(x > vt)
{
if( ++count > K )
{
cornerpos[ncorners++] = j;
if(nonmax_suppression)
curr[j] = (uchar)cornerScore<patternSize>(ptr, pixel, threshold);
break;
}
}
else
count = 0;
}
}
}
}
cornerpos[-1] = ncorners;
if( i == 3 )
continue;
const uchar* prev = buf[(i - 4 + 3)%3];
const uchar* pprev = buf[(i - 5 + 3)%3];
cornerpos = cpbuf[(i - 4 + 3)%3];
ncorners = cornerpos[-1];
for( k = 0; k < ncorners; k++ )
{
j = cornerpos[k];
int score = prev[j];
if( !nonmax_suppression ||
(score > prev[j+1] && score > prev[j-1] &&
score > pprev[j-1] && score > pprev[j] && score > pprev[j+1] &&
score > curr[j-1] && score > curr[j] && score > curr[j+1]) )
{
keypoints.push_back(KeyPoint((float)j, (float)(i-1), 7.f, -1, (float)score));
}
}
}
MetadataFromBlr::MetadataFromBlr(unsigned aBlrLength, const unsigned char* aBlr, unsigned aLength)
{
if (aBlrLength == 0)
return;
BlrReader rdr(aBlr, aBlrLength);
const UCHAR byte = rdr.getByte();
if (byte != blr_version4 && byte != blr_version5)
{
(Arg::Gds(isc_dsql_error) <<
Arg::Gds(isc_sqlerr) << Arg::Num(-804) <<
Arg::Gds(isc_wroblrver2) << Arg::Num(blr_version4) << Arg::Num(blr_version5) << Arg::Num(byte)
).raise();
}
if (rdr.getByte() != blr_begin || rdr.getByte() != blr_message)
{
(Arg::Gds(isc_sqlerr) << Arg::Num(-804) <<
Arg::Gds(isc_dsql_sqlda_err)
#ifdef DEV_BUILD
<< Arg::Gds(isc_random) << "Missing blr_begin / blr_message"
#endif
).raise();
}
rdr.getByte(); // skip the message number
unsigned count = rdr.getWord();
fb_assert(!(count & 1));
count /= 2;
unsigned offset = 0;
items.grow(count);
for (unsigned index = 0; index < count; index++)
{
Item* item = &items[index];
item->scale = 0;
item->subType = 0;
switch (rdr.getByte())
{
case blr_text:
item->type = SQL_TEXT;
item->charSet = CS_dynamic;
item->length = rdr.getWord();
break;
case blr_varying:
item->type = SQL_VARYING;
item->charSet = CS_dynamic;
item->length = rdr.getWord();
break;
case blr_text2:
item->type = SQL_TEXT;
item->charSet = rdr.getWord();
item->length = rdr.getWord();
break;
case blr_varying2:
item->type = SQL_VARYING;
item->charSet = rdr.getWord();
item->length = rdr.getWord();
break;
case blr_short:
item->type = SQL_SHORT;
item->length = sizeof(SSHORT);
item->scale = rdr.getByte();
break;
case blr_long:
item->type = SQL_LONG;
item->length = sizeof(SLONG);
item->scale = rdr.getByte();
break;
case blr_int64:
item->type = SQL_INT64;
item->length = sizeof(SINT64);
item->scale = rdr.getByte();
break;
case blr_quad:
item->type = SQL_QUAD;
item->length = sizeof(SLONG) * 2;
item->scale = rdr.getByte();
break;
case blr_float:
item->type = SQL_FLOAT;
item->length = sizeof(float);
break;
case blr_double:
case blr_d_float:
item->type = SQL_DOUBLE;
item->length = sizeof(double);
break;
case blr_timestamp:
item->type = SQL_TIMESTAMP;
item->length = sizeof(SLONG) * 2;
break;
case blr_sql_date:
item->type = SQL_TYPE_DATE;
item->length = sizeof(SLONG);
break;
case blr_sql_time:
item->type = SQL_TYPE_TIME;
item->length = sizeof(SLONG);
break;
case blr_blob2:
item->type = SQL_BLOB;
item->length = sizeof(ISC_QUAD);
item->subType = rdr.getWord();
item->charSet = rdr.getWord();
break;
case blr_bool:
item->type = SQL_BOOLEAN;
item->length = sizeof(UCHAR);
break;
default:
(Arg::Gds(isc_sqlerr) << Arg::Num(-804) <<
Arg::Gds(isc_dsql_sqlda_err)
#ifdef DEV_BUILD
<< Arg::Gds(isc_random) << "Wrong BLR type"
#endif
).raise();
}
if (rdr.getByte() != blr_short || rdr.getByte() != 0)
{
(Arg::Gds(isc_sqlerr) << Arg::Num(-804) <<
Arg::Gds(isc_dsql_sqlda_err)
#ifdef DEV_BUILD
<< Arg::Gds(isc_random) << "Wrong BLR type for NULL indicator"
#endif
).raise();
}
item->finished = true;
}
makeOffsets();
if (rdr.getByte() != (UCHAR) blr_end || length != aLength)
{
(Arg::Gds(isc_sqlerr) << Arg::Num(-804) <<
Arg::Gds(isc_dsql_sqlda_err)
#ifdef DEV_BUILD
<< Arg::Gds(isc_random) << (length != aLength ? "Invalid message length" : "Missing blr_end")
#endif
).raise();
}
}