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/***********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright 2008-2009 Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
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* Copyright 2008-2009 David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
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*
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* THE BSD LICENSE
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR
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* IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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* OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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* IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
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* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
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* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*************************************************************************/
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#ifndef OPENCV_FLANN_DIST_H_
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#define OPENCV_FLANN_DIST_H_
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#include <cmath>
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#include <cstdlib>
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#include <string.h>
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#ifdef _MSC_VER
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typedef unsigned __int32 uint32_t;
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typedef unsigned __int64 uint64_t;
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#else
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#include <stdint.h>
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#endif
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#include "defines.h"
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#if (defined WIN32 || defined _WIN32) && defined(_M_ARM)
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# include <Intrin.h>
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#endif
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#ifdef __ARM_NEON__
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# include "arm_neon.h"
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#endif
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namespace cvflann
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{
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template<typename T>
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inline T abs(T x) { return (x<0) ? -x : x; }
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template<>
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inline int abs<int>(int x) { return ::abs(x); }
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template<>
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inline float abs<float>(float x) { return fabsf(x); }
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template<>
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inline double abs<double>(double x) { return fabs(x); }
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template<typename T>
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struct Accumulator { typedef T Type; };
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template<>
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struct Accumulator<unsigned char> { typedef float Type; };
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template<>
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struct Accumulator<unsigned short> { typedef float Type; };
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template<>
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struct Accumulator<unsigned int> { typedef float Type; };
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template<>
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struct Accumulator<char> { typedef float Type; };
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template<>
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struct Accumulator<short> { typedef float Type; };
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template<>
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struct Accumulator<int> { typedef float Type; };
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#undef True
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#undef False
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class True
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{
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};
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class False
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{
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};
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/**
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* Squared Euclidean distance functor.
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*
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* This is the simpler, unrolled version. This is preferable for
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* very low dimensionality data (eg 3D points)
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*/
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template<class T>
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struct L2_Simple
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{
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typedef True is_kdtree_distance;
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typedef True is_vector_space_distance;
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typedef T ElementType;
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typedef typename Accumulator<T>::Type ResultType;
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template <typename Iterator1, typename Iterator2>
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ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType /*worst_dist*/ = -1) const
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{
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ResultType result = ResultType();
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ResultType diff;
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for(size_t i = 0; i < size; ++i ) {
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diff = *a++ - *b++;
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result += diff*diff;
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}
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return result;
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}
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template <typename U, typename V>
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inline ResultType accum_dist(const U& a, const V& b, int) const
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{
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return (a-b)*(a-b);
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}
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};
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/**
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* Squared Euclidean distance functor, optimized version
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*/
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template<class T>
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struct L2
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{
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typedef True is_kdtree_distance;
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typedef True is_vector_space_distance;
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typedef T ElementType;
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typedef typename Accumulator<T>::Type ResultType;
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/**
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* Compute the squared Euclidean distance between two vectors.
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*
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* This is highly optimised, with loop unrolling, as it is one
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* of the most expensive inner loops.
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*
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* The computation of squared root at the end is omitted for
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* efficiency.
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*/
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template <typename Iterator1, typename Iterator2>
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ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
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{
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ResultType result = ResultType();
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ResultType diff0, diff1, diff2, diff3;
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Iterator1 last = a + size;
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Iterator1 lastgroup = last - 3;
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/* Process 4 items with each loop for efficiency. */
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while (a < lastgroup) {
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diff0 = (ResultType)(a[0] - b[0]);
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diff1 = (ResultType)(a[1] - b[1]);
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diff2 = (ResultType)(a[2] - b[2]);
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diff3 = (ResultType)(a[3] - b[3]);
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result += diff0 * diff0 + diff1 * diff1 + diff2 * diff2 + diff3 * diff3;
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a += 4;
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b += 4;
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if ((worst_dist>0)&&(result>worst_dist)) {
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return result;
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}
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}
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/* Process last 0-3 pixels. Not needed for standard vector lengths. */
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while (a < last) {
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diff0 = (ResultType)(*a++ - *b++);
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result += diff0 * diff0;
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}
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return result;
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}
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/**
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* Partial euclidean distance, using just one dimension. This is used by the
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* kd-tree when computing partial distances while traversing the tree.
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*
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* Squared root is omitted for efficiency.
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*/
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template <typename U, typename V>
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inline ResultType accum_dist(const U& a, const V& b, int) const
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{
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return (a-b)*(a-b);
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}
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};
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/*
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* Manhattan distance functor, optimized version
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*/
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template<class T>
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struct L1
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{
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typedef True is_kdtree_distance;
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typedef True is_vector_space_distance;
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typedef T ElementType;
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typedef typename Accumulator<T>::Type ResultType;
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/**
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* Compute the Manhattan (L_1) distance between two vectors.
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*
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* This is highly optimised, with loop unrolling, as it is one
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* of the most expensive inner loops.
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*/
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template <typename Iterator1, typename Iterator2>
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ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
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{
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ResultType result = ResultType();
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ResultType diff0, diff1, diff2, diff3;
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Iterator1 last = a + size;
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Iterator1 lastgroup = last - 3;
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/* Process 4 items with each loop for efficiency. */
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while (a < lastgroup) {
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diff0 = (ResultType)abs(a[0] - b[0]);
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diff1 = (ResultType)abs(a[1] - b[1]);
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diff2 = (ResultType)abs(a[2] - b[2]);
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diff3 = (ResultType)abs(a[3] - b[3]);
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result += diff0 + diff1 + diff2 + diff3;
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a += 4;
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b += 4;
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if ((worst_dist>0)&&(result>worst_dist)) {
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return result;
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}
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}
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/* Process last 0-3 pixels. Not needed for standard vector lengths. */
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while (a < last) {
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diff0 = (ResultType)abs(*a++ - *b++);
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result += diff0;
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}
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return result;
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}
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/**
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* Partial distance, used by the kd-tree.
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*/
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template <typename U, typename V>
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inline ResultType accum_dist(const U& a, const V& b, int) const
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{
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return abs(a-b);
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}
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};
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template<class T>
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struct MinkowskiDistance
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{
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typedef True is_kdtree_distance;
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typedef True is_vector_space_distance;
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typedef T ElementType;
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typedef typename Accumulator<T>::Type ResultType;
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int order;
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MinkowskiDistance(int order_) : order(order_) {}
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/**
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* Compute the Minkowsky (L_p) distance between two vectors.
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*
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* This is highly optimised, with loop unrolling, as it is one
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* of the most expensive inner loops.
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*
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* The computation of squared root at the end is omitted for
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* efficiency.
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*/
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template <typename Iterator1, typename Iterator2>
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ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
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{
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ResultType result = ResultType();
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ResultType diff0, diff1, diff2, diff3;
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Iterator1 last = a + size;
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Iterator1 lastgroup = last - 3;
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/* Process 4 items with each loop for efficiency. */
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while (a < lastgroup) {
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diff0 = (ResultType)abs(a[0] - b[0]);
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diff1 = (ResultType)abs(a[1] - b[1]);
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diff2 = (ResultType)abs(a[2] - b[2]);
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diff3 = (ResultType)abs(a[3] - b[3]);
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result += pow(diff0,order) + pow(diff1,order) + pow(diff2,order) + pow(diff3,order);
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a += 4;
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b += 4;
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if ((worst_dist>0)&&(result>worst_dist)) {
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return result;
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}
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}
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/* Process last 0-3 pixels. Not needed for standard vector lengths. */
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while (a < last) {
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diff0 = (ResultType)abs(*a++ - *b++);
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result += pow(diff0,order);
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}
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return result;
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}
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/**
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* Partial distance, used by the kd-tree.
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*/
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template <typename U, typename V>
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inline ResultType accum_dist(const U& a, const V& b, int) const
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{
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return pow(static_cast<ResultType>(abs(a-b)),order);
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}
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};
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template<class T>
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struct MaxDistance
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{
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typedef False is_kdtree_distance;
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typedef True is_vector_space_distance;
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typedef T ElementType;
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typedef typename Accumulator<T>::Type ResultType;
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/**
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* Compute the max distance (L_infinity) between two vectors.
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*
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* This distance is not a valid kdtree distance, it's not dimensionwise additive.
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*/
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template <typename Iterator1, typename Iterator2>
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ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
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{
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ResultType result = ResultType();
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ResultType diff0, diff1, diff2, diff3;
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Iterator1 last = a + size;
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Iterator1 lastgroup = last - 3;
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/* Process 4 items with each loop for efficiency. */
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while (a < lastgroup) {
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diff0 = abs(a[0] - b[0]);
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diff1 = abs(a[1] - b[1]);
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diff2 = abs(a[2] - b[2]);
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diff3 = abs(a[3] - b[3]);
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if (diff0>result) {result = diff0; }
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if (diff1>result) {result = diff1; }
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if (diff2>result) {result = diff2; }
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if (diff3>result) {result = diff3; }
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a += 4;
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b += 4;
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if ((worst_dist>0)&&(result>worst_dist)) {
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return result;
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}
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}
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/* Process last 0-3 pixels. Not needed for standard vector lengths. */
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while (a < last) {
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diff0 = abs(*a++ - *b++);
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result = (diff0>result) ? diff0 : result;
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}
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return result;
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}
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/* This distance functor is not dimension-wise additive, which
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* makes it an invalid kd-tree distance, not implementing the accum_dist method */
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};
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////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Hamming distance functor - counts the bit differences between two strings - useful for the Brief descriptor
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* bit count of A exclusive XOR'ed with B
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*/
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struct HammingLUT
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{
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typedef False is_kdtree_distance;
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typedef False is_vector_space_distance;
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typedef unsigned char ElementType;
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typedef int ResultType;
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/** this will count the bits in a ^ b
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*/
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ResultType operator()(const unsigned char* a, const unsigned char* b, size_t size) const
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{
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static const uchar popCountTable[] =
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{
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0, 1, 1, 2, 1, 2, 2, 3, 1, 2, 2, 3, 2, 3, 3, 4, 1, 2, 2, 3, 2, 3, 3, 4, 2, 3, 3, 4, 3, 4, 4, 5,
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1, 2, 2, 3, 2, 3, 3, 4, 2, 3, 3, 4, 3, 4, 4, 5, 2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6,
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1, 2, 2, 3, 2, 3, 3, 4, 2, 3, 3, 4, 3, 4, 4, 5, 2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6,
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2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6, 3, 4, 4, 5, 4, 5, 5, 6, 4, 5, 5, 6, 5, 6, 6, 7,
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1, 2, 2, 3, 2, 3, 3, 4, 2, 3, 3, 4, 3, 4, 4, 5, 2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6,
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2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6, 3, 4, 4, 5, 4, 5, 5, 6, 4, 5, 5, 6, 5, 6, 6, 7,
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2, 3, 3, 4, 3, 4, 4, 5, 3, 4, 4, 5, 4, 5, 5, 6, 3, 4, 4, 5, 4, 5, 5, 6, 4, 5, 5, 6, 5, 6, 6, 7,
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3, 4, 4, 5, 4, 5, 5, 6, 4, 5, 5, 6, 5, 6, 6, 7, 4, 5, 5, 6, 5, 6, 6, 7, 5, 6, 6, 7, 6, 7, 7, 8
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};
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ResultType result = 0;
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for (size_t i = 0; i < size; i++) {
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result += popCountTable[a[i] ^ b[i]];
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}
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return result;
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}
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};
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/**
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* Hamming distance functor (pop count between two binary vectors, i.e. xor them and count the number of bits set)
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* That code was taken from brief.cpp in OpenCV
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*/
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template<class T>
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struct Hamming
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{
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typedef False is_kdtree_distance;
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typedef False is_vector_space_distance;
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typedef T ElementType;
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typedef int ResultType;
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template<typename Iterator1, typename Iterator2>
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ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType /*worst_dist*/ = -1) const
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|
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{
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ResultType result = 0;
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#ifdef __ARM_NEON__
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|
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{
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uint32x4_t bits = vmovq_n_u32(0);
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for (size_t i = 0; i < size; i += 16) {
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uint8x16_t A_vec = vld1q_u8 (a + i);
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uint8x16_t B_vec = vld1q_u8 (b + i);
|
|
|
uint8x16_t AxorB = veorq_u8 (A_vec, B_vec);
|
|
|
uint8x16_t bitsSet = vcntq_u8 (AxorB);
|
|
|
uint16x8_t bitSet8 = vpaddlq_u8 (bitsSet);
|
|
|
uint32x4_t bitSet4 = vpaddlq_u16 (bitSet8);
|
|
|
bits = vaddq_u32(bits, bitSet4);
|
|
|
}
|
|
|
uint64x2_t bitSet2 = vpaddlq_u32 (bits);
|
|
|
result = vgetq_lane_s32 (vreinterpretq_s32_u64(bitSet2),0);
|
|
|
result += vgetq_lane_s32 (vreinterpretq_s32_u64(bitSet2),2);
|
|
|
}
|
|
|
#elif __GNUC__
|
|
|
{
|
|
|
//for portability just use unsigned long -- and use the __builtin_popcountll (see docs for __builtin_popcountll)
|
|
|
typedef unsigned long long pop_t;
|
|
|
const size_t modulo = size % sizeof(pop_t);
|
|
|
const pop_t* a2 = reinterpret_cast<const pop_t*> (a);
|
|
|
const pop_t* b2 = reinterpret_cast<const pop_t*> (b);
|
|
|
const pop_t* a2_end = a2 + (size / sizeof(pop_t));
|
|
|
|
|
|
for (; a2 != a2_end; ++a2, ++b2) result += __builtin_popcountll((*a2) ^ (*b2));
|
|
|
|
|
|
if (modulo) {
|
|
|
//in the case where size is not dividable by sizeof(size_t)
|
|
|
//need to mask off the bits at the end
|
|
|
pop_t a_final = 0, b_final = 0;
|
|
|
memcpy(&a_final, a2, modulo);
|
|
|
memcpy(&b_final, b2, modulo);
|
|
|
result += __builtin_popcountll(a_final ^ b_final);
|
|
|
}
|
|
|
}
|
|
|
#else // NO NEON and NOT GNUC
|
|
|
typedef unsigned long long pop_t;
|
|
|
HammingLUT lut;
|
|
|
result = lut(reinterpret_cast<const unsigned char*> (a),
|
|
|
reinterpret_cast<const unsigned char*> (b), size * sizeof(pop_t));
|
|
|
#endif
|
|
|
return result;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
template<typename T>
|
|
|
struct Hamming2
|
|
|
{
|
|
|
typedef False is_kdtree_distance;
|
|
|
typedef False is_vector_space_distance;
|
|
|
|
|
|
typedef T ElementType;
|
|
|
typedef int ResultType;
|
|
|
|
|
|
/** This is popcount_3() from:
|
|
|
* http://en.wikipedia.org/wiki/Hamming_weight */
|
|
|
unsigned int popcnt32(uint32_t n) const
|
|
|
{
|
|
|
n -= ((n >> 1) & 0x55555555);
|
|
|
n = (n & 0x33333333) + ((n >> 2) & 0x33333333);
|
|
|
return (((n + (n >> 4))& 0xF0F0F0F)* 0x1010101) >> 24;
|
|
|
}
|
|
|
|
|
|
#ifdef FLANN_PLATFORM_64_BIT
|
|
|
unsigned int popcnt64(uint64_t n) const
|
|
|
{
|
|
|
n -= ((n >> 1) & 0x5555555555555555);
|
|
|
n = (n & 0x3333333333333333) + ((n >> 2) & 0x3333333333333333);
|
|
|
return (((n + (n >> 4))& 0x0f0f0f0f0f0f0f0f)* 0x0101010101010101) >> 56;
|
|
|
}
|
|
|
#endif
|
|
|
|
|
|
template <typename Iterator1, typename Iterator2>
|
|
|
ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType /*worst_dist*/ = -1) const
|
|
|
{
|
|
|
#ifdef FLANN_PLATFORM_64_BIT
|
|
|
const uint64_t* pa = reinterpret_cast<const uint64_t*>(a);
|
|
|
const uint64_t* pb = reinterpret_cast<const uint64_t*>(b);
|
|
|
ResultType result = 0;
|
|
|
size /= (sizeof(uint64_t)/sizeof(unsigned char));
|
|
|
for(size_t i = 0; i < size; ++i ) {
|
|
|
result += popcnt64(*pa ^ *pb);
|
|
|
++pa;
|
|
|
++pb;
|
|
|
}
|
|
|
#else
|
|
|
const uint32_t* pa = reinterpret_cast<const uint32_t*>(a);
|
|
|
const uint32_t* pb = reinterpret_cast<const uint32_t*>(b);
|
|
|
ResultType result = 0;
|
|
|
size /= (sizeof(uint32_t)/sizeof(unsigned char));
|
|
|
for(size_t i = 0; i < size; ++i ) {
|
|
|
result += popcnt32(*pa ^ *pb);
|
|
|
++pa;
|
|
|
++pb;
|
|
|
}
|
|
|
#endif
|
|
|
return result;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
template<class T>
|
|
|
struct HistIntersectionDistance
|
|
|
{
|
|
|
typedef True is_kdtree_distance;
|
|
|
typedef True is_vector_space_distance;
|
|
|
|
|
|
typedef T ElementType;
|
|
|
typedef typename Accumulator<T>::Type ResultType;
|
|
|
|
|
|
/**
|
|
|
* Compute the histogram intersection distance
|
|
|
*/
|
|
|
template <typename Iterator1, typename Iterator2>
|
|
|
ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
|
|
|
{
|
|
|
ResultType result = ResultType();
|
|
|
ResultType min0, min1, min2, min3;
|
|
|
Iterator1 last = a + size;
|
|
|
Iterator1 lastgroup = last - 3;
|
|
|
|
|
|
/* Process 4 items with each loop for efficiency. */
|
|
|
while (a < lastgroup) {
|
|
|
min0 = (ResultType)(a[0] < b[0] ? a[0] : b[0]);
|
|
|
min1 = (ResultType)(a[1] < b[1] ? a[1] : b[1]);
|
|
|
min2 = (ResultType)(a[2] < b[2] ? a[2] : b[2]);
|
|
|
min3 = (ResultType)(a[3] < b[3] ? a[3] : b[3]);
|
|
|
result += min0 + min1 + min2 + min3;
|
|
|
a += 4;
|
|
|
b += 4;
|
|
|
if ((worst_dist>0)&&(result>worst_dist)) {
|
|
|
return result;
|
|
|
}
|
|
|
}
|
|
|
/* Process last 0-3 pixels. Not needed for standard vector lengths. */
|
|
|
while (a < last) {
|
|
|
min0 = (ResultType)(*a < *b ? *a : *b);
|
|
|
result += min0;
|
|
|
++a;
|
|
|
++b;
|
|
|
}
|
|
|
return result;
|
|
|
}
|
|
|
|
|
|
/**
|
|
|
* Partial distance, used by the kd-tree.
|
|
|
*/
|
|
|
template <typename U, typename V>
|
|
|
inline ResultType accum_dist(const U& a, const V& b, int) const
|
|
|
{
|
|
|
return a<b ? a : b;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
template<class T>
|
|
|
struct HellingerDistance
|
|
|
{
|
|
|
typedef True is_kdtree_distance;
|
|
|
typedef True is_vector_space_distance;
|
|
|
|
|
|
typedef T ElementType;
|
|
|
typedef typename Accumulator<T>::Type ResultType;
|
|
|
|
|
|
/**
|
|
|
* Compute the Hellinger distance
|
|
|
*/
|
|
|
template <typename Iterator1, typename Iterator2>
|
|
|
ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType /*worst_dist*/ = -1) const
|
|
|
{
|
|
|
ResultType result = ResultType();
|
|
|
ResultType diff0, diff1, diff2, diff3;
|
|
|
Iterator1 last = a + size;
|
|
|
Iterator1 lastgroup = last - 3;
|
|
|
|
|
|
/* Process 4 items with each loop for efficiency. */
|
|
|
while (a < lastgroup) {
|
|
|
diff0 = sqrt(static_cast<ResultType>(a[0])) - sqrt(static_cast<ResultType>(b[0]));
|
|
|
diff1 = sqrt(static_cast<ResultType>(a[1])) - sqrt(static_cast<ResultType>(b[1]));
|
|
|
diff2 = sqrt(static_cast<ResultType>(a[2])) - sqrt(static_cast<ResultType>(b[2]));
|
|
|
diff3 = sqrt(static_cast<ResultType>(a[3])) - sqrt(static_cast<ResultType>(b[3]));
|
|
|
result += diff0 * diff0 + diff1 * diff1 + diff2 * diff2 + diff3 * diff3;
|
|
|
a += 4;
|
|
|
b += 4;
|
|
|
}
|
|
|
while (a < last) {
|
|
|
diff0 = sqrt(static_cast<ResultType>(*a++)) - sqrt(static_cast<ResultType>(*b++));
|
|
|
result += diff0 * diff0;
|
|
|
}
|
|
|
return result;
|
|
|
}
|
|
|
|
|
|
/**
|
|
|
* Partial distance, used by the kd-tree.
|
|
|
*/
|
|
|
template <typename U, typename V>
|
|
|
inline ResultType accum_dist(const U& a, const V& b, int) const
|
|
|
{
|
|
|
ResultType diff = sqrt(static_cast<ResultType>(a)) - sqrt(static_cast<ResultType>(b));
|
|
|
return diff * diff;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
|
|
|
template<class T>
|
|
|
struct ChiSquareDistance
|
|
|
{
|
|
|
typedef True is_kdtree_distance;
|
|
|
typedef True is_vector_space_distance;
|
|
|
|
|
|
typedef T ElementType;
|
|
|
typedef typename Accumulator<T>::Type ResultType;
|
|
|
|
|
|
/**
|
|
|
* Compute the chi-square distance
|
|
|
*/
|
|
|
template <typename Iterator1, typename Iterator2>
|
|
|
ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
|
|
|
{
|
|
|
ResultType result = ResultType();
|
|
|
ResultType sum, diff;
|
|
|
Iterator1 last = a + size;
|
|
|
|
|
|
while (a < last) {
|
|
|
sum = (ResultType)(*a + *b);
|
|
|
if (sum>0) {
|
|
|
diff = (ResultType)(*a - *b);
|
|
|
result += diff*diff/sum;
|
|
|
}
|
|
|
++a;
|
|
|
++b;
|
|
|
|
|
|
if ((worst_dist>0)&&(result>worst_dist)) {
|
|
|
return result;
|
|
|
}
|
|
|
}
|
|
|
return result;
|
|
|
}
|
|
|
|
|
|
/**
|
|
|
* Partial distance, used by the kd-tree.
|
|
|
*/
|
|
|
template <typename U, typename V>
|
|
|
inline ResultType accum_dist(const U& a, const V& b, int) const
|
|
|
{
|
|
|
ResultType result = ResultType();
|
|
|
ResultType sum, diff;
|
|
|
|
|
|
sum = (ResultType)(a+b);
|
|
|
if (sum>0) {
|
|
|
diff = (ResultType)(a-b);
|
|
|
result = diff*diff/sum;
|
|
|
}
|
|
|
return result;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
|
|
|
template<class T>
|
|
|
struct KL_Divergence
|
|
|
{
|
|
|
typedef True is_kdtree_distance;
|
|
|
typedef True is_vector_space_distance;
|
|
|
|
|
|
typedef T ElementType;
|
|
|
typedef typename Accumulator<T>::Type ResultType;
|
|
|
|
|
|
/**
|
|
|
* Compute the Kullback–Leibler divergence
|
|
|
*/
|
|
|
template <typename Iterator1, typename Iterator2>
|
|
|
ResultType operator()(Iterator1 a, Iterator2 b, size_t size, ResultType worst_dist = -1) const
|
|
|
{
|
|
|
ResultType result = ResultType();
|
|
|
Iterator1 last = a + size;
|
|
|
|
|
|
while (a < last) {
|
|
|
if (* b != 0) {
|
|
|
ResultType ratio = (ResultType)(*a / *b);
|
|
|
if (ratio>0) {
|
|
|
result += *a * log(ratio);
|
|
|
}
|
|
|
}
|
|
|
++a;
|
|
|
++b;
|
|
|
|
|
|
if ((worst_dist>0)&&(result>worst_dist)) {
|
|
|
return result;
|
|
|
}
|
|
|
}
|
|
|
return result;
|
|
|
}
|
|
|
|
|
|
/**
|
|
|
* Partial distance, used by the kd-tree.
|
|
|
*/
|
|
|
template <typename U, typename V>
|
|
|
inline ResultType accum_dist(const U& a, const V& b, int) const
|
|
|
{
|
|
|
ResultType result = ResultType();
|
|
|
if( *b != 0 ) {
|
|
|
ResultType ratio = (ResultType)(a / b);
|
|
|
if (ratio>0) {
|
|
|
result = a * log(ratio);
|
|
|
}
|
|
|
}
|
|
|
return result;
|
|
|
}
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
* This is a "zero iterator". It basically behaves like a zero filled
|
|
|
* array to all algorithms that use arrays as iterators (STL style).
|
|
|
* It's useful when there's a need to compute the distance between feature
|
|
|
* and origin it and allows for better compiler optimisation than using a
|
|
|
* zero-filled array.
|
|
|
*/
|
|
|
template <typename T>
|
|
|
struct ZeroIterator
|
|
|
{
|
|
|
|
|
|
T operator*()
|
|
|
{
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
T operator[](int)
|
|
|
{
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
const ZeroIterator<T>& operator ++()
|
|
|
{
|
|
|
return *this;
|
|
|
}
|
|
|
|
|
|
ZeroIterator<T> operator ++(int)
|
|
|
{
|
|
|
return *this;
|
|
|
}
|
|
|
|
|
|
ZeroIterator<T>& operator+=(int)
|
|
|
{
|
|
|
return *this;
|
|
|
}
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
/*
|
|
|
* Depending on processed distances, some of them are already squared (e.g. L2)
|
|
|
* and some are not (e.g.Hamming). In KMeans++ for instance we want to be sure
|
|
|
* we are working on ^2 distances, thus following templates to ensure that.
|
|
|
*/
|
|
|
template <typename Distance, typename ElementType>
|
|
|
struct squareDistance
|
|
|
{
|
|
|
typedef typename Distance::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return dist*dist; }
|
|
|
};
|
|
|
|
|
|
|
|
|
template <typename ElementType>
|
|
|
struct squareDistance<L2_Simple<ElementType>, ElementType>
|
|
|
{
|
|
|
typedef typename L2_Simple<ElementType>::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return dist; }
|
|
|
};
|
|
|
|
|
|
template <typename ElementType>
|
|
|
struct squareDistance<L2<ElementType>, ElementType>
|
|
|
{
|
|
|
typedef typename L2<ElementType>::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return dist; }
|
|
|
};
|
|
|
|
|
|
|
|
|
template <typename ElementType>
|
|
|
struct squareDistance<MinkowskiDistance<ElementType>, ElementType>
|
|
|
{
|
|
|
typedef typename MinkowskiDistance<ElementType>::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return dist; }
|
|
|
};
|
|
|
|
|
|
template <typename ElementType>
|
|
|
struct squareDistance<HellingerDistance<ElementType>, ElementType>
|
|
|
{
|
|
|
typedef typename HellingerDistance<ElementType>::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return dist; }
|
|
|
};
|
|
|
|
|
|
template <typename ElementType>
|
|
|
struct squareDistance<ChiSquareDistance<ElementType>, ElementType>
|
|
|
{
|
|
|
typedef typename ChiSquareDistance<ElementType>::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return dist; }
|
|
|
};
|
|
|
|
|
|
|
|
|
template <typename Distance>
|
|
|
typename Distance::ResultType ensureSquareDistance( typename Distance::ResultType dist )
|
|
|
{
|
|
|
typedef typename Distance::ElementType ElementType;
|
|
|
|
|
|
squareDistance<Distance, ElementType> dummy;
|
|
|
return dummy( dist );
|
|
|
}
|
|
|
|
|
|
|
|
|
/*
|
|
|
* ...and a template to ensure the user that he will process the normal distance,
|
|
|
* and not squared distance, without loosing processing time calling sqrt(ensureSquareDistance)
|
|
|
* that will result in doing actually sqrt(dist*dist) for L1 distance for instance.
|
|
|
*/
|
|
|
template <typename Distance, typename ElementType>
|
|
|
struct simpleDistance
|
|
|
{
|
|
|
typedef typename Distance::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return dist; }
|
|
|
};
|
|
|
|
|
|
|
|
|
template <typename ElementType>
|
|
|
struct simpleDistance<L2_Simple<ElementType>, ElementType>
|
|
|
{
|
|
|
typedef typename L2_Simple<ElementType>::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return sqrt(dist); }
|
|
|
};
|
|
|
|
|
|
template <typename ElementType>
|
|
|
struct simpleDistance<L2<ElementType>, ElementType>
|
|
|
{
|
|
|
typedef typename L2<ElementType>::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return sqrt(dist); }
|
|
|
};
|
|
|
|
|
|
|
|
|
template <typename ElementType>
|
|
|
struct simpleDistance<MinkowskiDistance<ElementType>, ElementType>
|
|
|
{
|
|
|
typedef typename MinkowskiDistance<ElementType>::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return sqrt(dist); }
|
|
|
};
|
|
|
|
|
|
template <typename ElementType>
|
|
|
struct simpleDistance<HellingerDistance<ElementType>, ElementType>
|
|
|
{
|
|
|
typedef typename HellingerDistance<ElementType>::ResultType ResultType;
|
|
|
ResultType operator()( ResultType dist ) { return sqrt(dist); }
|
|
|
};
|
|
|
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template <typename ElementType>
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struct simpleDistance<ChiSquareDistance<ElementType>, ElementType>
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{
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typedef typename ChiSquareDistance<ElementType>::ResultType ResultType;
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ResultType operator()( ResultType dist ) { return sqrt(dist); }
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};
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template <typename Distance>
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typename Distance::ResultType ensureSimpleDistance( typename Distance::ResultType dist )
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{
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typedef typename Distance::ElementType ElementType;
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simpleDistance<Distance, ElementType> dummy;
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return dummy( dist );
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}
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}
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#endif //OPENCV_FLANN_DIST_H_
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