diff --git a/.gitignore b/.gitignore
index 6ed87a3f8..789f2728f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,7 +44,7 @@ selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
selfdrive/camerad/camerad
selfdrive/modeld/_modeld
-selfdrive/modeld/_monitoringd
+selfdrive/modeld/_dmonitoringmodeld
/src/
one
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 738679aca..b4cccc2da 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -29,3 +29,12 @@ Code is automatically check for style by travis as part of the automated tests.
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84). You might also be eligible for a bounty. See our bounties at [comma.ai/bounties.html](https://comma.ai/bounties.html)
+
+## Pull Requests
+
+Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to run
+```
+git submodule init
+git submodule update
+```
+in order to pull down the submodules, such as `panda` and `opendbc`.
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
deleted file mode 100644
index 9faa5c282..000000000
--- a/Dockerfile.openpilot
+++ /dev/null
@@ -1,84 +0,0 @@
-FROM ubuntu:16.04
-ENV PYTHONUNBUFFERED 1
-
-RUN apt-get update && apt-get install -y \
- autoconf \
- build-essential \
- bzip2 \
- clang \
- cmake \
- curl \
- ffmpeg \
- git \
- libarchive-dev \
- libbz2-dev \
- libcurl4-openssl-dev \
- libeigen3-dev \
- libffi-dev \
- libglew-dev \
- libgles2-mesa-dev \
- libglfw3-dev \
- libglib2.0-0 \
- liblzma-dev \
- libmysqlclient-dev \
- libomp-dev \
- libopencv-dev \
- libssl-dev \
- libsqlite3-dev \
- libtool \
- libusb-1.0-0-dev \
- libzmq5-dev \
- locales \
- ocl-icd-libopencl1 \
- ocl-icd-opencl-dev \
- opencl-headers \
- python-dev \
- python-pip \
- screen \
- sudo \
- vim \
- wget
-
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG en_US.UTF-8
-ENV LANGUAGE en_US:en
-ENV LC_ALL en_US.UTF-8
-
-RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-
-ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
-RUN pyenv install 3.7.3
-RUN pyenv global 3.7.3
-RUN pyenv rehash
-
-RUN pip install pipenv==2018.11.26
-
-COPY Pipfile /tmp/
-COPY Pipfile.lock /tmp/
-
-RUN python --version
-RUN cd /tmp && pipenv install --system --deploy
-
-# Install subset of dev dependencies needed for CI
-RUN pip install matplotlib==3.1.1 dictdiffer==0.8.0 fastcluster==1.1.25 aenum==2.2.1 scipy==1.3.1 lru-dict==1.1.6 tenacity==5.1.1 azure-common==1.1.23 azure-nspkg==3.0.2 azure-storage-blob==2.1.0 azure-storage-common==2.1.0 azure-storage-nspkg==3.1.0 pycurl==7.43.0.3
-
-COPY phonelibs/install_capnp.sh /tmp/install_capnp.sh
-RUN /tmp/install_capnp.sh
-
-RUN git clone --branch v0.7 https://github.com/commaai/openpilot-tools.git /tmp/openpilot/tools
-
-ENV PYTHONPATH /tmp/openpilot:${PYTHONPATH}
-COPY ./.pylintrc /tmp/openpilot/.pylintrc
-COPY ./common /tmp/openpilot/common
-COPY ./cereal /tmp/openpilot/cereal
-COPY ./opendbc /tmp/openpilot/opendbc
-COPY ./selfdrive /tmp/openpilot/selfdrive
-COPY ./phonelibs /tmp/openpilot/phonelibs
-COPY ./pyextra /tmp/openpilot/pyextra
-COPY ./panda /tmp/openpilot/panda
-
-COPY SConstruct /tmp/openpilot/SConstruct
-
-RUN mkdir -p /tmp/openpilot/selfdrive/test/out
-RUN cd /tmp/openpilot && scons -j$(nproc)
diff --git a/Makefile b/Makefile
deleted file mode 100644
index 4f690b2e7..000000000
--- a/Makefile
+++ /dev/null
@@ -1,9 +0,0 @@
-
-code_dir := $(shell pwd)
-
-# TODO: Add a global build system
-
-.PHONY: all
-all:
- cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
-
diff --git a/Pipfile b/Pipfile
deleted file mode 100644
index 4d3e046de..000000000
--- a/Pipfile
+++ /dev/null
@@ -1,128 +0,0 @@
-[[source]]
-name = "pypi"
-url = "https://pypi.org/simple"
-verify_ssl = true
-
-[dev-packages]
-opencv-python= "==3.4.2.17"
-PyQt5 = "*"
-ipython = "*"
-networkx = "==2.3"
-azure-core = "==1.1.1"
-azure-common = "==1.1.24"
-azure-nspkg = "==3.0.2"
-azure-storage-blob = "==2.1.0"
-azure-storage-common = "==2.1.0"
-azure-storage-nspkg = "==3.1.0"
-boto = "*"
-"boto3" = "*"
-control = "*"
-datadog = "*"
-dlib = "*"
-elasticsearch = "*"
-future = "*"
-futures = "*"
-pycocotools = {git = "https://github.com/cocodataset/cocoapi.git",subdirectory = "PythonAPI"}
-gunicorn = "*"
-"h5py" = "*"
-hexdump = "*"
-"html5lib" = "*"
-imageio = "*"
-ipykernel = "*"
-joblib = "*"
-json-logging-py = "*"
-jupyter = "*"
-libarchive = "*"
-lru-dict = "*"
-"mpld3" = "*"
-msgpack-python = "*"
-nbstripout = "*"
-numpy = "*"
-osmium = "*"
-pbr = "*"
-percache = "*"
-pprofile = "*"
-pycurl = "*"
-git-pylint-commit-hook = "*"
-pymongo = "*"
-"pynmea2" = "*"
-pypolyline = "*"
-python-logstash = "*"
-redis = "*"
-"s2sphere" = "*"
-scikit-image = "*"
-"subprocess32" = "*"
-tenacity = "*"
-tensorflow-gpu = ""
-PyJWT = "==1.4.1"
-PyMySQL = "==0.9.2"
-Werkzeug = "*"
-"backports.lzma" = "*"
-Flask-Cors = "*"
-Flask-SocketIO = "*"
-"GeoAlchemy2" = "*"
-Pygments = "*"
-PyNaCl = "*"
-"PySDL2" = "*"
-reverse_geocoder = "*"
-Shapely = "*"
-SQLAlchemy = "*"
-scipy = "*"
-fastcluster = "*"
-backports-abc = "*"
-pygame = "*"
-simplejson = "*"
-python-logstash-async = "*"
-seaborn = "*"
-pyproj = "*"
-mock = "*"
-matplotlib = "*"
-dictdiffer = "*"
-aenum = "*"
-coverage = "*"
-azure-cli-core = "*"
-
-[packages]
-overpy = {git = "https://github.com/commaai/python-overpy.git",ref = "f86529af402d4642e1faeb146671c40284007323"}
-atomicwrites = "*"
-cffi = "*"
-crcmod = "*"
-hexdump = "*"
-libusb1 = "*"
-numpy = "*"
-psutil = "*"
-pycapnp = "*"
-cryptography = "*"
-pyserial = "*"
-python-dateutil = "*"
-pyzmq = "*"
-raven = "*"
-requests = "*"
-setproctitle = "*"
-six = "*"
-smbus2 = "*"
-sympy = "*"
-tqdm = "*"
-Cython = "*"
-PyYAML = "*"
-websocket_client = "*"
-Logentries = {git = "https://github.com/commaai/le_python.git",ref = "feaeacb48f7f4bdb02c0a8fc092326d4e101b7f2"}
-urllib3 = "*"
-chardet = "*"
-idna = "*"
-gunicorn = "*"
-utm = "*"
-json-rpc = "*"
-Flask = "*"
-PyJWT = "*"
-"Jinja2" = "*"
-nose = "*"
-flake8 = "*"
-pylint = "*"
-pycryptodome = "*"
-pillow = "*"
-scons = "*"
-cysignals = "*"
-
-[requires]
-python_version = "3.7.3"
diff --git a/Pipfile.lock b/Pipfile.lock
deleted file mode 100644
index 045857cd1..000000000
--- a/Pipfile.lock
+++ /dev/null
@@ -1,2895 +0,0 @@
-{
- "_meta": {
- "hash": {
- "sha256": "bc5d2f0b8b59443cbdf4373de05f7522ff24afa7f6e55d1aae08c3961e970beb"
- },
- "pipfile-spec": 6,
- "requires": {
- "python_version": "3.7.3"
- },
- "sources": [
- {
- "name": "pypi",
- "url": "https://pypi.org/simple",
- "verify_ssl": true
- }
- ]
- },
- "default": {
- "astroid": {
- "hashes": [
- "sha256:71ea07f44df9568a75d0f354c49143a4575d90645e9fead6dfb52c26a85ed13a",
- "sha256:840947ebfa8b58f318d42301cf8c0a20fd794a33b61cc4638e28e9e61ba32f42"
- ],
- "markers": "python_version >= '3.5'",
- "version": "==2.3.3"
- },
- "atomicwrites": {
- "hashes": [
- "sha256:03472c30eb2c5d1ba9227e4c2ca66ab8287fbfbbda3888aa93dc2e28fc6811b4",
- "sha256:75a9445bac02d8d058d5e1fe689654ba5a6556a1dfd8ce6ec55a0ed79866cfa6"
- ],
- "index": "pypi",
- "version": "==1.3.0"
- },
- "certifi": {
- "hashes": [
- "sha256:017c25db2a153ce562900032d5bc68e9f191e44e9a0f762f373977de9df1fbb3",
- "sha256:25b64c7da4cd7479594d035c08c2d809eb4aab3a26e5a990ea98cc450c320f1f"
- ],
- "version": "==2019.11.28"
- },
- "cffi": {
- "hashes": [
- "sha256:0b49274afc941c626b605fb59b59c3485c17dc776dc3cc7cc14aca74cc19cc42",
- "sha256:0e3ea92942cb1168e38c05c1d56b0527ce31f1a370f6117f1d490b8dcd6b3a04",
- "sha256:135f69aecbf4517d5b3d6429207b2dff49c876be724ac0c8bf8e1ea99df3d7e5",
- "sha256:19db0cdd6e516f13329cba4903368bff9bb5a9331d3410b1b448daaadc495e54",
- "sha256:2781e9ad0e9d47173c0093321bb5435a9dfae0ed6a762aabafa13108f5f7b2ba",
- "sha256:291f7c42e21d72144bb1c1b2e825ec60f46d0a7468f5346841860454c7aa8f57",
- "sha256:2c5e309ec482556397cb21ede0350c5e82f0eb2621de04b2633588d118da4396",
- "sha256:2e9c80a8c3344a92cb04661115898a9129c074f7ab82011ef4b612f645939f12",
- "sha256:32a262e2b90ffcfdd97c7a5e24a6012a43c61f1f5a57789ad80af1d26c6acd97",
- "sha256:3c9fff570f13480b201e9ab69453108f6d98244a7f495e91b6c654a47486ba43",
- "sha256:415bdc7ca8c1c634a6d7163d43fb0ea885a07e9618a64bda407e04b04333b7db",
- "sha256:42194f54c11abc8583417a7cf4eaff544ce0de8187abaf5d29029c91b1725ad3",
- "sha256:4424e42199e86b21fc4db83bd76909a6fc2a2aefb352cb5414833c030f6ed71b",
- "sha256:4a43c91840bda5f55249413037b7a9b79c90b1184ed504883b72c4df70778579",
- "sha256:599a1e8ff057ac530c9ad1778293c665cb81a791421f46922d80a86473c13346",
- "sha256:5c4fae4e9cdd18c82ba3a134be256e98dc0596af1e7285a3d2602c97dcfa5159",
- "sha256:5ecfa867dea6fabe2a58f03ac9186ea64da1386af2159196da51c4904e11d652",
- "sha256:62f2578358d3a92e4ab2d830cd1c2049c9c0d0e6d3c58322993cc341bdeac22e",
- "sha256:6471a82d5abea994e38d2c2abc77164b4f7fbaaf80261cb98394d5793f11b12a",
- "sha256:6d4f18483d040e18546108eb13b1dfa1000a089bcf8529e30346116ea6240506",
- "sha256:71a608532ab3bd26223c8d841dde43f3516aa5d2bf37b50ac410bb5e99053e8f",
- "sha256:74a1d8c85fb6ff0b30fbfa8ad0ac23cd601a138f7509dc617ebc65ef305bb98d",
- "sha256:7b93a885bb13073afb0aa73ad82059a4c41f4b7d8eb8368980448b52d4c7dc2c",
- "sha256:7d4751da932caaec419d514eaa4215eaf14b612cff66398dd51129ac22680b20",
- "sha256:7f627141a26b551bdebbc4855c1157feeef18241b4b8366ed22a5c7d672ef858",
- "sha256:8169cf44dd8f9071b2b9248c35fc35e8677451c52f795daa2bb4643f32a540bc",
- "sha256:aa00d66c0fab27373ae44ae26a66a9e43ff2a678bf63a9c7c1a9a4d61172827a",
- "sha256:ccb032fda0873254380aa2bfad2582aedc2959186cce61e3a17abc1a55ff89c3",
- "sha256:d754f39e0d1603b5b24a7f8484b22d2904fa551fe865fd0d4c3332f078d20d4e",
- "sha256:d75c461e20e29afc0aee7172a0950157c704ff0dd51613506bd7d82b718e7410",
- "sha256:dcd65317dd15bc0451f3e01c80da2216a31916bdcffd6221ca1202d96584aa25",
- "sha256:e570d3ab32e2c2861c4ebe6ffcad6a8abf9347432a37608fe1fbd157b3f0036b",
- "sha256:fd43a88e045cf992ed09fa724b5315b790525f2676883a6ea64e3263bae6549d"
- ],
- "index": "pypi",
- "version": "==1.13.2"
- },
- "chardet": {
- "hashes": [
- "sha256:84ab92ed1c4d4f16916e05906b6b75a6c0fb5db821cc65e70cbd64a3e2a5eaae",
- "sha256:fc323ffcaeaed0e0a02bf4d117757b98aed530d9ed4531e3e15460124c106691"
- ],
- "index": "pypi",
- "version": "==3.0.4"
- },
- "click": {
- "hashes": [
- "sha256:2335065e6395b9e67ca716de5f7526736bfa6ceead690adf616d925bdc622b13",
- "sha256:5b94b49521f6456670fdb30cd82a4eca9412788a93fa6dd6df72c94d5a8ff2d7"
- ],
- "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
- "version": "==7.0"
- },
- "crcmod": {
- "hashes": [
- "sha256:50586ab48981f11e5b117523d97bb70864a2a1af246cf6e4f5c4a21ef4611cd1",
- "sha256:69a2e5c6c36d0f096a7beb4cd34e5f882ec5fd232efb710cdb85d4ff196bd52e",
- "sha256:737fb308fa2ce9aed2e29075f0d5980d4a89bfbec48a368c607c5c63b3efb90e",
- "sha256:dc7051a0db5f2bd48665a990d3ec1cc305a466a77358ca4492826f41f283601e"
- ],
- "index": "pypi",
- "version": "==1.7"
- },
- "cryptography": {
- "hashes": [
- "sha256:02079a6addc7b5140ba0825f542c0869ff4df9a69c360e339ecead5baefa843c",
- "sha256:1df22371fbf2004c6f64e927668734070a8953362cd8370ddd336774d6743595",
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- "sha256:fb81c17e0ebe3358486cd8cc3ad78adbae58af12fc2bf2bc0bb84e8090fa5ce8"
- ],
- "index": "pypi",
- "version": "==2.8"
- },
- "cysignals": {
- "hashes": [
- "sha256:8107b67a0c5991f74b0e000c6fa9fe8efcb2a22c7ede5b017aac4c3e20fb7db2"
- ],
- "index": "pypi",
- "version": "==1.10.2"
- },
- "cython": {
- "hashes": [
- "sha256:03f6bbb380ad0acb744fb06e42996ea217e9d00016ca0ff6f2e7d60f580d0360",
- "sha256:05e8cfd3a3a6087aec49a1ae08a89171db991956209406d1e5576f9db70ece52",
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- "sha256:1fc5bdda28f25fec44e4721677458aa509d743cd350862270309d61aa148d6ff",
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- "sha256:4074a8bff0040035673cc6dd365a762476d6bff4d03d8ce6904e3e53f9a25dc8",
- "sha256:41e7068e95fbf9ec94b41437f989caf9674135e770a39cdb9c00de459bafd1bc",
- "sha256:47e5e1502d52ef03387cf9d3b3241007961a84a466e58a3b74028e1dd4957f8c",
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- "sha256:986f871c0fa649b293061236b93782d25c293a8dd8117c7ba05f8a61bdc261ae",
- "sha256:a0f495a4fe5278aab278feee35e6102efecde5176a8a74dd28c28e3fc5c8d7c7",
- "sha256:a14aa436586c41633339415de82a41164691d02d3e661038da533be5d40794a5",
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- "sha256:66480f95b8167c9c5c5c87f32cf437d585937970f3fc24386f313a4c97b44e34",
- "sha256:71211d26ffd12d63a83e079ff258ac9d56a1376a25bc80b1cdcdf601b855b90b",
- "sha256:7954560051331d003b4e2b3eb822d9dd2e376fa4f6d98fee32f452f52dd6ebb2",
- "sha256:838997f4310012cf2e1ad3803bce2f3402e9ffb71ded61b5ee22617b3a7f6b6e",
- "sha256:95bd11af7eafc16e829af2d3df510cecfd4387f6453355188342c3e79a2ec87a",
- "sha256:bc6c7d3fa1325a0c6613512a093bc2a2a15aeec350451cbdf9e1d4bffe3e3233",
- "sha256:cc34a6f5b426748a507dd5d1de4c1978f2eb5626d51326e43280941206c209e1",
- "sha256:d755f03c1e4a51e9b24d899561fec4ccaf51f210d52abdf8c07ee2849b212a36",
- "sha256:d7c45933b1bdfaf9f36c579671fec15d25b06c8398f113dab64c18ed1adda01d",
- "sha256:d896919306dd0aa22d0132f62a1b78d11aaf4c9fc5b3410d3c666b818191630a",
- "sha256:fdc1c9bbf79510b76408840e009ed65958feba92a88833cdceecff93ae8fff66",
- "sha256:ffde2fbfad571af120fcbfbbc61c72469e72f550d676c3342492a9dfdefb8f12"
- ],
- "markers": "python_version < '3.8' and implementation_name == 'cpython'",
- "version": "==1.4.0"
- },
- "urllib3": {
- "hashes": [
- "sha256:a8a318824cc77d1fd4b2bec2ded92646630d7fe8619497b142c84a9e6f5a7293",
- "sha256:f3c5fd51747d450d4dcf6f923c81f78f811aab8205fda64b0aba34a4e48b0745"
- ],
- "index": "pypi",
- "version": "==1.25.7"
- },
- "wcwidth": {
- "hashes": [
- "sha256:8fd29383f539be45b20bd4df0dc29c20ba48654a41e661925e612311e9f3c603",
- "sha256:f28b3e8a6483e5d49e7f8949ac1a78314e740333ae305b4ba5defd3e74fb37a8"
- ],
- "version": "==0.1.8"
- },
- "webencodings": {
- "hashes": [
- "sha256:a0af1213f3c2226497a97e2b3aa01a7e4bee4f403f95be16fc9acd2947514a78",
- "sha256:b36a1c245f2d304965eb4e0a82848379241dc04b865afcc4aab16748587e1923"
- ],
- "version": "==0.5.1"
- },
- "werkzeug": {
- "hashes": [
- "sha256:7280924747b5733b246fe23972186c6b348f9ae29724135a6dfc1e53cea433e7",
- "sha256:e5f4a1f98b52b18a93da705a7458e55afb26f32bff83ff5d19189f92462d65c4"
- ],
- "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
- "version": "==0.16.0"
- },
- "wheel": {
- "hashes": [
- "sha256:9515fe0a94e823fd90b08d22de45d7bde57c90edce705b22f5e1ecf7e1b653c8",
- "sha256:e721e53864f084f956f40f96124a74da0631ac13fbbd1ba99e8e2b5e9cafdf64"
- ],
- "markers": "python_version >= '3'",
- "version": "==0.30.0"
- },
- "widgetsnbextension": {
- "hashes": [
- "sha256:079f87d87270bce047512400efd70238820751a11d2d8cb137a5a5bdbaf255c7",
- "sha256:bd314f8ceb488571a5ffea6cc5b9fc6cba0adaf88a9d2386b93a489751938bcd"
- ],
- "version": "==3.5.1"
- },
- "wrapt": {
- "hashes": [
- "sha256:565a021fd19419476b9362b05eeaa094178de64f8361e44468f9e9d7843901e1"
- ],
- "version": "==1.11.2"
- },
- "zipp": {
- "hashes": [
- "sha256:3718b1cbcd963c7d4c5511a8240812904164b7f381b647143a89d3b98f9bcd8e",
- "sha256:f06903e9f1f43b12d371004b4ac7b06ab39a44adc747266928ae6debfa7b3335"
- ],
- "markers": "python_version >= '2.7'",
- "version": "==0.6.0"
- }
- }
-}
diff --git a/README.md b/README.md
index 013397a77..73bccf297 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-[](#)
+[](#)
Table of Contents
=======================
@@ -68,12 +68,12 @@ Supported Cars
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph5 | 12mph |
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
-| Chrysler | Pacifica Hybrid 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
+| Chrysler | Pacifica Hybrid 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
| Honda | Accord 2018-19 | All | Stock | 0mph | 3mph |
| Honda | Accord Hybrid 2018-19 | All | Stock | 0mph | 3mph |
+| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
| Honda | Civic Sedan/Coupe 2019 | Honda Sensing | Stock | 0mph | 2mph |
-| Honda | Civic Hatchback 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph5 | 12mph |
| Honda | CR-V 2017-19 | Honda Sensing | Stock | 0mph | 12mph |
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
@@ -83,19 +83,22 @@ Supported Cars
| Honda | Pilot 2016-18 | Honda Sensing | openpilot | 25mph5 | 12mph |
| Honda | Pilot 2019 | All | openpilot | 25mph5 | 12mph |
| Honda | Ridgeline 2017-19 | Honda Sensing | openpilot | 25mph5 | 12mph |
-| Hyundai | Santa Fe 20191 | All | Stock | 0mph | 0mph |
| Hyundai | Elantra 2017-191 | SCC + LKAS | Stock | 19mph | 34mph |
| Hyundai | Genesis 20181 | All | Stock | 19mph | 34mph |
+| Hyundai | Santa Fe 20191 | All | Stock | 0mph | 0mph |
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
| Jeep | Grand Cherokee 2019 | Adaptive Cruise | Stock | 0mph | 39mph |
| Kia | Optima 20191 | SCC + LKAS | Stock | 0mph | 0mph |
| Kia | Sorento 20181 | All | Stock | 0mph | 0mph |
| Kia | Stinger 20181 | SCC + LKAS | Stock | 0mph | 0mph |
| Lexus | CT Hybrid 2017-18 | All | Stock4| 0mph | 0mph |
+| Lexus | ES 2019 | All | openpilot | 0mph | 0mph |
| Lexus | ES Hybrid 2019 | All | openpilot | 0mph | 0mph |
-| Lexus | RX Hybrid 2016-19 | All | Stock4| 0mph | 0mph |
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
| Lexus | IS Hybrid 2017 | All | Stock | 0mph | 0mph |
+| Lexus | RX 2016-17 | All | Stock4| 0mph | 0mph |
+| Lexus | RX 2020 | All | openpilot | 0mph | 0mph |
+| Lexus | RX Hybrid 2016-19 | All | Stock4| 0mph | 0mph |
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
| Subaru | Impreza 2019-20 | EyeSight | Stock | 0mph | 0mph |
| Toyota | Avalon 2016 | TSS-P | Stock4| 20mph5 | 0mph |
@@ -106,7 +109,7 @@ Supported Cars
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
| Toyota | Corolla 2017-19 | All | Stock4| 20mph5 | 0mph |
| Toyota | Corolla 2020 | All | openpilot | 0mph | 0mph |
-| Toyota | Corolla Hatchback 2019 | All | openpilot | 0mph | 0mph |
+| Toyota | Corolla Hatchback 2019-20 | All | openpilot | 0mph | 0mph |
| Toyota | Corolla Hybrid 2020 | All | openpilot | 0mph | 0mph |
| Toyota | Highlander 2017-19 | All | Stock4| 0mph | 0mph |
| Toyota | Highlander Hybrid 2017-19 | All | Stock4| 0mph | 0mph |
@@ -118,6 +121,7 @@ Supported Cars
| Toyota | Rav4 2019 | All | openpilot | 0mph | 0mph |
| Toyota | Rav4 Hybrid 2016 | TSS-P | Stock4| 0mph | 0mph |
| Toyota | Rav4 Hybrid 2017-18 | All | Stock4| 0mph | 0mph |
+| Toyota | Rav4 Hybrid 2019-20 | All | openpilot | 0mph | 0mph |
| Toyota | Sienna 2018 | All | Stock4| 0mph | 0mph |
| Volkswagen| Golf 2016-193 | Driver Assistance | Stock | 0mph | 0mph |
@@ -131,9 +135,9 @@ Community Maintained Cars and Features
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
| Buick | Regal 20186 | Adaptive Cruise | openpilot | 0mph | 7mph |
+| Cadillac | ATS 20186 | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chevrolet | Malibu 20176 | Adaptive Cruise | openpilot | 0mph | 7mph |
| Chevrolet | Volt 2017-186 | Adaptive Cruise | openpilot | 0mph | 7mph |
-| Cadillac | ATS 20186 | Adaptive Cruise | openpilot | 0mph | 7mph |
| GMC | Acadia Denali 20186| Adaptive Cruise | openpilot | 0mph | 7mph |
| Holden | Astra 20176 | Adaptive Cruise | openpilot | 0mph | 7mph |
@@ -242,7 +246,7 @@ Safety and Testing
Testing on PC
------
-Check out [openpilot-tools](https://github.com/commaai/openpilot-tools): lots of tools you can use to replay driving data, test and develop openpilot from your pc.
+Check out the tools directory in master: lots of tools you can use to replay driving data, test and develop openpilot from your pc.
Community and Contributing
------
diff --git a/RELEASES.md b/RELEASES.md
index 1b4caf963..b472cf9cd 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,12 @@
+Version 0.7.2 (2020-02-07)
+========================
+ * ECU firmware version based fingerprinting for Honda & Toyota
+ * New driving model: improved path prediction during turns and lane changes and better lead speed tracking
+ * Improve driver monitoring under extreme lighting and add low accuracy alert
+ * Support for 2019 Rav4 Hybrid thanks to illumiN8i!
+ * Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
+ * Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
+
Version 0.7.1 (2020-01-20)
========================
* comma two support!
diff --git a/SConstruct b/SConstruct
index 404cc4491..9379278f6 100644
--- a/SConstruct
+++ b/SConstruct
@@ -1,6 +1,7 @@
import os
import subprocess
import sys
+import platform
AddOption('--test',
action='store_true',
@@ -11,6 +12,8 @@ AddOption('--asan',
help='turn on ASAN')
arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+ arch = "Darwin"
if arch == "aarch64":
lenv = {
@@ -48,20 +51,33 @@ else:
"#phonelibs/zmq/x64/include",
"#external/tensorflow/include",
]
- libpath = [
- "#phonelibs/capnp-cpp/x64/lib",
- "#phonelibs/capnp-c/x64/lib",
- "#phonelibs/yaml-cpp/x64/lib",
- "#phonelibs/snpe/x86_64-linux-clang",
- "#phonelibs/zmq/x64/lib",
- "#phonelibs/libyuv/x64/lib",
- "#external/zmq/lib",
- "#external/tensorflow/lib",
- "#cereal",
- "#selfdrive/common",
- "/usr/lib",
- "/usr/local/lib",
- ]
+
+ if arch == "Darwin":
+ libpath = [
+ "#phonelibs/capnp-cpp/mac/lib",
+ "#phonelibs/capnp-c/mac/lib",
+ "#phonelibs/yaml-cpp/mac/lib",
+ "#phonelibs/libyuv/mac/lib",
+ "#cereal",
+ "#selfdrive/common",
+ "/usr/local/lib",
+ "/System/Library/Frameworks/OpenGL.framework/Libraries",
+ ]
+ else:
+ libpath = [
+ "#phonelibs/capnp-cpp/x64/lib",
+ "#phonelibs/capnp-c/x64/lib",
+ "#phonelibs/yaml-cpp/x64/lib",
+ "#phonelibs/snpe/x86_64-linux-clang",
+ "#phonelibs/zmq/x64/lib",
+ "#phonelibs/libyuv/x64/lib",
+ "#external/zmq/lib",
+ "#external/tensorflow/lib",
+ "#cereal",
+ "#selfdrive/common",
+ "/usr/lib",
+ "/usr/local/lib",
+ ]
rpath = ["phonelibs/capnp-cpp/x64/lib",
"external/tensorflow/lib",
@@ -195,8 +211,10 @@ SConscript(['common/SConscript'])
SConscript(['common/kalman/SConscript'])
SConscript(['phonelibs/SConscript'])
-SConscript(['selfdrive/modeld/SConscript'])
-SConscript(['selfdrive/camerad/SConscript'])
+if arch != "Darwin":
+ SConscript(['selfdrive/camerad/SConscript'])
+ SConscript(['selfdrive/modeld/SConscript'])
+
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
diff --git a/apk/ai.comma.plus.frame.apk b/apk/ai.comma.plus.frame.apk
index 8611263e9..f52f80869 100644
Binary files a/apk/ai.comma.plus.frame.apk and b/apk/ai.comma.plus.frame.apk differ
diff --git a/apk/ai.comma.plus.offroad.apk b/apk/ai.comma.plus.offroad.apk
index 65899d328..c0d85407a 100644
Binary files a/apk/ai.comma.plus.offroad.apk and b/apk/ai.comma.plus.offroad.apk differ
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 51f357e69..9f3003e5e 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -90,14 +90,15 @@ struct CarEvent @0x9b1657f34caf3ad3 {
ldw @65;
carUnrecognized @66;
radarCommIssue @67;
+ driverMonitorLowAcc @68;
# dragonpilot
- manualSteeringRequired @68;
- manualSteeringRequiredBlinkersOn @69;
- leadCarMoving @70;
- leadCarDetected @71;
- preAutoLaneChangeLeft @72;
- preAutoLaneChangeRight @73;
- autoLaneChange @74;
+ manualSteeringRequired @69;
+ manualSteeringRequiredBlinkersOn @70;
+ leadCarMoving @71;
+ leadCarDetected @72;
+ preAutoLaneChangeLeft @73;
+ preAutoLaneChangeRight @74;
+ autoLaneChange @75;
}
}
@@ -353,6 +354,7 @@ struct CarParams {
tireStiffnessRear @24 :Float32; # [N/rad] rear tire coeff of stiff
longitudinalTuning @25 :LongitudinalPIDTuning;
+ lateralParams @48 :LateralParams;
lateralTuning :union {
pid @26 :LateralPIDTuning;
indi @27 :LateralINDITuning;
@@ -379,6 +381,12 @@ struct CarParams {
carFw @44 :List(CarFw);
radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
communityFeature @46: Bool; # true if a community maintained feature is detected
+ fingerprintSource @49: FingerprintSource;
+
+ struct LateralParams {
+ torqueBP @0 :List(Int32);
+ torqueV @1 :List(Int32);
+ }
struct LateralPIDTuning {
kpBP @0 :List(Float32);
@@ -473,4 +481,9 @@ struct CarParams {
dsu @6;
apgs @7;
}
+
+ enum FingerprintSource {
+ can @0;
+ fw @1;
+ }
}
diff --git a/cereal/log.capnp b/cereal/log.capnp
index ee9897a6e..d573c97da 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -279,6 +279,7 @@ struct ThermalData {
batteryCurrent @15 :Int32;
batteryVoltage @16 :Int32;
usbOnline @12 :Bool;
+ networkType @22 :NetworkType;
fanSpeed @10 :UInt16;
started @11 :Bool;
@@ -299,6 +300,15 @@ struct ThermalData {
red @2; # no engage, will disengage
danger @3; # immediate process shutdown
}
+
+ enum NetworkType {
+ none @0;
+ wifi @1;
+ cell2G @2;
+ cell3G @3;
+ cell4G @4;
+ cell5G @5;
+ }
}
struct HealthData {
@@ -1758,7 +1768,7 @@ struct OrbKeyFrame {
descriptors @3 :Data;
}
-struct DriverMonitoring {
+struct DriverState {
frameId @0 :UInt32;
descriptorDEPRECATED @1 :List(Float32);
stdDEPRECATED @2 :Float32;
@@ -1774,6 +1784,25 @@ struct DriverMonitoring {
facePositionStd @12 :List(Float32);
}
+struct DMonitoringState {
+ # TODO: deprecate old fields in controlsState
+ events @0 :List(Car.CarEvent);
+ faceDetected @1 :Bool;
+ isDistracted @2 :Bool;
+ awarenessStatus @3 :Float32;
+ isRHD @4 :Bool;
+ rhdChecked @5 :Bool;
+ posePitchOffset @6 :Float32;
+ posePitchValidCount @7 :UInt32;
+ poseYawOffset @8 :Float32;
+ poseYawValidCount @9 :UInt32;
+ stepChange @10 :Float32;
+ awarenessActive @11 :Float32;
+ awarenessPassive @12 :Float32;
+ isLowStd @13 :Bool;
+ hiStdCount @14 :UInt32;
+}
+
struct Boot {
wallTimeNanos @0 :UInt64;
lastKmsg @1 :Data;
@@ -1893,7 +1922,7 @@ struct Event {
orbKeyFrame @56 :OrbKeyFrame;
uiLayoutState @57 :UiLayoutState;
orbFeaturesSummary @58 :OrbFeaturesSummary;
- driverMonitoring @59 :DriverMonitoring;
+ driverState @59 :DriverState;
boot @60 :Boot;
liveParameters @61 :LiveParametersData;
liveMapData @62 :LiveMapData;
@@ -1904,5 +1933,6 @@ struct Event {
carEvents @68: List(Car.CarEvent);
carParams @69: Car.CarParams;
frontFrame @70: FrameData;
+ dMonitoringState @71: DMonitoringState;
}
}
diff --git a/cereal/service_list.yaml b/cereal/service_list.yaml
index e551dac59..7dd1a62e9 100644
--- a/cereal/service_list.yaml
+++ b/cereal/service_list.yaml
@@ -65,16 +65,17 @@ orbKeyFrame: [8059, true, 0.]
uiLayoutState: [8060, true, 0.]
frontEncodeIdx: [8061, true, 5.]
orbFeaturesSummary: [8062, true, 0.]
-driverMonitoring: [8063, true, 5., 1]
+driverState: [8063, true, 5., 1]
liveParameters: [8064, true, 10.]
liveMapData: [8065, true, 0.]
-cameraOdometry: [8066, true, 20.]
+cameraOdometry: [8066, true, 20., 5]
pathPlan: [8067, true, 20.]
kalmanOdometry: [8068, true, 0.]
thumbnail: [8069, true, 0.2, 1]
carEvents: [8070, true, 1., 1]
carParams: [8071, true, 0.02, 1]
frontFrame: [8072, true, 10.]
+dMonitoringState: [8073, true, 5., 1]
testModel: [8040, false, 0.]
testLiveLocation: [8045, false, 0.]
diff --git a/check_code_quality.sh b/check_code_quality.sh
deleted file mode 100644
index aed17230e..000000000
--- a/check_code_quality.sh
+++ /dev/null
@@ -1,12 +0,0 @@
-#!/bin/bash
-
-# Only pyflakes checks (--select=F)
-flake8 --select=F $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
-RESULT=$?
-if [ $RESULT -eq 0 ]; then
- pylint $(find . -iname "*.py" | grep -vi "^\./pyextra.*" | grep -vi "^\./panda")
- RESULT=$? & 3
-fi
-
-[ $RESULT -ne 0 ] && exit 1
-exit 0
diff --git a/common/android.py b/common/android.py
index a4b8b836e..e0933e822 100644
--- a/common/android.py
+++ b/common/android.py
@@ -5,6 +5,9 @@ import re
import struct
import subprocess
import random
+from cereal import log
+
+NetworkType = log.ThermalData.NetworkType
ANDROID = os.path.isfile('/EON')
@@ -89,3 +92,39 @@ def parse_service_call_bytes(ret):
return r
except Exception:
return None
+
+def get_network_type():
+ if not ANDROID:
+ return NetworkType.none
+
+ wifi_check = parse_service_call_string(service_call(["connectivity", "2"]))
+ if wifi_check is None:
+ return NetworkType.none
+ elif 'WIFI' in wifi_check:
+ return NetworkType.wifi
+ else:
+ cell_check = parse_service_call_unpack(service_call(['phone', '59']), ">q")
+ # from TelephonyManager.java
+ cell_networks = {
+ 0: NetworkType.none,
+ 1: NetworkType.cell2G,
+ 2: NetworkType.cell2G,
+ 3: NetworkType.cell3G,
+ 4: NetworkType.cell2G,
+ 5: NetworkType.cell3G,
+ 6: NetworkType.cell3G,
+ 7: NetworkType.cell3G,
+ 8: NetworkType.cell3G,
+ 9: NetworkType.cell3G,
+ 10: NetworkType.cell3G,
+ 11: NetworkType.cell2G,
+ 12: NetworkType.cell3G,
+ 13: NetworkType.cell4G,
+ 14: NetworkType.cell4G,
+ 15: NetworkType.cell3G,
+ 16: NetworkType.cell2G,
+ 17: NetworkType.cell3G,
+ 18: NetworkType.cell4G,
+ 19: NetworkType.cell4G
+ }
+ return cell_networks.get(cell_check, NetworkType.none)
diff --git a/common/api/__init__.py b/common/api/__init__.py
index b27520738..38fe6b247 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -1,13 +1,13 @@
import jwt
import requests
from datetime import datetime, timedelta
-
+from common.basedir import PERSIST
from selfdrive.version import version
class Api():
def __init__(self, dongle_id):
self.dongle_id = dongle_id
- with open('/persist/comma/id_rsa') as f:
+ with open(PERSIST+'/comma/id_rsa') as f:
self.private_key = f.read()
def get(self, *args, **kwargs):
diff --git a/common/basedir.py b/common/basedir.py
index 99760fa33..e928ded4c 100644
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,4 +1,11 @@
import os
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+from common.android import ANDROID
+if ANDROID:
+ PERSIST = "/persist"
+ PARAMS = "/data/params"
+else:
+ PERSIST = os.path.join(BASEDIR, "persist")
+ PARAMS = os.path.join(BASEDIR, "persist", "params")
diff --git a/common/clock.pyx b/common/clock.pyx
index 6205eca10..654d53f8f 100644
--- a/common/clock.pyx
+++ b/common/clock.pyx
@@ -1,16 +1,22 @@
-from posix.time cimport clock_gettime, timespec, CLOCK_BOOTTIME, CLOCK_MONOTONIC_RAW
+from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
-cdef double readclock(int clock_id):
- cdef timespec ts
- cdef double current
+IF UNAME_SYSNAME == "Darwin":
+ # Darwin doesn't have a CLOCK_BOOTTIME
+ CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
+ELSE:
+ from posix.time cimport CLOCK_BOOTTIME
- clock_gettime(clock_id, &ts)
- current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
- return current
+cdef double readclock(clockid_t clock_id):
+ cdef timespec ts
+ cdef double current
+ clock_gettime(clock_id, &ts)
+ current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
+ return current
def monotonic_time():
- return readclock(CLOCK_MONOTONIC_RAW)
+ return readclock(CLOCK_MONOTONIC_RAW)
def sec_since_boot():
- return readclock(CLOCK_BOOTTIME)
+ return readclock(CLOCK_BOOTTIME)
+
diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py
index 2c169881c..0fbe16296 100644
--- a/common/ffi_wrapper.py
+++ b/common/ffi_wrapper.py
@@ -2,8 +2,14 @@ import os
import sys
import fcntl
import hashlib
+import platform
from cffi import FFI
+def suffix():
+ if platform.system() == "Darwin":
+ return ".dylib"
+ else:
+ return ".so"
def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
if libraries is None:
diff --git a/common/logging_extra.py b/common/logging_extra.py
index d57332780..b5d07f220 100644
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -1,9 +1,11 @@
+import io
import os
import sys
import copy
import json
import socket
import logging
+import traceback
from threading import local
from collections import OrderedDict
from contextlib import contextmanager
@@ -118,6 +120,42 @@ class SwagLogger(logging.Logger):
else:
self.info(evt)
+ def findCaller(self, stack_info=False, stacklevel=1):
+ """
+ Find the stack frame of the caller so that we can note the source
+ file name, line number and function name.
+ """
+ f = sys._getframe(3)
+ #On some versions of IronPython, currentframe() returns None if
+ #IronPython isn't run with -X:Frames.
+ if f is not None:
+ f = f.f_back
+ orig_f = f
+ while f and stacklevel > 1:
+ f = f.f_back
+ stacklevel -= 1
+ if not f:
+ f = orig_f
+ rv = "(unknown file)", 0, "(unknown function)", None
+ while hasattr(f, "f_code"):
+ co = f.f_code
+ filename = os.path.normcase(co.co_filename)
+ if filename == _srcfile:
+ f = f.f_back
+ continue
+ sinfo = None
+ if stack_info:
+ sio = io.StringIO()
+ sio.write('Stack (most recent call last):\n')
+ traceback.print_stack(f, file=sio)
+ sinfo = sio.getvalue()
+ if sinfo[-1] == '\n':
+ sinfo = sinfo[:-1]
+ sio.close()
+ rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
+ break
+ return rv
+
if __name__ == "__main__":
log = SwagLogger()
diff --git a/common/params.py b/common/params.py
index 8824dafc5..70b7b16a0 100755
--- a/common/params.py
+++ b/common/params.py
@@ -29,7 +29,7 @@ import fcntl
import tempfile
import threading
from enum import Enum
-
+from common.basedir import PARAMS
def mkdirs_exists_ok(path):
try:
@@ -54,6 +54,7 @@ keys = {
"AthenadPid": [TxType.PERSISTENT],
"CalibrationParams": [TxType.PERSISTENT],
"CarParams": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
+ "CarParamsCache": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
"CarVin": [TxType.CLEAR_ON_MANAGER_START, TxType.CLEAR_ON_PANDA_DISCONNECT],
"CommunityFeaturesToggle": [TxType.PERSISTENT],
"CompletedTrainingVersion": [TxType.PERSISTENT],
@@ -383,7 +384,7 @@ def write_db(params_path, key, value):
lock.release()
class Params():
- def __init__(self, db='/data/params'):
+ def __init__(self, db=PARAMS):
self.db = db
# create the database if it doesn't exist...
@@ -391,6 +392,11 @@ class Params():
with self.transaction(write=True):
pass
+ def clear_all(self):
+ shutil.rmtree(self.db, ignore_errors=True)
+ with self.transaction(write=True):
+ pass
+
def transaction(self, write=False):
if write:
return DBWriter(self.db)
diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index 489874eb6..d8729e2f4 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -131,37 +131,6 @@ def img_from_device(pt_device):
return pt_img.reshape(input_shape)[:,:2]
-#TODO please use generic img transform below
-def rotate_img(img, eulers, crop=None, intrinsics=eon_intrinsics):
- import cv2 # pylint: disable=import-error
-
- size = img.shape[:2]
- rot = orient.rot_from_euler(eulers)
- quadrangle = np.array([[0, 0],
- [size[1]-1, 0],
- [0, size[0]-1],
- [size[1]-1, size[0]-1]], dtype=np.float32)
- quadrangle_norm = np.hstack((normalize(quadrangle, intrinsics=intrinsics), np.ones((4,1))))
- warped_quadrangle_full = np.einsum('ij, kj->ki', intrinsics.dot(rot), quadrangle_norm)
- warped_quadrangle = np.column_stack((warped_quadrangle_full[:,0]/warped_quadrangle_full[:,2],
- warped_quadrangle_full[:,1]/warped_quadrangle_full[:,2])).astype(np.float32)
- if crop:
- W_border = (size[1] - crop[0])//2
- H_border = (size[0] - crop[1])//2
- outside_crop = (((warped_quadrangle[:,0] < W_border) |
- (warped_quadrangle[:,0] >= size[1] - W_border)) &
- ((warped_quadrangle[:,1] < H_border) |
- (warped_quadrangle[:,1] >= size[0] - H_border)))
- if not outside_crop.all():
- raise ValueError("warped image not contained inside crop")
- else:
- H_border, W_border = 0, 0
- M = cv2.getPerspectiveTransform(quadrangle, warped_quadrangle)
- img_warped = cv2.warpPerspective(img, M, size[::-1])
- return img_warped[H_border: size[0] - H_border,
- W_border: size[1] - W_border]
-
-
def get_camera_frame_from_calib_frame(camera_frame_from_road_frame):
camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
calib_frame_from_ground = np.dot(eon_intrinsics,
diff --git a/installer/updater/updater.cc b/installer/updater/updater.cc
index e2d3e7dae..a76be8b8f 100644
--- a/installer/updater/updater.cc
+++ b/installer/updater/updater.cc
@@ -155,8 +155,6 @@ struct Updater {
TouchState touch;
int fb_w, fb_h;
- EGLDisplay display;
- EGLSurface surface;
FramebufferState *fb = NULL;
NVGcontext *vg = NULL;
@@ -198,7 +196,7 @@ struct Updater {
touch_init(&touch);
fb = framebuffer_init("updater", 0x00001000, false,
- &display, &surface, &fb_w, &fb_h);
+ &fb_w, &fb_h);
assert(fb);
vg = nvgCreateGLES3(NVG_ANTIALIAS | NVG_STENCIL_STROKES | NVG_DEBUG);
@@ -708,7 +706,7 @@ struct Updater {
glDisable(GL_BLEND);
- eglSwapBuffers(display, surface);
+ framebuffer_swap(fb);
assert(glGetError() == GL_NO_ERROR);
diff --git a/models/dmonitoring_model_q.dlc b/models/dmonitoring_model_q.dlc
new file mode 100644
index 000000000..0aee22a47
Binary files /dev/null and b/models/dmonitoring_model_q.dlc differ
diff --git a/models/monitoring_model_q.dlc b/models/monitoring_model_q.dlc
deleted file mode 100644
index 59104e18e..000000000
Binary files a/models/monitoring_model_q.dlc and /dev/null differ
diff --git a/models/supercombo.dlc b/models/supercombo.dlc
index fb48eb2ec..d7942d6df 100644
Binary files a/models/supercombo.dlc and b/models/supercombo.dlc differ
diff --git a/opendbc/README.md b/opendbc/README.md
index c11cf3fdc..4accc1805 100644
--- a/opendbc/README.md
+++ b/opendbc/README.md
@@ -16,6 +16,9 @@ Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/ind
Use [panda](https://github.com/commaai/panda) to connect your car to a computer.
+### How to use reverse engineered DBC
+To create custom CAN simulations or send reverse engineered signals back to the car you can use [CANdevStudio](https://github.com/GENIVI/CANdevStudio) project.
+
### DBC file preprocessor
DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated.
diff --git a/opendbc/generator/honda/honda_crv_executive_2016_can.dbc b/opendbc/generator/honda/honda_crv_executive_2016_can.dbc
new file mode 100644
index 000000000..ac8082e34
--- /dev/null
+++ b/opendbc/generator/honda/honda_crv_executive_2016_can.dbc
@@ -0,0 +1,65 @@
+CM_ "IMPORT _honda_2017.dbc"
+CM_ "IMPORT _comma.dbc"
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 6 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
+ SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/gm_global_a_high_voltage_management.dbc b/opendbc/gm_global_a_high_voltage_management.dbc
new file mode 100644
index 000000000..1baf542a2
--- /dev/null
+++ b/opendbc/gm_global_a_high_voltage_management.dbc
@@ -0,0 +1,176 @@
+VERSION ""
+
+
+NS_ :
+ NS_DESC_
+ CM_
+ BA_DEF_
+ BA_
+ VAL_
+ CAT_DEF_
+ CAT_
+ FILTER
+ BA_DEF_DEF_
+ EV_DATA_
+ ENVVAR_DATA_
+ SGTYPE_
+ SGTYPE_VAL_
+ BA_DEF_SGTYPE_
+ BA_SGTYPE_
+ SIG_TYPE_REF_
+ VAL_TABLE_
+ SIG_GROUP_
+ SIG_VALTYPE_
+ SIGTYPE_VALTYPE_
+ BO_TX_BU_
+ BA_DEF_REL_
+ BA_REL_
+ BA_DEF_DEF_REL_
+ BU_SG_REL_
+ BU_EV_REL_
+ BU_BO_REL_
+ SG_MUL_VAL_
+
+BS_:
+BU_: K16_BECM K114B_HPCM T18_BatteryCharger
+
+BO_ 512 Battery_Module_1: 8 K16_BECM
+ SG_ Voltage_1_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_1_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Cell_Bank_Number_1 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+
+BO_ 514 Battery_Module_2: 8 K16_BECM
+ SG_ Voltage_2_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_2_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Cell_Bank_Number_2 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+
+BO_ 516 Battery_Module_3: 8 K16_BECM
+ SG_ Voltage_3_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_3_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Cell_Bank_Number_3 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+
+BO_ 518 Battery_Module_4: 8 K16_BECM
+ SG_ Voltage_4_0_A m0 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_0_B m0 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_0_C m0 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_1_A m1 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_1_B m1 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_1_C m1 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_2_A m2 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_2_B m2 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_2_C m2 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_3_A m3 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_3_B m3 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_3_C m3 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_4_A m4 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_4_B m4 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_4_C m4 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_5_A m5 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_5_B m5 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_5_C m5 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_6_A m6 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_6_B m6 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_6_C m6 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_7_A m7 : 4|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_7_B m7 : 20|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Voltage_4_7_C m7 : 36|12@1+ (0.00125,0) [0|0] "V" K16_BECM
+ SG_ Cell_Bank_Number_4 M : 53|7@1+ (1,0) [0|0] "" K16_BECM
+
+BO_ 528 Pack_Stats: 8 K16_BECM
+ SG_ Pack_Voltage : 7|12@0+ (0.125,0) [0|0] "V" K16_BECM
+ SG_ Pack_Amps : 9|10@0+ (0.1,0) [0|0] "" K16_BECM
+ SG_ Pack_Amps2 : 28|12@0+ (0.05,0) [0|0] "" K16_BECM
+
+BO_ 530 Charger_stats: 6 T18_BatteryCharger
+ SG_ Charger_HV_Current : 0|13@1+ (0.05,0) [0|0] "A" K16_BECM
+ SG_ HV_Voltage : 13|10@1+ (0.5,0) [0|0] "V" K16_BECM
+ SG_ LV_Current : 23|8@1+ (0.2,0) [0|0] "A" K16_BECM
+ SG_ LV_Voltage : 31|10@1- (0.025,0) [0|0] "V" K16_BECM
+
+BO_ 770 Battery_temp: 8 K16_BECM
+ SG_ Temp_A m0 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+ SG_ Temp_B m0 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+ SG_ Temp_C m0 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+ SG_ Temp_D m0 : 32|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+ SG_ Temp_E m0 : 40|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+ SG_ Temp_F m0 : 48|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+ SG_ Temp_G m1 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+ SG_ Temp_H m1 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+ SG_ Temp_I m1 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM
+ SG_ Switch M : 2|1@1+ (1,0) [0|0] "" K16_BECM
+
+BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ;
+BA_DEF_ BO_ "GenMsgForegroundColor" STRING ;
+BA_DEF_ BO_ "isj1939dbc" INT 0 0;
+BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff";
+BA_DEF_DEF_ "GenMsgForegroundColor" "#000000";
+BA_DEF_DEF_ "isj1939dbc" 0;
+CM_ BU_ K16_BECM "Battery Energy Control Module";
+CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
+CM_ BU_ T18_BatteryCharger "Battery Charger";
\ No newline at end of file
diff --git a/opendbc/honda_crv_executive_2016_can_generated.dbc b/opendbc/honda_crv_executive_2016_can_generated.dbc
new file mode 100644
index 000000000..ce838416f
--- /dev/null
+++ b/opendbc/honda_crv_executive_2016_can_generated.dbc
@@ -0,0 +1,319 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT"
+
+
+CM_ "Imported file _comma.dbc starts here"
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (0.253984064,-83.3) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "Imported file _honda_2017.dbc starts here"
+VERSION ""
+
+
+NS_ :
+ NS_DESC_
+ CM_
+ BA_DEF_
+ BA_
+ VAL_
+ CAT_DEF_
+ CAT_
+ FILTER
+ BA_DEF_DEF_
+ EV_DATA_
+ ENVVAR_DATA_
+ SGTYPE_
+ SGTYPE_VAL_
+ BA_DEF_SGTYPE_
+ BA_SGTYPE_
+ SIG_TYPE_REF_
+ VAL_TABLE_
+ SIG_GROUP_
+ SIG_VALTYPE_
+ SIGTYPE_VALTYPE_
+ BO_TX_BU_
+ BA_DEF_REL_
+ BA_REL_
+ BA_DEF_DEF_REL_
+ BU_SG_REL_
+ BU_EV_REL_
+ BU_BO_REL_
+ SG_MUL_VAL_
+
+BU_: EBCM ADAS PCM EPS VSA SCM BDY XXX EPB EON
+
+BO_ 344 ENGINE_DATA: 8 PCM
+ SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON
+ SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 380 POWERTRAIN_DATA: 8 PCM
+ SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON
+ SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON
+ SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "rpm" EON
+ SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "rpm" EON
+ SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON
+ SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "rpm" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 420 VSA_STATUS: 8 VSA
+ SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON
+ SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON
+ SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 427 STEER_MOTOR_TORQUE: 3 EPS
+ SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON
+ SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON
+
+BO_ 432 STANDSTILL: 7 VSA
+ SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON
+ SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 464 WHEEL_SPEEDS: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 490 VEHICLE_DYNAMICS: 8 VSA
+ SG_ LONG_ACCEL : 23|16@0- (0.0015384,0) [-20|20] "m/s2" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 506 BRAKE_COMMAND: 8 ADAS
+ SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00 : 13|5@0+ (1,0) [0|1] "" EBCM
+ SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_2 : 23|3@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_X00_3 : 19|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM
+ SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM
+ SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM
+ SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX
+ SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM
+ SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM
+ SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM
+ SG_ SET_ME_X00_4 : 44|1@0+ (1,0) [0|1] "" EBCM
+ SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM
+ SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X00_5 : 55|8@0+ (1,0) [0|0] "" EBCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM
+
+BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA
+ SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON
+ SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON
+ SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 773 SEATBELT_STATUS: 7 BDY
+ SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON
+ SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON
+ SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON
+
+BO_ 777 LOCK_STATUS: 8 XXX
+ SG_ DOORS_UNLOCKED : 54|1@0+ (1,0) [0|1] "" EON
+ SG_ DOORS_LOCKED : 55|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 780 ACC_HUD: 8 ADAS
+ SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY
+ SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY
+ SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY
+ SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF : 36|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_OFF_2 : 35|1@0+ (1,0) [0|1] "" BDY
+ SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY
+ SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY
+ SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY
+ SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY
+ SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY
+ SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY
+ SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY
+ SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY
+ SG_ HUD_DISTANCE_3 : 52|1@0+ (1,0) [0|1] "" BDY
+ SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY
+ SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY
+
+BO_ 804 CRUISE: 8 PCM
+ SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON
+ SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON
+ SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON
+ SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON
+ SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON
+ SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+BO_ 829 LKAS_HUD: 5 ADAS
+ SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
+ SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY
+ SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY
+ SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY
+ SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY
+ SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
+ SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
+ SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
+ SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
+ SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY
+ SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY
+ SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY
+ SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY
+ SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY
+
+BO_ 892 CRUISE_PARAMS: 8 PCM
+ SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 1029 DOORS_STATUS: 8 BDY
+ SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON
+ SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON
+ SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+
+CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping";
+CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event";
+CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light";
+CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light";
+CM_ SG_ 780 CRUISE_SPEED "255 = no speed";
+CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed";
+CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc...";
+
+
+VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ;
+VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ;
+VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb" ;
+VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped" ;
+VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car" ;
+VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep" ;
+
+CM_ "honda_crv_executive_2016_can.dbc starts here"
+
+
+
+BO_ 342 STEERING_SENSORS: 6 EPS
+ SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON
+ SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 399 STEER_STATUS: 6 EPS
+ SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON
+ SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON
+ SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON
+ SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON
+
+BO_ 419 GEARBOX: 8 PCM
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON
+ SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON
+
+BO_ 404 STEERING_CONTROL: 4 EON
+ SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS
+ SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS
+ SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS
+ SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS
+
+BO_ 422 SCM_BUTTONS: 8 SCM
+ SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
+ SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON
+ SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON
+ SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 487 BRAKE_PRESSURE: 4 VSA
+ SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON
+ SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON
+
+BO_ 660 SCM_FEEDBACK: 8 SCM
+ SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON
+ SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON
+ SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+
+BO_ 891 WIPERS: 8 XXX
+ SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ;
+VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ;
+VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ;
+VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ;
+VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ;
+VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off" ;
+
+CM_ "CHFFR_METRIC 342 STEER_ANGLE STEER_ANGLE 0.36 180; CHFFR_METRIC 380 ENGINE_RPM ENGINE_RPM 1 0; CHFFR_METRIC 804 ENGINE_TEMPERATURE ENGINE_TEMPERATURE 1 0";
diff --git a/opendbc/hyundai_kia_generic.dbc b/opendbc/hyundai_kia_generic.dbc
index cb2e0b5d7..67fb0914b 100644
--- a/opendbc/hyundai_kia_generic.dbc
+++ b/opendbc/hyundai_kia_generic.dbc
@@ -792,7 +792,7 @@ BO_ 1362 SNV11: 4 SNV
SG_ CF_Snv_IRLampControl : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD
BO_ 593 MDPS12: 8 MDPS
- SG_ CR_Mdps_StrColTq : 0|11@1+ (0.0078125,-8.0) [-8.0|7.9921875] "Nm" LDWS_LKAS
+ SG_ CR_Mdps_StrColTq : 0|11@1+ (1.0,-1024.0) [-1024.0|1024.0] "" LDWS_LKAS
SG_ CF_Mdps_Def : 11|1@1+ (1.0,0.0) [0.0|1.0] "" ESC
SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS
SG_ CF_Mdps_ToiActive : 13|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS
@@ -1444,3 +1444,5 @@ BO_ 905 SCC14: 8 SCC
SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
SG_ SCCMode : 32|3@1+ (1,0) [0|7] "" ESC
+BO_ 882 ELECT_GEAR: 8 XXX
+ SG_ Elect_Gear_Shifter : 16|3@1+ (1,0) [0|7] "" CLU
diff --git a/opendbc/subaru_global_2017.dbc b/opendbc/subaru_global_2017.dbc
index 39823f904..38b2774ab 100644
--- a/opendbc/subaru_global_2017.dbc
+++ b/opendbc/subaru_global_2017.dbc
@@ -110,6 +110,8 @@ BO_ 281 Steering_Torque: 8 XXX
SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [0|3] "" XXX
SG_ Steering_Angle : 32|16@1- (-0.0217,0) [0|255] "" X
SG_ Steer_Torque_Output : 48|11@1- (-1,0) [0|31] "" XXX
+ SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|7] "" XXX
+ SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|3] "" XXX
BO_ 312 Brake_Pressure_L_R: 8 XXX
SG_ Checksum : 0|8@1+ (1,0) [0|31] "" XXX
diff --git a/panda/board/drivers/gmlan_alt.h b/panda/board/drivers/gmlan_alt.h
index 6d4ba12b8..2f2e56805 100644
--- a/panda/board/drivers/gmlan_alt.h
+++ b/panda/board/drivers/gmlan_alt.h
@@ -122,7 +122,12 @@ int get_bit_message(char *out, CAN_FIFOMailBox_TypeDef *to_bang) {
return len;
}
+void TIM4_IRQ_Handler(void);
+
void setup_timer4(void) {
+ // register interrupt
+ REGISTER_INTERRUPT(TIM4_IRQn, TIM4_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
+
// setup
register_set(&(TIM4->PSC), (48-1), 0xFFFFU); // Tick on 1 us
register_set(&(TIM4->CR1), TIM_CR1_CEN, 0x3FU); // Enable
@@ -236,7 +241,6 @@ void TIM4_IRQ_Handler(void) {
gmlan_sendmax = -1; // exit
}
}
- TIM4->SR = 0;
} else if (gmlan_alt_mode == GPIO_SWITCH) {
if ((TIM4->SR & TIM_SR_UIF) && (gmlan_switch_below_timeout != -1)) {
if ((can_timeout_counter == 0) && gmlan_switch_timeout_enable) {
@@ -259,10 +263,10 @@ void TIM4_IRQ_Handler(void) {
}
}
}
- TIM4->SR = 0;
} else {
- puts("invalid gmlan_alt_mode\n");
+ // Invalid GMLAN mode. Do not put a print statement here, way too fast to keep up with
}
+ TIM4->SR = 0;
}
bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
@@ -280,7 +284,6 @@ bool bitbang_gmlan(CAN_FIFOMailBox_TypeDef *to_bang) {
set_gpio_mode(GPIOB, 13, MODE_OUTPUT);
// 33kbps
- REGISTER_INTERRUPT(TIM4_IRQn, TIM4_IRQ_Handler, 40000U, FAULT_INTERRUPT_RATE_GMLAN)
setup_timer4();
}
return gmlan_send_ok;
diff --git a/panda/board/main.c b/panda/board/main.c
index a758bf705..8bc4ac78f 100644
--- a/panda/board/main.c
+++ b/panda/board/main.c
@@ -294,19 +294,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
break;
// **** 0xb0: set IR power
case 0xb0:
- if(power_save_status == POWER_SAVE_STATUS_DISABLED){
- current_board->set_ir_power(setup->b.wValue.w);
- } else {
- puts("Setting IR power not allowed in power saving mode\n");
- }
+ current_board->set_ir_power(setup->b.wValue.w);
break;
// **** 0xb1: set fan power
case 0xb1:
- if(power_save_status == POWER_SAVE_STATUS_DISABLED){
- current_board->set_fan_power(setup->b.wValue.w);
- } else {
- puts("Setting fan power not allowed in power saving mode\n");
- }
+ current_board->set_fan_power(setup->b.wValue.w);
break;
// **** 0xb2: get fan rpm
case 0xb2:
@@ -716,6 +708,10 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
if (power_save_status != POWER_SAVE_STATUS_ENABLED) {
set_power_save_state(POWER_SAVE_STATUS_ENABLED);
}
+
+ // Also disable fan and IR when the heartbeat goes missing
+ current_board->set_fan_power(0U);
+ current_board->set_ir_power(0U);
}
// enter CDP mode when car starts to ensure we are charging a turned off EON
diff --git a/panda/board/power_saving.h b/panda/board/power_saving.h
index 3ee2170d7..f7e42371a 100644
--- a/panda/board/power_saving.h
+++ b/panda/board/power_saving.h
@@ -49,10 +49,9 @@ void set_power_save_state(int state) {
set_gpio_output(GPIOA, 14, enable);
}
- // Switch off IR and fan when in power saving
+ // Switch off IR when in power saving
if(!enable){
current_board->set_ir_power(0U);
- current_board->set_fan_power(0U);
}
power_save_status = state;
diff --git a/phonelibs/eigen/COPYING.MINPACK b/phonelibs/eigen/COPYING.MINPACK
index 11d8a9a6c..ae7984dae 100644
--- a/phonelibs/eigen/COPYING.MINPACK
+++ b/phonelibs/eigen/COPYING.MINPACK
@@ -1,52 +1,52 @@
-Minpack Copyright Notice (1999) University of Chicago. All rights reserved
-
-Redistribution and use in source and binary forms, with or
-without modification, are permitted provided that the
-following conditions are met:
-
-1. Redistributions of source code must retain the above
-copyright notice, this list of conditions and the following
-disclaimer.
-
-2. Redistributions in binary form must reproduce the above
-copyright notice, this list of conditions and the following
-disclaimer in the documentation and/or other materials
-provided with the distribution.
-
-3. The end-user documentation included with the
-redistribution, if any, must include the following
-acknowledgment:
-
- "This product includes software developed by the
- University of Chicago, as Operator of Argonne National
- Laboratory.
-
-Alternately, this acknowledgment may appear in the software
-itself, if and wherever such third-party acknowledgments
-normally appear.
-
-4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
-WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
-UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
-THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
-OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
-OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
-OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
-USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
-THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
-DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
-UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
-BE CORRECTED.
-
-5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
-HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
-ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
-INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
-ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
-PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
-SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
-(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
-EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
-POSSIBILITY OF SUCH LOSS OR DAMAGES.
-
+Minpack Copyright Notice (1999) University of Chicago. All rights reserved
+
+Redistribution and use in source and binary forms, with or
+without modification, are permitted provided that the
+following conditions are met:
+
+1. Redistributions of source code must retain the above
+copyright notice, this list of conditions and the following
+disclaimer.
+
+2. Redistributions in binary form must reproduce the above
+copyright notice, this list of conditions and the following
+disclaimer in the documentation and/or other materials
+provided with the distribution.
+
+3. The end-user documentation included with the
+redistribution, if any, must include the following
+acknowledgment:
+
+ "This product includes software developed by the
+ University of Chicago, as Operator of Argonne National
+ Laboratory.
+
+Alternately, this acknowledgment may appear in the software
+itself, if and wherever such third-party acknowledgments
+normally appear.
+
+4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
+WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
+UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
+THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
+OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
+OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
+OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
+USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
+THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
+DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
+UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
+BE CORRECTED.
+
+5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
+HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
+ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
+INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
+ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
+PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
+SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
+(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
+EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
+POSSIBILITY OF SUCH LOSS OR DAMAGES.
+
diff --git a/phonelibs/fastcv/aarch64/include/fastcv.h b/phonelibs/fastcv/aarch64/include/fastcv.h
index 758bce78e..4827b2b6f 100644
--- a/phonelibs/fastcv/aarch64/include/fastcv.h
+++ b/phonelibs/fastcv/aarch64/include/fastcv.h
@@ -1,34089 +1,34089 @@
-#ifndef FASTCV_H
-#define FASTCV_H
-
-/**=============================================================================
-
-@file
- fastcv.h
-
-@brief
- Public API
-
-
-Copyright (c) 2011-2015 Qualcomm Technologies, Inc.
-All Rights Reserved.
-Confidential and Proprietary - Qualcomm Technologies, Inc.
-
-=============================================================================**/
-
-/**=============================================================================
-@mainpage FastCV Public API Documentation
-
-@version 1.7.1
-
-@section Overview Overview
-
-FastCV provides two main features to computer vision application developers:
- - First, it provides a library of frequently used computer vision (CV)
- functions, optimized to run efficiently on mobile devices.
- - Second, it provides a clean processor-agnostic hardware acceleration API,
- under which chipset vendors can hardware accelerate FastCV functions on
- their hardware.
-
-FastCV 1.7.1 supports Android and Windows mobile developers.
-FastCV 1.7.1 is available for download for free from developer.qualcomm.com.
-
-FastCV 1.7.1 is released as a unified binary, a single binary containing two
-implementations of the library.
- - The first implementation runs on ARM processor, and is referred to as
- the "FastCV for ARM."
- - The second implementation runs only on Qualcomm Snapdragon
- chipsets, and is called "FastCV for Snapdragon."
-
-Releases are generally motivated for the following reasons:
- - Changes to previously released APIs
- - Addition of new functions
- - Performance improvements and/or bug fixes - also known as implementation
- modifications
-
- Each motivation has a varying degree of impact on the user of the library.
- The general release numbering scheme captures this variety of motivations.
-
- Given release ID: A.B.C
-
- An increase in "A" indicates that a previously released API has changed,
- so a developer may encounter compilation issues which require modification
- of their code in order to adhear to the modified API. Qualcomm will make
- every effort to minimize these changes. Additionally, new functions and
- implementation modifications may be present.
-
- An increase in "B" indicates that new functions have been added to the
- library, so additional functionality is available, however existing APIs
- have not changed. Additionally, implementation modifications may be
- present.
-
- An increase in "C" indicates that implementation modifications only have
- been made.
-
-@defgroup math_vector Math / Vector Operations
-@details Commonly used vector & math functions
-
-@defgroup image_processing Image processing
-@details Image filtering, convolution and scaling operations
-
-@defgroup image_transform Image transformation
-@details Warp perspective, affine transformations
-
-@defgroup feature_detection Feature detection
-@details Fast corner detection, harris corner detection, canny edge detection, etc.
-
-@defgroup object_detection Object detection
-@details Object detection functions such as NCC template match, etc.
-
-@defgroup 3D_reconstruction 3D reconstruction
-@details Homography, pose evaluation functions
-
-@defgroup color_conversion Color conversion
-@details Commonly used formats supported: e.g., YUV, RGB, YCrCb, etc.
-
-@defgroup clustering_and_search Clustering and search
-@details K clusters best fitting of a set of input points
-
-@defgroup Motion_and_Object_Tracking Motion and object tracking
-@details Supports and tracking functions
-
-@defgroup Structural_Analysis_and_Drawing Shape and drawing
-@details Contour and polygon drawing functions
-
-@defgroup mem_management Memory Management
-@details Functions to allocate and deallocate memory for use with fastCV.
-
-@defgroup misc Miscellaneous
-@details Support functions
-
-@defgroup machine_learning Machine Learning
-@details Machine learning functions such as SVM prediction, etc.
-
-**/
-
-//==============================================================================
-// Defines
-//==============================================================================
-
-#ifdef __GNUC__
- /// Macro to align memory at 4-bytes (32-bits) for GNU-based compilers.
- #define FASTCV_ALIGN32( VAR ) (VAR) __attribute__ ((aligned(4)))
- /// Macro to align memory at 8-bytes (64-bits) for GNU-based compilers.
- #define FASTCV_ALIGN64( VAR ) (VAR) __attribute__ ((aligned(8)))
- /// Macro to align memory at 16-bytes (128-bits) for GNU-based compilers.
- #define FASTCV_ALIGN128( VAR ) (VAR) __attribute__ ((aligned(16)))
- #ifdef BUILDING_SO
- /// MACRO enables function to be visible in shared-library case.
- #define FASTCV_API __attribute__ ((visibility ("default")))
- #else
- /// MACRO empty for non-shared-library case.
- #define FASTCV_API
- #endif
-#else
- /// Macro to align memory at 4-bytes (32-bits) for MSVC compiler.
- #define FASTCV_ALIGN32( VAR ) __declspec(align(4)) (VAR)
- /// Macro to align memory at 8-bytes (64-bits) for MSVC compiler.
- #define FASTCV_ALIGN64( VAR ) __declspec(align(8)) (VAR)
- /// Macro to align memory at 16-bytes (128-bits) for MSVC compiler.
- #define FASTCV_ALIGN128( VAR ) __declspec(align(16)) (VAR)
- #ifdef BUILDING_DLL
- /// MACRO enables function to be visible in shared-library case.
- #define FASTCV_API __declspec(dllexport)
- #else
- /// MACRO empty for non-shared-library case.
- #define FASTCV_API
- #endif
-#endif
-
-//==============================================================================
-// Included modules
-//==============================================================================
-
-#include
-#include
-typedef float float32_t;
-typedef double float64_t;
-
-//==============================================================================
-// Declarations
-//==============================================================================
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines operational mode of interface to allow the end developer to
-/// dictate how the target optimized implementation should behave.
-//------------------------------------------------------------------------------
-typedef enum
-{
- /// Target-optimized implementation uses lowest power consuming
- /// implementation.
- FASTCV_OP_LOW_POWER = 0,
-
- /// Target-optimized implementation uses highest performance implementation.
- FASTCV_OP_PERFORMANCE = 1,
-
- /// Target-optimized implementation offloads as much of the CPU as possible.
- FASTCV_OP_CPU_OFFLOAD = 2,
-
- /// Target-optimized implementation uses CPU highest performance implementation.
- FASTCV_OP_CPU_PERFORMANCE = 3,
-
- /// Values >= 0x80000000 are reserved
- FASTCV_OP_RESERVED = 0x80000000
-
-} fcvOperationMode;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the flip directions for matrix flip functions.
-//------------------------------------------------------------------------------
-typedef enum
-{
- /// Flip horizontally.
- FASTCV_FLIP_HORIZ = 1,
-
- /// Flip vertically.
- FASTCV_FLIP_VERT = 2,
-
- /// Flip horizontally and vertically.
- FASTCV_FLIP_BOTH = 3
-
-} fcvFlipDir;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the clockwise rotation degrees for image rotation functions.
-//------------------------------------------------------------------------------
-typedef enum
-{
- /// Rotate 90 degrees clockwise.
- FASTCV_ROTATE_90 = 1,
-
- /// Rotate 180 degrees clockwise.
- FASTCV_ROTATE_180 = 2,
-
- /// Rotate 270 degrees clockwise.
- FASTCV_ROTATE_270 = 3
-
-} fcvRotateDegree;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the interpolation types.
-//------------------------------------------------------------------------------
-
-typedef enum
-{
- /// Nearest neighbor interpolation
- FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR = 0,
-
- /// Bilinear interpolation
- FASTCV_INTERPOLATION_TYPE_BILINEAR,
-
- /// Interpolation by area
- FASTCV_INTERPOLATION_TYPE_AREA
-
-} fcvInterpolationType;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the policy to handle integer overflow.
-//------------------------------------------------------------------------------
-
-typedef enum
-{
- /// Do nothing to the overflow.
- /// Let the overflowed number wrap around.
- /// May save runtime if overflow unlikely to occur,
- /// or users do not care about overflow.
- FASTCV_CONVERT_POLICY_WRAP = 0,
-
- /// Clamped to the maximum interger if overflow,
- /// clamped to the minimum integer if underflow.
- /// May require more runtime than FASTCV_CONVERT_POLICY_WRAP.
- FASTCV_CONVERT_POLICY_SATURATE
-
-} fcvConvertPolicy;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the border types.
-//------------------------------------------------------------------------------
-
-typedef enum
-{
- /// Border behavior undefined, left to the implementation.
- FASTCV_BORDER_UNDEFINED = 0,
-
- /// For out-of-bound pixels, apply a user-specified constant value.
- FASTCV_BORDER_CONSTANT,
-
- /// For out-of-bound pixels, apply values from the nearest edge pixels.
- FASTCV_BORDER_REPLICATE
-
-} fcvBorderType;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the norm for a vector.
-//------------------------------------------------------------------------------
-
-typedef enum
-{
- /// L1 norm. The norm is the sum of absolute values of every component in a vector.
- FASTCV_NORM_L1,
-
- /// L2 norm, i.e., the Euclidean norm of a vector.
- FASTCV_NORM_L2
-
-} fcvNormType;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines all supported channel indices
-//------------------------------------------------------------------------------
-
-typedef enum
-{
- /// The first channel of the image.
- FASTCV_CHANNEL_0,
-
- /// The second channel of the image.
- FASTCV_CHANNEL_1,
-
- /// The third channel of the image.
- FASTCV_CHANNEL_2,
-
- /// The fourth channel of the image.
- FASTCV_CHANNEL_3,
-
- /// The RED channel of the image.
- FASTCV_CHANNEL_R,
-
- /// The GREEN channel of the image.
- FASTCV_CHANNEL_G,
-
- /// The BLUE channel of the image.
- FASTCV_CHANNEL_B,
-
- /// The ALPHA channel of the image.
- FASTCV_CHANNEL_A,
-
- /// The LUMA channel of the image.
- FASTCV_CHANNEL_Y,
-
- /// The Cb/U channel of the image.
- FASTCV_CHANNEL_U,
-
- /// The Cr/V/Value channel of the image.
- FASTCV_CHANNEL_V
-
-} fcvChannelType;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines all supported image formats based on the FOURCC definition
-//------------------------------------------------------------------------------
-
-typedef enum
-{
- /// A single plane of 24 bit pixel as 3 interleaved 8 bit units of R then G then B data.
- FASTCV_RGB,
-
- /// A single plane of 32 bit pixel as 4 interleaved 8 bit units of R then G then B data, then a ”don’t care?byte.
- FASTCV_RGBX,
-
- /// A 2 plane YUV format of Luma (Y) and interleaved UV data at 4:2:0 sampling.
- /// For a frame of width W and height H, Y plane has the size of W * H, while the UV plane has the size of W * H/2.
- /// The extracted U or V plane is then expected to be W/2 * H/2.
- FASTCV_NV12,
-
- /// A 2 plane YUV format of Luma (Y) and interleaved VU data at 4:2:0 sampling.
- /// For a frame of width W and height H, Y plane has the size of W * H, while the VU plane has the size of W * H/2.
- /// The extracted U or V plane is then expected to be W/2 * H/2.
- FASTCV_NV21,
-
- /// A single plane of 32 bit macro pixel of U0, Y0, V0, Y1 bytes.
- /// For a frame of width W and height H, its buffer size is at least 2*W * H.
- /// The extracted Y plane is expected to be W * H while the U or V plane is expected to be W/2 * H.
- FASTCV_UYVY,
-
- /// A single plane of 32 bit macro pixel of Y0, U0, Y1, V0 bytes.
- /// For a frame of width W and height H, its buffer size is at least 2*W * H.
- /// The extracted Y plane is expected to be W * H while the U or V plane is expected to be W/2 * H.
- FASTCV_YUYV,
-
- /// A 3 plane of 8 bit 4:2:0 sampled Y, U, V planes.
- /// For a frame of width W and height H, Y plane has the size of W * H, while the U or I plane each has a size of W/2 * H/2.
- FASTCV_IYUV,
-
- /// A 3 plane of 8 bit 4:4:4 sampled Y, U, V planes.
- /// For a frame of width W and height H, Y or U or V plane each has the size of W * H.
- FASTCV_YUV4
-
-} fcvImageFormat;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the status returned by a function.
-//------------------------------------------------------------------------------
-typedef enum
-{
- //// Success
- FASTCV_SUCCESS = 0,
-
- /// General failure
- FASTCV_EFAIL,
-
- /// Unaligned pointer parameter
- FASTCV_EUNALIGNPARAM,
-
- /// Bad parameters
- FASTCV_EBADPARAM,
-
- /// Called at invalid state
- FASTCV_EINVALSTATE,
-
- /// Insufficient resources, memory, thread...
- FASTCV_ENORES,
-
- /// Unsupported feature
- FASTCV_EUNSUPPORTED,
-
- /// Hardware QDSP failed to respond
- FASTCV_EHWQDSP,
-
- /// Hardware GPU failed to respond
- FASTCV_EHWGPU
-
-} fcvStatus;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the kernel functions of SVM prediction.
-//------------------------------------------------------------------------------
-typedef enum
-{
- FASTCV_SVM_LINEAR,
- FASTCV_SVM_POLY,
- FASTCV_SVM_RBF,
- FASTCV_SVM_SIGMOID
-} fcvSVMKernelType;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the different scaling options for the pyramid
-//------------------------------------------------------------------------------
-typedef enum
-{
- FASTCV_PYRAMID_SCALE_HALF,
- FASTCV_PYRAMID_SCALE_ORB
-} fcvPyramidScale;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the termination criteria list.
-//------------------------------------------------------------------------------
-typedef enum
-{
- /// Indicates a termination after a set number of iterations
- FASTCV_TERM_CRITERIA_ITERATIONS,
-
- /// Indicates a termination after matching against the value of eplison provided to the function
- FASTCV_TERM_CRITERIA_EPSILON,
-
- /// Indicates that both an iterations and eplison method are employed. Whichever one matches first causes the termination.
- FASTCV_TERM_CRITERIA_BOTH,
-} fcvTerminationCriteria;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the normalization method in the HOG extraction process
-//------------------------------------------------------------------------------
-typedef enum
-{
- /// Do the regular normalization method
- FASTCV_HOG_NORM_REGULAR = 0,
-
- /// Do re-normalization
- FASTCV_HOG_NORM_RENORMALIZATION = 1,
-
- /// Use F-HOG method
- FASTCV_HOG_NORM_FHOG = 2,
-
-} fcvHOGNormMethod;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines the vaiance estimator type
-//------------------------------------------------------------------------------
-typedef enum
-{
- /// Sums the squared deviation and devides by (n-1)
- /// As known as sample variance
- FASTCV_UNBIASED_VARIANCE_ESTIMATOR = 0,
-
- /// Sums the squared deviation and devides by n
- /// As known as population variance
- FASTCV_BIASED_VARIANCE_ESTIMATOR = 1,
-
-} fcvVarianceEstimator;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a structure to contain points correspondence data.
-//------------------------------------------------------------------------------
-typedef struct
-{
- /// Tuples of 3 values: xFrom,yFrom,zFrom. Float array which this points to
- /// must be greater than or equal to 3 * numCorrespondences.
- const float32_t* from;
- /*~ FIELD fcvCorrespondences.from
- VARRAY LENGTH ( fcvCorrespondences.numCorrespondences * \
- (fcvCorrespondences.fromStride ? fcvCorrespondences.fromStride : 3) ) */
-
- /// Tuples of 2 values: xTo,yTo. Float array which this points to
- /// must be greater than or equal to 2 * numCorrespondences.
- const float32_t* to;
- /*~ FIELD fcvCorrespondences.to
- VARRAY LENGTH ( fcvCorrespondences.numCorrespondences * \
- (fcvCorrespondences.toStride ? fcvCorrespondences.toStride : 2) ) */
-
- /// Distance in bytes between two coordinates in the from array.
- /// If this parameter is set to 2 or 3, a dense array is assume (stride will
- /// be sizeof(float) times 2 or 3). The minimum value of fromStride
- /// should be 2.
- uint32_t fromStride;
-
- /// Distance in bytes between two coordinates in the to array.
- /// If this parameter is set to 2, a dense array is assume (stride will
- /// be 2 * sizeof(float)). The minimum value of toStride
- /// should be 2.
- uint32_t toStride;
-
- /// Number of points in points correspondences.
- uint32_t numCorrespondences;
-
- /// Array of inlier indices for corrs array. Processing will only occur on
- /// the indices supplied in this array. Array which this points to must be
- /// at least numIndices long.
- const uint16_t* indices;
- /*~ FIELD fcvCorrespondences.indices VARRAY LENGTH (fcvCorrespondences.numIndices) */
-
- /// Length of indices array.
- uint32_t numIndices;
-} fcvCorrespondences;
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Structure representing an image pyramid level
-//------------------------------------------------------------------------------
-
-typedef struct
-{
- const void* ptr;
- unsigned int width;
- unsigned int height;
-} fcvPyramidLevel ;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Structure representing an image pyramid level (version2 with stride)
-//------------------------------------------------------------------------------
-
-typedef struct
-{
- const void* ptr;
- unsigned int width;
- unsigned int height;
- unsigned int stride;
-} fcvPyramidLevel_v2 ;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Structure describing node of a tree;
-/// Assumption is that nodes of all trees are stored in in a single array
-/// and all indices refer to this array
-/// @remark
-/// if indices of both children are negative the node is a leaf
-// ----------------------------------------------------------------------------
-typedef struct fcvKDTreeNodef32
-{
- /// the split value at the node
- float32_t divVal;
-
- /// dimension at which the split is made;
- /// if this is a leaf (both children equal to -1) then this is
- /// the index of the dataset vector
- int32_t divFeat;
-
- /// index of the child node with dataset items to the left
- /// of the split value
- int32_t childLeft;
-
- /// index of the child node with dataset items to the right
- /// of the split value
- int32_t childRight;
-
-} fcvKDTreeNodef32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// structure describing a branch (subtree)
-/// @remark
-/// branches are stored on the priority queue (heap) for backtracking
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeBranchf32
-{
- /// square of minimal distance from query for all nodes below
- float32_t minDistSq;
-
- /// index of the top node of the branch
- int32_t topNode;
-
-} fcvKDTreeBranchf32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Structure with KDTrees data
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeDatas8f32
-{
- // info about the dataset for which KDTrees are constructed
- /// the dataset of vectors
- const int8_t *dataset;
-
- /// array with inverse lengths of dataset vectors
- const float32_t* invLen;
-
- /// number of vectors in the dataset
- int32_t numVectors;
-
- // info about trees
- /// indice of root nodes of trees
- int32_t* trees;
-
- /// array of nodes of all trees
- fcvKDTreeNodef32* nodes;
-
- /// number of all nodes
- int32_t numNodes;
-
- /// capacity of node array
- int32_t maxNumNodes;
-
- // info used during lookups
- /// priority queue
- fcvKDTreeBranchf32* heap;
-
- /// number of branches on the priority queue
- int32_t numBranches;
-
- /// capactiy of the priority queue
- int32_t maxNumBranches;
-
- /// array of indices to vectors in the dataset;
- /// during searches used to mark checkID;
- /// should have numVectors capacity
- int32_t* vind;
-
- /// unique ID for each lookup
- int32_t checkID;
-
- /// number of nearest neighbors to find
- int32_t numNNs;
-
-} fcvKDTreeDatas8f32;
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// fixed point kdtrees
-/// Structure describing node of tree;
-/// Assumption is that nodes of all trees are stored in in a single array
-/// and all indices refer to this array
-/// @remark
-/// if indices of both children are negative the node is a leaf
-// ----------------------------------------------------------------------------
-typedef struct fcvKDTreeNodes32
-{
- /// the split value at the node
- int32_t divVal;
-
- /// dimension at which the split is made;
- /// if this is a leaf (both children equal to -1) then this is
- /// the index of the dataset vector
- int32_t divFeat;
-
- /// index of the child node with dataset items to the left
- /// of the split value
- int32_t childLeft;
-
- /// index of the child node with dataset items to the right
- /// of the split value
- int32_t childRight;
-
-} fcvKDTreeNodes32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// fixed point kdtrees
-/// structure describing a branch (subtree)
-/// @remark
-/// branches are stored on the priority queue (heap) for backtracking
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeBranchs32
-{
- /// square of minimal distance from query for all nodes below
- int32_t minDistSq;
-
- /// index of the top node of the branch
- int32_t topNode;
-
-} fcvKDTreeBranchs32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// fixed point kdtrees
-/// Structure with KDTrees data
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeDatas8s32
-{
- // info about the dataset for which KDTrees are constructed
- /// the dataset of vectors
- const int8_t *dataset;
-
- /// array with inverse lengths of dataset vectors
- const int32_t* invLen;
-
- /// number of vectors in the dataset
- int32_t numVectors;
-
- // info about trees
- /// indices of root nodes of all trees
- int32_t* trees;
-
- /// number of trees used
- int32_t numTrees;
-
- /// array of nodes of all trees
- fcvKDTreeNodes32* nodes;
-
- /// number of all nodes
- int32_t numNodes;
-
- /// capacity of node array
- int32_t maxNumNodes;
-
- // info used during lookups
- /// priority queue
- fcvKDTreeBranchs32* heap;
-
- /// number of branches on the priority queue
- int32_t numBranches;
-
- /// capactiy of the priority queue
- int32_t maxNumBranches;
-
- /// array of indices to vectors in the dataset;
- /// during searches used to mark checkID;
- /// should have numVectors capacity
- int32_t* vind;
-
- /// unique ID for each lookup
- int32_t checkID;
-
- /// number of nearest neighbors to find
- int32_t numNNs;
-
-} fcvKDTreeDatas8s32;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct of rectangle
-//------------------------------------------------------------------------------
-typedef struct
-{
- ///x-coordinate of the top-left corner
- int32_t x;
- ///y-coordinate of the top-left corner
- int32_t y;
- ///width of the rectangle
- uint32_t width;
- ///height of the rectangle
- uint32_t height;
-} fcvRectangleInt;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct of termination criteria
-//------------------------------------------------------------------------------
-typedef struct
-{
- /// Maxmimum number of iteration
- int32_t max_iter;
- ///
- float32_t epsilon;
-}fcvTermCriteria;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct of 2D box used for tracking
-//------------------------------------------------------------------------------
-typedef struct
-{
- // Center of the box
- ///x-coordinate of the 2D point
- int32_t x;
- ///y-coordinate of the 2D point
- int32_t y;
- // The box size
- int32_t columns;
- int32_t rows;
- // The orientation of the principal axis
- int32_t orientation;
-}fcvBox2D;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct of image moments
-//------------------------------------------------------------------------------
-typedef struct {
- // spatial moments
- float32_t m00, m10, m01, m20, m11, m02, m30, m21, m12, m03;
- // central moments
- float32_t mu20, mu11, mu02, mu30, mu21, mu12, mu03;
- // m00 != 0 ? 1/sqrt(m00) : 0
- float32_t inv_sqrt_m00;
-} fcvMoments;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct of code word
-//------------------------------------------------------------------------------
-typedef struct fcvBGCodeWord
-{
- /// Pointer to next codebook element
- struct fcvBGCodeWord* next;
-
- /// Last update time
- int32_t tLastUpdate;
-
- /// Longest period of inactivity
- int32_t stale;
- /// Min value of pixel for each channel
- uint8_t min0, min1, min2;
-
- /// Max value of pixel for each channel
- uint8_t max0, max1, max2;
-
- /// Min value of learning boundary for each channel
- uint8_t learnLow0, learnLow1, learnLow2;
-
- /// Max value of learning boundary for each channel
- uint8_t learnHigh0, learnHigh1, learnHigh2;
-} fcvBGCodeWord;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct for circle
-//------------------------------------------------------------------------------
-typedef struct fcvCircle
-{
- int32_t x;
- int32_t y;
- int32_t radius;
-} fcvCircle;
-
-
-typedef struct fcvPoint2D
-{
- float x;
- float y;
-} fcvPoint2D;
-
-typedef struct fcvLine
-{
- fcvPoint2D start;
- fcvPoint2D end;
-} fcvLine;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct for parameters for line segment detection
-//------------------------------------------------------------------------------
-typedef struct fcvLineSegment {
- fcvPoint2D start, end; ///< Two ending points
- float32_t normal[2]; ///< Orientation, average of the gradient direction
- uint32_t nPoints; ///< (Optional) Number of pixels in pointsList
- int32_t pointsStartIndex; ///< (Optional) Starting index of the pixel positions contributed to line segment fitting stored in indexBuffer
- uint32_t sumMag; ///< Sum of all pixels gradient magnitude
-} fcvLineSegment;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Parameters for fusing a depth map into a cuboid fusion block
-///
-/// @details
-/// This structure describes a single cuboid block that shall be fused
-/// with data from a depth map. All coordinates must be pre-transformed
-/// into the coordinate frame of the depth frame.
-///
-//------------------------------------------------------------------------------
-typedef struct fcvDepthFusionBlockConfig {
- uint32_t flags; ///< Option specified as a bit field - 0x0000:N/A, 0x0001:run clipping
- float32_t ramp; ///< Fusion ramp: maximum allowed distance between volume sample position and depth map sample position
- float32_t p0[3], ///< Location of the 1st sample in the volume
- dX[3], ///< One sample step in X-direction in the volume
- dY[3], ///< One sample step in Y-direction in the volume
- dZ[3]; ///< One sample step in Z-direction in the volume
- uint32_t volumeIndex; ///< Index of the volume to be updated
-} fcvDepthFusionBlockConfig;
-
-//==============================================================================
-// UTILITY FUNCTIONS
-//==============================================================================
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Retrieves version of FastCV library.
-///
-/// @param version
-/// Pointer to location to put string.
-///
-/// @param versionLength
-/// Length of storage for version string.
-///
-/// @ingroup misc
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGetVersion( char* version,
- unsigned int versionLength );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Selects HW units for all routines at run-time.
-/// \n\b WARNING: Should be called once at the very beginning to update mode
-///
-/// @param mode
-/// See enum for details.
-///
-/// @return
-/// 0 if successful.
-/// 999 if minmum HW requirement not met.
-/// other #'s if unsuccessful.
-///
-/// @ingroup misc
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvSetOperationMode( fcvOperationMode mode );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Clean up FastCV resources. Must be called before the program exits.
-///
-/// @ingroup misc
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCleanUp( void );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Allocates memory for Pyramid
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvPyramidAllocate_v2(). In the 2.0.0 release,
-/// fcvPyramidAllocate_v2 will be renamed to fcvPyramidAllocate
-/// and the signature of fcvPyramidAllocate as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param pyr
-/// Pointer to an array of fcvPyramidLevel
-///
-/// @param baseWidth
-/// Width of the base level: the value assigned to pyr[0].width
-///
-/// @param baseHeight
-/// Height of the base level: the value assigned to pyr[0].height
-///
-/// @param bytesPerPixel
-/// Number of bytes per pixel:
-/// \n e.g for uint8_t pyramid, bytesPerPixel = 1
-/// \n for int32_t pyramid, bytesPerPixel = 4
-///
-/// @param numLevels
-/// number of levels in the pyramid
-///
-/// @param allocateBase
-/// \n if set to 1, memory will be allocated for the base level
-/// \n if set to 0, memory for the base level is allocated by the callee
-/// \n\b WARNING: How this parameter is set will impact how the memory is freed.
-/// Please refer to fcvPyramidDelete for details.
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidAllocate( fcvPyramidLevel* pyr,
- unsigned int baseWidth,
- unsigned int baseHeight,
- unsigned int bytesPerPixel,
- unsigned int numLevels,
- int allocateBase );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Allocates memory for Pyramid
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvPyramidAllocate() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvPyramidAllocate,
-/// \a fcvPyramidAllocate_v2 will be removed, and the current signature
-/// for \a fcvPyramidAllocate will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvPyramidAllocate when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param pyr
-/// Pointer to an array of fcvPyramidLevel_v2
-///
-/// @param baseWidth
-/// Width of the base level: the value assigned to pyr[0].width
-///
-/// @param baseHeight
-/// Height of the base level: the value assigned to pyr[0].height
-///
-/// @param baseStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory.
-/// Stride of the base level: the value assigned to pyr[0].stride
-/// \n \b NOTE: stride of non-base pyramid image is the same as
-/// width*bytesPerPixel of the non-base pyramid image
-///
-/// @param bytesPerPixel
-/// Number of bytes per pixel:
-/// \n e.g for uint8_t pyramid, bytesPerPixel = 1
-/// \n for int32_t pyramid, bytesPerPixel = 4
-///
-/// @param numLevels
-/// number of levels in the pyramid
-///
-/// @param allocateBase
-/// \n if set to 1, memory will be allocated for the base level
-/// \n if set to 0, memory for the base level is allocated by the callee
-/// \n\b WARNING: How this parameter is set will impact how the memory is freed.
-/// Please refer to fcvPyramidDelete for details.
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidAllocate_v2( fcvPyramidLevel_v2* pyr,
- uint32_t baseWidth,
- uint32_t baseHeight,
- uint32_t baseStride,
- uint32_t bytesPerPixel,
- uint32_t numLevels,
- int32_t allocateBase );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Allocates memory for Pyramid
-/// DO NOT USE THIS API unless for testing purposes.
-/// This API can be removed without notice.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvPyramidAllocate_v2() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvPyramidAllocate,
-/// \a fcvPyramidAllocate_v3 will be removed, and the current signature
-/// for \a fcvPyramidAllocate will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvPyramidAllocate when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param pyr
-/// Pointer to an array of fcvPyramidLevel_v2
-///
-/// @param baseWidth
-/// Width of the base level: the value assigned to pyr[0].width
-///
-/// @param baseHeight
-/// Height of the base level: the value assigned to pyr[0].height
-///
-/// @param baseStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory.
-/// Stride of the base level: the value assigned to pyr[0].stride
-/// \n \b NOTE: stride of non-base pyramid image is the same as
-/// width*bytesPerPixel of the non-base pyramid image
-///
-/// @param bytesPerPixel
-/// Number of bytes per pixel:
-/// \n e.g for uint8_t pyramid, bytesPerPixel = 1
-/// \n for int32_t pyramid, bytesPerPixel = 4
-///
-/// @param alignment
-/// Used to specify the alignment of each pyramid level other than the base. Must be a multiple
-/// of 8. If set to 0, the alignment will be set as 8 bits.
-///
-/// @param numLevels
-/// number of levels in the pyramid
-///
-/// @param scale
-/// Defines the type of scaling used for each pyramid level.
-/// FASTCV_PYRAMID_SCALE_HALF downscales each level of the pyramid by a factor of 2.
-/// FASTCV_PYRAMID_SCALE_ORB downscales each level of the pyramid by a factor of 1/(2)^(1/4),
-/// which is approximated as 0.8408964f
-///
-/// @param allocateBase
-/// \n if set to 1, memory will be allocated for the base level
-/// \n if set to 0, memory for the base level is allocated by the callee
-/// \n\b WARNING: How this parameter is set will impact how the memory is freed.
-/// Please refer to fcvPyramidDelete_v2 for details.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvPyramidAllocate_v3(fcvPyramidLevel_v2* __restrict pyr,
- uint32_t baseWidth,
- uint32_t baseHeight,
- uint32_t baseStride,
- uint32_t bytesPerPixel,
- uint32_t alignment,
- uint32_t numLevels,
- fcvPyramidScale scale,
- int32_t allocateBase);
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Deallocates an array of fcvPyramidLevel. Can be used for any
-/// type(f32/s8/u8).
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvPyramidDelete_v2(). In the 2.0.0 release,
-/// fcvPyramidDelete_v2 will be renamed to fcvPyramidDelete
-/// and the signature of fcvPyramidDelete as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param pyr
-/// pyramid to deallocate
-///
-/// @param numLevels
-/// Number of levels in the pyramid
-///
-/// @param startLevel
-/// Start level of the pyramid
-/// \n\b WARNING: if pyr was allocated with allocateBase=0 which means baselevel memory
-/// was allocated outside of fcvPyramidAllocate, then startLevel
-/// for fcvPyramidDelete has to be set to 1 (or higher).
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API void
-fcvPyramidDelete( fcvPyramidLevel* pyr,
- unsigned int numLevels,
- unsigned int startLevel );
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Deallocates an array of fcvPyramidLevel. Can be used for any
-/// type(f32/s8/u8).
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvPyramidDelete() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvPyramidDelete,
-/// \a fcvPyramidDelete_v2 will be removed, and the current signature
-/// for \a fcvPyramidDelete will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvPyramidDelete when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param pyr
-/// pyramid to deallocate
-///
-/// @param numLevels
-/// Number of levels in the pyramid
-///
-/// @param startLevel
-/// Start level of the pyramid
-/// \n\b WARNING: if pyr was allocated with allocateBase=0 which means baselevel memory
-/// was allocated outside of fcvPyramidAllocate, then startLevel
-/// for fcvPyramidDelete_v2 has to be set to 1 (or higher).
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API void
-fcvPyramidDelete_v2( fcvPyramidLevel_v2* pyr,
- uint32_t numLevels,
- uint32_t startLevel );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Allocates aligned memory.
-///
-/// @param nBytes
-/// Number of bytes.
-///
-/// @param byteAlignment
-/// Alignment specified in bytes (e.g., 16 = 128-bit alignment).
-/// \n\b WARNING: must be < 255 bytes
-///
-/// @return
-/// SUCCESS: pointer to aligned memory
-/// FAILURE: 0
-///
-/// @ingroup mem_management
-//------------------------------------------------------------------------------
-
-FASTCV_API void*
-fcvMemAlloc( unsigned int nBytes,
- unsigned int byteAlignment );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Frees memory allocated by fcvMemAlloc().
-///
-/// @param ptr
-/// Pointer to memory.
-///
-/// @ingroup mem_management
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvMemFree( void* ptr );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Initialize the Memory sub-system in FastCV. The sub-system handles
-/// temporary/scratch memory requirements from several FastCV functions
-/// that do not have parameters to have this supplied by the users of those
-/// functions.
-///
-/// \b Important:
-/// \n 1. Every call to this function should be followed by a call to
-/// fcvMemDeInit().
-/// \n 2. This function (and the fcvMemDeInit) only needs to called once per
-/// process.
-/// \n 3. Any call to FastCV functions that uses internal temporary memory
-/// outside of fcvMemInit and fcvMemDeInit pair will use non-optimum memory
-/// allocation.
-/// \n 4. A call to this function without a corresponding call to fcvMemDeInit
-/// can result in memory leak.
-///
-/// @ingroup mem_management
-// -----------------------------------------------------------------------------
-FASTCV_API void
-fcvMemInit(void);
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Initialize the Memory sub-system in FastCV with pre-allocated buffer.
-/// The sub-system handles temporary/scratch memory requirements from several
-/// FastCV functions that do not have parameters to have this supplied by the
-/// users of those functions.
-///
-/// \b Important:
-/// \n 1. Every call to this function should be followed by a call to
-/// fcvMemDeInit().
-/// \n 2. This function (and the fcvMemDeInit) only needs to called once per
-/// process.
-/// \n 3. Any call to FastCV functions that uses internal temporary memory
-/// outside of fcvMemInit and fcvMemDeInit pair will use non-optimum memory
-/// allocation.
-/// \n 4. A call to this function without a corresponding call to fcvMemDeInit
-/// can result in memory leak.
-///
-/// @param preAllocBytes
-/// Number of bytes for the pre-allocated buffer.
-///
-/// @ingroup mem_management
-// -----------------------------------------------------------------------------
-FASTCV_API void
-fcvMemInitPreAlloc( uint32_t preAllocBytes );
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// De-Initialize the Memory sub-system initialized by fcvMemInit() function.
-///
-/// \b Important:
-/// \n 1. Call to this function without a corresponding call to fcvMemInit will
-/// result in no-op.
-///
-/// @ingroup mem_management
-// -----------------------------------------------------------------------------
-FASTCV_API void
-fcvMemDeInit(void);
-
-//End - Utility functions
-
-
-//==============================================================================
-// FUNCTIONS
-//==============================================================================
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 3x3 median filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterMedian3x3u8_v2(). In the 2.0.0 release,
-/// fcvFilterMedian3x3u8_v2 will be renamed to fcvFilterMedian3x3u8
-/// and the signature of fcvFilterMedian3x3u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Border values are ignored. The 3x3 mask convolves with the image area
-/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param srcImg
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dstImg
-/// Output 8-bit image. Size of buffer is srcWidth*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterMedian3x3u8( const uint8_t* __restrict srcImg,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dstImg );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 3x3 median filter
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterMedian3x3u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterMedian3x3u8,
-/// \a fcvFilterMedian3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterMedian3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterMedian3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Border values are ignored. The 3x3 mask convolves with the image area
-/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param srcImg
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dstImg
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterMedian3x3u8_v2( const uint8_t* __restrict srcImg,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dstImg,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 3x3 Gaussian filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterGaussian3x3u8_v2(). In the 2.0.0 release,
-/// fcvFilterGaussian3x3u8_v2 will be renamed to fcvFilterGaussian3x3u8
-/// and the signature of fcvFilterGaussian3x3u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Gaussian kernel:
-/// \n 1 2 1
-/// \n 2 4 2
-/// \n 1 2 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit image. Destination buffer size is srcWidth*srcHeight.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 1 pixel in the 3x3
-/// case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian3x3u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst,
- int blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 3x3 Gaussian filter
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterGaussian3x3u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterGaussian3x3u8,
-/// \a fcvFilterGaussian3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterGaussian3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterGaussian3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Convolution with 3x3 Gaussian kernel:
-/// \n 1 2 1
-/// \n 2 4 2
-/// \n 1 2 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 1 pixel in the 3x3
-/// case).
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian3x3u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride,
- int blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 5x5 Gaussian filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterGaussian5x5u8_v2(). In the 2.0.0 release,
-/// fcvFilterGaussian5x5u8_v2 will be renamed to fcvFilterGaussian5x5u8
-/// and the signature of fcvFilterGaussian5x5u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Convolution with 5x5 Gaussian kernel:
-/// \n 1 4 6 4 1
-/// \n 4 16 24 16 4
-/// \n 6 24 36 24 6
-/// \n 4 16 24 16 4
-/// \n 1 4 6 4 1
-///
-/// @param src
-/// Input int data (can be sq. of gradient, etc). Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 2 pixel in the 5x5
-/// case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst,
- int blurBorder );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 5x5 Gaussian filter
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterGaussian5x5u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterGaussian5x5u8,
-/// \a fcvFilterGaussian5x5u8_v2 will be removed, and the current signature
-/// for \a fcvFilterGaussian5x5u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterGaussian5x5u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Convolution with 5x5 Gaussian kernel:
-/// \n 1 4 6 4 1
-/// \n 4 16 24 16 4
-/// \n 6 24 36 24 6
-/// \n 4 16 24 16 4
-/// \n 1 4 6 4 1
-///
-/// @param src
-/// Input int data (can be sq. of gradient, etc). Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 2 pixel in the 5x5
-/// case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride,
- int blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 11x11 Gaussian filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterGaussian11x11u8_v2(). In the 2.0.0 release,
-/// fcvFilterGaussian11x11u8_v2 will be renamed to fcvFilterGaussian11x11u8
-/// and the signature of fcvFilterGaussian11x11u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Convolution with 11x11 Gaussian kernel:
-/// \n 1 10 45 120 210 252 210 120 45 10 1
-/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
-/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
-/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
-/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
-/// \n 252 2520 11340 30240 52920 63504 52920 30240 11340 2520 252
-/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
-/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
-/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
-/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
-/// \n 1 10 45 120 210 252 210 120 45 10 , 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 5 pixel in the 11x11
-/// case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian11x11u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst,
- int blurBorder );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 11x11 Gaussian filter
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterGaussian11x11u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterGaussian11x11u8,
-/// \a fcvFilterGaussian11x11u8_v2 will be removed, and the current signature
-/// for \a fcvFilterGaussian11x11u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterGaussian11x11u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Convolution with 11x11 Gaussian kernel:
-/// \n 1 10 45 120 210 252 210 120 45 10 1
-/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
-/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
-/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
-/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
-/// \n 252 2520 11340 30240 52920 63504 52920 30240 11340 2520 252
-/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
-/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
-/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
-/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
-/// \n 1 10 45 120 210 252 210 120 45 10 , 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 5 pixel in the 11x11
-/// case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian11x11u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride,
- int blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YUV (YCrCb) 4:2:0 PesudoPlanar (Interleaved) to RGB 8888.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvColorYCrCb420PseudoPlanarToRGB8888u8. In the 2.0.0 release,
-/// the signature of fcvColorYUV420toRGB8888u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// 8-bit image of input YUV 4:2:0 values.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// The input are one Y plane followed by one interleaved and 2D (both
-/// horizontally and vertically) sub-sampled CrCb plane:
-/// Y plane : Y00 Y01 Y02 Y03 ...
-/// Y10 Y11 Y12 Y13 ...
-/// Interleaved and 2D sub-sampled plane: Cr0 Cb0 Cr1 Cb1 ...
-///
-/// @param dst
-/// 32-bit image of output RGB 8888 values. R is at LSB.
-/// \n\b WARNING: size must match input yuv420.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYUV420toRGB8888u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint32_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YUV (YCrCb) 4:2:0 PesudoPlanar (Interleaved CrCb) to RGB 888.
-///
-/// \n\b ATTENTION: The name of this function will be changed when the 2.0.0 release
-/// of this library is made.
-/// Until 2.0.0, the developer should use this implementation with the expectation of
-/// moving to a different name when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// 8-bit image of input YUV picture.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// The input are one Y plane followed by one interleaved and 2D (both
-/// horizontally and vertically) sub-sampled CrCb plane:
-/// Y plane : Y00 Y01 Y02 Y03 ...
-/// Y10 Y11 Y12 Y13 ...
-/// Interleaved and 2D sub-sampled plane: Cr0 Cb0 Cr1 Cb1 ...
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcYStride
-/// Stride (in bytes) of input image Y component (i.e., number of bytes between
-/// column 0 of row 1 and column 0 of row 2).
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @param srcCStride
-/// Stride (in bytes) of input image Chroma component (i.e., number of bytes between
-/// column 0 of row 1 and column 0 of row 2)
-/// \n\b WARNING: should be multiple of 4 (4 * 1-byte values).
-///
-/// @param dst
-/// 32-bit image of output RGB 8888 values. R in LSB.
-/// \n\b WARNING: size must match input yuv420.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output RGB image (i.e., number of bytes between column 0 of
-/// row 1 and column 0 of row 2)
-/// \n\b WARNING: should be multiple of 32 (8 * 4-byte values).
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCb420PseudoPlanarToRGB8888u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcYStride,
- unsigned int srcCStride,
- uint32_t* __restrict dst,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YUV (YCbCr) 4:2:0 PesudoPlanar (Interleaved CbCr) to RGB 565.
-///
-/// \n\b ATTENTION: The name of this function will be changed when the 2.0.0 release
-/// of this library is made.
-/// Until 2.0.0, the developer should use this implementation with the expectation of
-/// moving to a different name when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// 8-bit image of input YUV 4:2:0 values.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// The input are one Y plane followed by one interleaved and 2D (both
-/// horizontally and vertically) sub-sampled CbCr plane:
-/// Y plane : Y00 Y01 Y02 Y03 ...
-/// Y10 Y11 Y12 Y13 ...
-/// Interleaved and 2D sub-sampled plane: Cb0 Cr0 Cb1 Cr1 ...
-///
-/// @param dst
-/// 16-bit image of output RGB 565 values. R in LSBs.
-/// 2 pixels are packed into one 32-bit output
-/// \n\b WARNING: size must match input yuv420.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 4
-///
-/// @param srcHeight
-/// Image height.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYUV420toRGB565u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint32_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YCbCr H1V1 to RGB 888.
-///
-/// @details
-/// Color conversion from YCbCr H1V1 (YCbCr 4:4:4 planar) to RGB 888.
-/// \n R = Y + 1.40200*(Cr-128)
-/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-/// \n B = Y + 1.77200*(CB-128)
-///
-/// @param src
-/// 8-bit image of input values. Stored as YCbCr H1V1 planar format in 8x8 blocks for Y,Cb,Cr.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// 8-bit image of output RGB 888 values. R in LSB.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH1V1toRGB888u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YCbCr H2V2 to RGB 888.
-///
-/// @details
-/// Color conversion from YCbCr H2V2 (YCbCr 4:2:0 planar) to RGB 888.
-/// \n R = Y + 1.40200*(Cr-128)
-/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-/// \n B = Y + 1.77200*(CB-128)
-///
-/// @param ysrc
-/// 8-bit input values. Stored as YCbCr H2V2 planar format in 16x16 blocks for Y, 8x8 blocks for Cb, Cr.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// 8-bit image of output RGB 888 values. R in LSB.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH2V2toRGB888u8( const uint8_t* __restrict ysrc,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YCbCr H2V1 to RGB 888.
-///
-/// @details
-/// Color conversion from YCbCr H2V1 (YCbCr 4:2:2) to RGB 888.
-/// \n R = Y + 1.40200*(Cr-128)
-/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-/// \n B = Y + 1.77200*(CB-128)
-///
-/// @param src
-/// 8-bit input values. Stored as YCbCr H2V1 planar format in 16x8 blocks for Y, 8x8 blocks for Cb, Cr.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// 8-bit image of output RGB 888 values. R in LSB.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH2V1toRGB888u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YCbCr H1V2 to RGB 888.
-///
-/// @details
-/// Color conversion from YCbCr H1V2 (YCbCr 4:2:2) to RGB 888.
-/// \n R = Y + 1.40200*(Cr-128)
-/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-/// \n B = Y + 1.77200*(CB-128)
-///
-/// @param ysrc
-/// 8-bit input values. Stored as YCbCr H1V2 planar format in 8x16 blocks for Y, 8x8 blocks for Cb, Cr.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// 8-bit image of output RGB 888 values. R in LSB.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH1V2toRGB888u8( const uint8_t* __restrict ysrc,
-
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from RGB 888 to YCrCb.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvColorRGB888toYCrCbu8_v2(). In the 2.0.0 release,
-/// fcvColorRGB888toYCrCbu8_v2 will be renamed to fcvColorRGB888toYCrCbu8
-/// and the signature of fcvColorRGB888toYCrCbu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Color conversion from RGB 888 to YCrCb 4:4:4 interleaved.
-///
-/// @param src
-/// 8-bit input values.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// 8-bit output values. Stored as Y, Cr, Cb interleaved format.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888toYCrCbu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from RGB 888 to YCrCb 4:4:4 (Full interleaved, similar to
-/// 3-channel RGB).
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvColorRGB888toYCrCbu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvColorRGB888toYCrCbu8,
-/// \a fcvColorRGB888toYCrCbu8_v2 will be removed, and the current signature
-/// for \a fcvColorRGB888toYCrCbu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvColorRGB888toYCrCbu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Color conversion from RGB 888 to YCrCb 4:4:4 interleaved.
-///
-/// @param src
-/// 8-bit input values.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride (in bytes).
-/// \n\b WARNING: Must be at least 3*srcWidth.
-///
-/// @param dst
-/// 8-bit output values. Stored as Y, Cr, Cb interleaved format.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b WARNING: Must be at least 3*srcWidth.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888toYCrCbu8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Create a 36-dimension gradient based descriptor on 17x17 patch.
-///
-/// @details
-///
-/// @param patch
-/// Input luminance data for 17x17 patch to describe.
-///
-/// @param descriptorChar
-/// Output descriptor vector. 36 x 8-bit vector. Normalized and quantized to range [-127, 127]
-///
-/// @param descriptorNormSq
-/// Output squared norm (L2 norm) of the descriptor vector.
-///
-///
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvDescriptor17x17u8To36s8( const uint8_t* __restrict patch,
- int8_t* __restrict descriptorChar,
- int32_t* __restrict descriptorNormSq );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 8-bit vectors.
-///
-/// @param a
-/// Vector.
-///
-/// @param b
-/// Vector.
-///
-/// @param abSize
-/// Number of elements in A and B.
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API int32_t
-fcvDotProducts8( const int8_t* __restrict a,
- const int8_t* __restrict b,
- unsigned int abSize );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 8-bit vectors.
-///
-/// @param a
-/// Vector A.
-///
-/// @param b
-/// Vector B.
-///
-/// @param abSize
-/// Number of elements in A and B.
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvDotProductu8( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- unsigned int abSize );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 36-byte vectors.
-///
-/// @param a
-/// Vector.
-///
-/// @param b
-/// Vector.
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API int32_t
-fcvDotProduct36x1s8( const int8_t* __restrict a,
- const int8_t* __restrict b );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of one 36-byte vector against 4 others.
-///
-/// @details
-/// Dot product of 36-byte vector (a) against 4 others (b,c,d,e):\n
-/// , , ,
-///
-/// @param a
-/// Vector.
-///
-/// @param b
-/// Vector.
-///
-/// @param c
-/// Vector.
-///
-/// @param d
-/// Vector.
-///
-/// @param e
-/// Vector.
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct36x4s8( const int8_t* __restrict a,
- const int8_t* __restrict b,
- const int8_t* __restrict c,
- const int8_t* __restrict d,
- const int8_t* __restrict e,
- int32_t* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Normalized dot product of one 36-byte vector against 4 others.
-///
-/// @details
-/// Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
-/// , , ,
-/// using their given inverse lengths for normalization.
-///
-/// @param a
-/// Vector.
-///
-/// @param invLengthA
-/// Inverse of vector A.
-///
-/// @param b0
-/// Vector.
-///
-/// @param b1
-/// Vector.
-///
-/// @param b2
-/// Vector.
-///
-/// @param b3
-/// Vector.
-///
-/// @param invLengthsB
-/// Pointer to an array of the inverse values of each B vector.
-/// The pointer must point to 4 floating point values.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm36x4s8( const int8_t* __restrict a,
- float invLengthA,
- const int8_t* __restrict b0,
- const int8_t* __restrict b1,
- const int8_t* __restrict b2,
- const int8_t* __restrict b3,
- float* __restrict invLengthsB,
- float* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 36-byte vectors.
-///
-/// @param a
-/// Vector.
-///
-/// @param b
-/// Vector.
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvDotProduct36x1u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dot product of one 36-byte vector against 4 others.
-///
-/// @details
-/// Dot product of 36-byte vector (a) against 4 others (b,c,d,e):\n
-/// , , ,
-///
-/// @param a
-/// Vector.
-///
-/// @param b
-/// Vector.
-///
-/// @param c
-/// Vector.
-///
-/// @param d
-/// Vector.
-///
-/// @param e
-/// Vector.
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct36x4u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- const uint8_t* __restrict c,
- const uint8_t* __restrict d,
- const uint8_t* __restrict e,
- uint32_t* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Normalized dot product of one 36-byte vector against 4 others.
-///
-/// @details
-/// Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
-/// , , ,
-/// using their given inverse lengths for normalization.
-///
-/// @param a
-/// Vector.
-///
-/// @param invLengthA
-/// Inverse of vector A.
-///
-/// @param b0
-/// Vector.
-///
-/// @param b1
-/// Vector.
-///
-/// @param b2
-/// Vector.
-///
-/// @param b3
-/// Vector.
-///
-/// @param invLengthsB
-/// Pointer to an array of the inverse values of each B vector.
-/// The pointer must point to 4 floating point values.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm36x4u8( const uint8_t* __restrict a,
- float invLengthA,
- const uint8_t* __restrict b0,
- const uint8_t* __restrict b1,
- const uint8_t* __restrict b2,
- const uint8_t* __restrict b3,
- float* __restrict invLengthsB,
- float* __restrict dotProducts );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 64-byte vectors.
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API int32_t
-fcvDotProduct64x1s8( const int8_t* __restrict a,
- const int8_t* __restrict b );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of one 64-byte vector against 4 others.
-///
-/// @details
-/// Dot product of vector (a) against 4 others (b,c,d,e):\n
-/// , , ,
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param c
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param d
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param e
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct64x4s8( const int8_t* __restrict a,
- const int8_t* __restrict b,
- const int8_t* __restrict c,
- const int8_t* __restrict d,
- const int8_t* __restrict e,
- int32_t* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Normalized dot product of one 64-byte vector against 4 others.
-///
-/// @details
-/// Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
-/// , , ,
-/// using their given inverse lengths for normalization.
-///
-/// @param a
-/// Vector.
-///
-/// @param invLengthA
-/// Inverse of vector A.
-///
-/// @param b0
-/// Vector.
-///
-/// @param b1
-/// Vector.
-///
-/// @param b2
-/// Vector.
-///
-/// @param b3
-/// Vector.
-///
-/// @param invLengthsB
-/// Pointer to an array of the inverse values of each B vector.
-/// The pointer must point to 4 floating point values.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm64x4s8( const int8_t* __restrict a,
- float invLengthA,
- const int8_t* __restrict b0,
- const int8_t* __restrict b1,
- const int8_t* __restrict b2,
- const int8_t* __restrict b3,
- float* __restrict invLengthsB,
- float* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 64-byte vectors.
-///
-/// @param a
-/// Vector.
-///
-/// @param b
-/// Vector.
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvDotProduct64x1u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dot product of one 64-byte vector against 4 others.
-///
-/// @details
-/// Dot product of 36-byte vector (a) against 4 others (b,c,d,e):\n
-/// , , ,
-///
-/// @param a
-/// Vector.
-///
-/// @param b
-/// Vector.
-///
-/// @param c
-/// Vector.
-///
-/// @param d
-/// Vector.
-///
-/// @param e
-/// Vector.
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct64x4u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- const uint8_t* __restrict c,
- const uint8_t* __restrict d,
- const uint8_t* __restrict e,
- uint32_t* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Normalized dot product of one 64-byte vector against 4 others.
-///
-/// @details
-/// Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
-/// , , ,
-/// using their given inverse lengths for normalization.
-///
-/// @param a
-/// Vector.
-///
-/// @param invLengthA
-/// Inverse of vector A.
-///
-/// @param b0
-/// Vector.
-///
-/// @param b1
-/// Vector.
-///
-/// @param b2
-/// Vector.
-///
-/// @param b3
-/// Vector.
-///
-/// @param invLengthsB
-/// Pointer to an array of the inverse values of each B vector.
-/// The pointer must point to 4 floating point values.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm64x4u8( const uint8_t* __restrict a,
- float invLengthA,
- const uint8_t* __restrict b0,
- const uint8_t* __restrict b1,
- const uint8_t* __restrict b2,
- const uint8_t* __restrict b3,
- float* __restrict invLengthsB,
- float* __restrict dotProducts );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 128-byte vectors.
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API int32_t
-fcvDotProduct128x1s8( const int8_t* __restrict a,
- const int8_t* __restrict b );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of one 128-byte vector against 4 others.
-///
-/// @details
-/// Dot product of vector (a) against 4 others (b,c,d,e):\n
-/// , , ,
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param c
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param d
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param e
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct128x4s8( const int8_t* __restrict a,
- const int8_t* __restrict b,
- const int8_t* __restrict c,
- const int8_t* __restrict d,
- const int8_t* __restrict e,
- int32_t* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Normalized dot product of one 128-byte vector against 4 others.
-///
-/// @details
-/// Dot product of vector (a) against 4 others (b0,b1,b2,b3):\n
-/// , , ,
-/// using their given inverse lengths for normalization.
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLengthA
-/// Inverse of vector A.
-///
-/// @param b0
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b1
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b2
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b3
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLengthsB
-/// Pointer to an array of the inverse values of each B vector.
-/// The pointer must point to 4 floating point values.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm128x4s8( const int8_t* __restrict a,
- float invLengthA,
- const int8_t* __restrict b0,
- const int8_t* __restrict b1,
- const int8_t* __restrict b2,
- const int8_t* __restrict b3,
- float* __restrict invLengthsB,
- float* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 128-byte vectors.
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvDotProduct128x1u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dot product of one 128-byte vector against 4 others.
-///
-/// @details
-/// Dot product of vector (a) against 4 others (b,c,d,e):\n
-/// , , ,
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param c
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param d
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param e
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct128x4u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- const uint8_t* __restrict c,
- const uint8_t* __restrict d,
- const uint8_t* __restrict e,
- uint32_t* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Normalized dot product of one 128-byte vector against 4 others.
-///
-/// @details
-/// Dot product of vector (a) against 4 others (b0,b1,b2,b3):\n
-/// , , ,
-/// using their given inverse lengths for normalization.
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLengthA
-/// Inverse of vector A.
-///
-/// @param b0
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b1
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b2
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b3
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLengthsB
-/// Pointer to an array of the inverse values of each B vector.
-/// The pointer must point to 4 floating point values.
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProductNorm128x4u8( const uint8_t* __restrict a,
- float invLengthA,
- const uint8_t* __restrict b0,
- const uint8_t* __restrict b1,
- const uint8_t* __restrict b2,
- const uint8_t* __restrict b3,
- float* __restrict invLengthsB,
- float* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dot product of 1 patch (8x8 byte square) with several (n) 8x8 squares
-/// along a line of pixels in an image.
-///
-/// @param patchPixels
-/// Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param imagePixels
-/// Pointer to 8-bit image pixel values linearly laid out in memory.
-///
-/// @param imgW
-/// Width in pixels of the source image.
-///
-/// @param imgH
-/// Height in pixels of the source image.
-///
-/// @param nX
-/// X location on image of starting search pixel.
-///
-/// @param nY
-/// Y location on image of starting search pixel.
-///
-/// @param nNum
-/// Number of pixels (in X direction) on image to sweep.
-///
-/// @param dotProducts
-/// Output dot product values of nNum pixels.
-/// \n\b WARNING: array size must be a multiple of 4 (e.g., 4, 8, 12, ...)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct8x8u8( const uint8_t* __restrict patchPixels,
- const uint8_t* __restrict imagePixels,
- unsigned short imgW,
- unsigned short imgH,
- int nX,
- int nY,
- unsigned int nNum,
- int32_t* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dot product of 1 patch (8x8 byte square) with 8x8 squares in 11x12
-/// rectangle around the center search pixel (iX,iY).
-///
-/// @param patchPixels
-/// Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param imagePixels
-/// Pointer to 8-bit image pixel values linearly laid out in memory.
-///
-/// @param imgW
-/// Width in pixels of the image.
-///
-/// @param imgH
-/// Height in pixels of the image.
-///
-/// @param iX
-/// X location on image of the center of the search window.
-///
-/// @param iY
-/// Y location on image of the center of the search window.
-///
-/// @param dotProducts
-/// Output 11x12 dot product values.
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct11x12u8( const uint8_t* __restrict patchPixels,
- const uint8_t* __restrict imagePixels,
- unsigned short imgW,
- unsigned short imgH,
- int iX,
- int iY,
- int32_t* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// 3x3 Sobel edge filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterSobel3x3u8_v2(). In the 2.0.0 release,
-/// fcvFilterSobel3x3u8_v2 will be renamed to fcvFilterSobel3x3u8
-/// and the signature of fcvFilterSobel3x3u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// This function calculates an image derivative by convolving the image with an appropriate 3x3 kernel.
-/// Border values are ignored. The 3x3 mask convolves with the image area
-/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit image of |dx|+|dy|. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: dst is saturated to 255
-/// \n\b WARNING: data should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterSobel3x3u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// 3x3 Sobel edge filter
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterSobel3x3u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterSobel3x3u8,
-/// \a fcvFilterSobel3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterSobel3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterSobel3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// This function calculates an image derivative by convolving the image with an appropriate 3x3 kernel.
-/// Border values are ignored. The 3x3 mask convolves with the image area
-/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image of |dx|+|dy|. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: dst is saturated to 255
-/// \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterSobel3x3u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Canny edge filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterCanny3x3u8_v2(). In the 2.0.0 release,
-/// fcvFilterCanny3x3u8_v2 will be renamed to fcvFilterCanny3x3u8
-/// and the signature of fcvFilterCanny3x3u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Canny edge detector applied to a 8 bit grayscale image. The min threshold
-/// is set to 0 and the max threshold is set to 15. The aperture size used
-/// is set to 3. This function will output the edge, since its working with a
-/// 3x3 window, it leaves one row/col of pixels at the corners
-/// map stored as a binarized image (0x0 - not an edge, 0xFF - edge).
-/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit image containing the edge detection results.
-/// Size of buffer is srcWidth*srcHeight bytes.
-///
-/// @param lowThresh
-/// For all the intermediate pixels along the edge, the magnitude of the
-/// gradient at the pixel locations should be greater than 'low'
-/// (sqrt(gx^2 + gy^2) > low, where gx and gy are X and Y gradient)
-///
-/// @param highThresh
-/// For an edge starting point, i.e. either the first or last
-/// pixel of the edge, the magnitude of the gradient at the pixel should be
-/// greater than 'high' (sqrt(gx^2 + gy^2) > high, where gx and gy are X and
-/// Y gradient).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCanny3x3u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst,
- int lowThresh,
- int highThresh );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Canny edge filter
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterCanny3x3u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterCanny3x3u8,
-/// \a fcvFilterCanny3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterCanny3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterCanny3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Canny edge detector applied to a 8 bit grayscale image. The Canny edge
-/// detector uses min/max threshold to classify an edge. The min threshold
-/// is set to 0 and the max threshold is set to 15. The aperture size used
-/// in the Canny edge detector will be same as the filter footprint in the
-/// Sobel edge detector and is set to 3. This function will output the edge
-/// map stored as a binarized image (0x0 - not an edge, 0xFF - edge), since
-/// it works with 3x3 windows, it leaves 1 row/col of pixels at the corners.
-/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image containing the edge detection results.
-/// Size of buffer is dstStride*srcHeight bytes.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param lowThresh
-/// For all the intermediate pixels along the edge, the magnitude of the
-/// gradient at the pixel locations should be greater than 'low'
-/// (sqrt(gx^2 + gy^2) > low, where gx and gy are X and Y gradient)
-///
-/// @param highThresh
-/// For an edge starting point, i.e. either the first or last
-/// pixel of the edge, the magnitude of the gradient at the pixel should be
-/// greater than 'high' (sqrt(gx^2 + gy^2) > high, where gx and gy are X and
-/// Y gradient).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCanny3x3u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride,
- int lowThresh,
- int highThresh );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Canny edge filter
-///
-/// \n\b ATTENTION: This function is in the extension lib.
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterCanny3x3u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterCanny3x3u8,
-/// \a fcvFilterCanny3x3u8_v3 will be removed, and the current signature
-/// for \a fcvFilterCanny3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterCanny3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Canny edge detector applied to a 8 bit grayscale image. The Canny edge
-/// detector uses min/max threshold to classify an edge. The min threshold
-/// is set to 0 and the max threshold is set to 15. The aperture size used
-/// in the Canny edge detector will be same as the filter footprint in the
-/// Sobel edge detector and is set to 3. This function will output the edge
-/// map stored as a binarized image (0x0 - not an edge, 0xFF - edge), since
-/// it works with 3x3 windows, it leaves 1 row/col of pixels at the corners.
-/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image containing the edge detection results.
-/// Size of buffer is dstStride*srcHeight bytes.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gx
-/// gradient in X direction.
-/// \n\b NOTE: use NULL if do not need the gradient output.
-///
-/// @param gy
-/// gradient in Y direction.
-/// \n\b NOTE: use NULL if do not need the gradient output.
-///
-/// @param gradStride
-/// Output stride for gx and gy.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth*2.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param lowThresh
-/// For all the intermediate pixels along the edge, the magnitude of the
-/// gradient at the pixel locations should be greater than 'low'
-/// (sqrt(gx^2 + gy^2) > low, where gx and gy are X and Y gradient)
-///
-/// @param highThresh
-/// For an edge starting point, i.e. either the first or last
-/// pixel of the edge, the magnitude of the gradient at the pixel should be
-/// greater than 'high' (sqrt(gx^2 + gy^2) > high, where gx and gy are X and
-/// Y gradient).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCanny3x3u8_v3( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride,
- int16_t* __restrict gx,
- int16_t* __restrict gy,
- unsigned int gradStride,
- int lowThresh,
- int highThresh );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Performs image difference by subracting src2 from src1. dst=src1-src2.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageDiffu8_v2(). In the 2.0.0 release,
-/// fcvImageDiffu8_v2 will be renamed to fcvImageDiffu8
-/// and the signature of fcvImageDiffu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// dst[i,j] = (uint8_t) max( min((short)(src1[i,j]-src2[i,j]), 255), 0 );
-///
-/// @param src1
-/// First source image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-/// Second source image, must be same size as src1.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Destination. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: Must be same size as src1 and src2.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageDiffu8( const uint8_t* __restrict src1,
- const uint8_t* __restrict src2,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Performs image difference by subracting src2 from src1. dst=src1-src2.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageDiffu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageDiffu8,
-/// \a fcvImageDiffu8_v2 will be removed, and the current signature
-/// for \a fcvImageDiffu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageDiffu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// dst[i,j] = (uint8_t) max( min((short)(src1[i,j]-src2[i,j]), 255), 0 );
-///
-/// @param src1
-/// First source image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-/// Second source image, must be same size as src1.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Stride of input image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Destination. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: Must be same size as src1 and src2.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageDiffu8_v2( const uint8_t* __restrict src1,
- const uint8_t* __restrict src2,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-
-//--------------------------------------------------------------------------
-/// @brief
-/// Compute image difference src1-src2
-///
-/// @param src1
-/// Input image1 of int16 type. Size of buffer is srcStride*srcHeight*2 bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-/// Input image2, must have same size as src1
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Input image height
-///
-/// @param srcStride
-/// Stride of input image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output image, saturated for int16 type. Size of buffer is dstStride*srcHeight*2 bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @ingroup image_processing
-////------------------------------------------------------------------------
-FASTCV_API void
-fcvImageDiffs16( const int16_t* __restrict src1,
- const int16_t* __restrict src2,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict dst,
- unsigned int dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Performs image difference by subracting src2 from src1. dst=src1-src2.
-///
-/// @details
-///
-/// @param src1
-/// First source image. Size of buffer is srcStride*srcHeight*4 bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-/// Second source image, must be same size as src1.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Stride of input image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Destination. Size of buffer is dstStride*srcHeight*4 bytes.
-/// \n\b NOTE: Must be same size as src1 and src2.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageDifff32( const float* __restrict src1,
- const float* __restrict src2,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* __restrict dst,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Performs image difference by promoting both src1 and src 2 to
-/// floating point values and then subracting src2 from src1. dst=src1-src2.
-///
-/// @details
-///
-/// @param src1
-/// First source image
-///
-/// @param src2
-/// Second source image, must be same size as src1.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Stride of input image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-/// Destination image in float type
-/// \n\b NOTE: Must be same size as src1 and src2.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageDiffu8f32( const uint8_t* __restrict src1,
- const uint8_t* __restrict src2,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* __restrict dst,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Performs image difference by subracting src2 from src1.
-/// dst = ( src1 >> 1) - ( src2 >> 1).
-///
-/// @details
-///
-/// @param src1
-/// First source image
-///
-/// @param src2
-/// Second source image, must be same size as src1.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Stride of input image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-/// Destination image in int8 type
-/// \n\b NOTE: Must be same size as src1 and src2.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageDiffu8s8( const uint8_t* __restrict src1,
- const uint8_t* __restrict src2,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int8_t* __restrict dst,
- unsigned int dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Creates 2D gradient from source illuminance data.
-/// This function considers only the left/right neighbors
-/// for x-gradients and top/bottom neighbors for y-gradients.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientInterleaveds16_v2(). In the 2.0.0 release,
-/// fcvImageGradientInterleaveds16_v2 will be renamed to fcvImageGradientInterleaveds16
-/// and the signature of fcvImageGradientInterleaveds16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gradients
-/// Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientInterleaveds16( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict gradients
- );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Creates 2D gradient from source illuminance data.
-/// This function considers only the left/right neighbors
-/// for x-gradients and top/bottom neighbors for y-gradients.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageGradientInterleaveds16() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageGradientInterleaveds16,
-/// \a fcvImageGradientInterleaveds16_v2 will be removed, and the current signature
-/// for \a fcvImageGradientInterleaveds16 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageGradientInterleaveds16 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gradients
-/// Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
-///
-/// @param gradStride
-/// Stride in bytes of the interleaved gradients array.
-/// \n\b NOTE: if 0, srcStride is set as 4*(srcWidth-2).
-/// \n\b WARNING: should be multiple of 16 ( 8 * 2-byte values ), and at least as much as 4*(srcWidth-2) if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientInterleaveds16_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict gradients,
- unsigned int gradStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Function to initialize MSER. To invoke MSER functionality, 3 functions have to be called:
-/// fcvMserInit, fcvMseru8, fcvMserRelease.
-/// Image width has to be greater than 50, and image height has to be greater than 5.
-/// Pixels at the image boundary are not processed. If boundary pixels are important
-/// for a particular application, please consider padding the input image with dummy
-/// pixels of one pixel wide.
-/// Here is the typical usage:
-/// void *mserHandle;
-/// if (fcvMserInit (width,........,&mserHandle))
-/// {
-/// fcvMseru8 (mserHandle,...);
-/// fcvMserRelease(mserHandle);
-/// }
-///
-/// @param width
-/// Width of the image for which MSER has to be done.
-///
-/// @param height
-/// Height of the image for which MSER has to be done.
-///
-/// @param delta
-/// Delta to be used in MSER algorithm (the difference in grayscale values
-/// within which the region is stable ).
-/// Typical value range [0.8 8], typical value 2
-///
-/// @param minArea
-/// Minimum area (number of pixels) of a mser contour.
-/// Typical value range [10 50], typical value 30
-///
-/// @param maxArea
-/// Maximum area (number of pixels) of a mser contour.
-/// Typical value 14400 or 0.25*width*height
-///
-/// @param maxVariation
-/// Maximum variation in grayscale between 2 levels allowed.
-/// Typical value range [0.1 1.0], typical value 0.15
-///
-/// @param minDiversity
-/// Minimum diversity in grayscale between 2 levels allowed.
-/// Typical value range [0.1 1.0], typical value 0.2
-///
-/// @param mserHandle
-/// Output. the mserHandle to be used in subsequent calls.
-///
-/// @return
-/// 1 if successful.
-/// 0 if unsuccessful, mserHandle is invalid.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserInit(const unsigned int width,
- const unsigned int height,
- unsigned int delta,
- unsigned int minArea,
- unsigned int maxArea,
- float maxVariation,
- float minDiversity,
- void ** mserHandle );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Function to release MSER resources.
-///
-/// @param mserHandle
-/// Handle to be used to free up MSER resources.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvMserRelease(void *mserHandle);
-
-///---------------------------------------------------------------------------
-/// @brief
-/// Function to invoke MSER.
-/// Image width has to be greater than 50, and image height has to be greater than 5.
-/// Pixels at the image boundary are not processed. If boundary pixels are important
-/// for a particular application, please consider padding the input image with dummy
-/// pixels of one pixel wide.
-/// Here is the typical usage:
-/// void *mserHandle;
-/// if (fcvMserInit (width,........,&mserHandle))
-/// {
-/// fcvMseru8 (mserHandle,...);
-/// fcvMserRelease(mserHandle);
-/// }
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMseru8_v2(). In the 2.0.0 release,
-/// fcvMseru8_v2 will be renamed to fcvMseru8.
-/// and the signature of fcvMseru8 as it appears now, will be removed.
-/// \n\n
-///
-/// @param mserHandle
-/// The MSER Handle returned by init.
-///
-/// @param srcPtr
-/// Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-/// Width of the source image.
-/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
-///
-/// @param srcHeight
-/// Height of the source image.
-/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
-///
-/// @param srcStride
-/// Stride of the source image.
-///
-/// @param maxContours
-/// Maximum contours that will be returned.
-///
-/// @param numContours
-/// Output, Number of MSER contours in the region.
-///
-/// @param numPointsInContour
-/// Output, Number of points in each contour. This will have values filled up for the
-/// first (*numContours) values. This memory has to be allocated by the caller.
-///
-/// @param pointsArraySize
-/// Size of the output points Array.
-/// Typical size: (# of pixels in source image) * 30
-///
-/// @param pointsArray
-/// Output. This is the points in all the contours. This is a linear array, whose memory
-/// has to be allocated by the caller.
-/// Typical allocation size: pointArraySize.
-/// pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
-/// pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
-/// and so on.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvMseru8( void *mserHandle,
- const uint8_t* __restrict srcPtr,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- unsigned int maxContours,
- unsigned int * __restrict numContours,
- unsigned int * __restrict numPointsInContour,
- unsigned int pointsArraySize,
- unsigned int * __restrict pointsArray);
-
-///---------------------------------------------------------------------------
-/// @brief
-/// Function to invoke MSER, with additional outputs for each contour.
-/// Image width has to be greater than 50, and image height has to be greater than 5.
-/// Pixels at the image boundary are not processed. If boundary pixels are important
-/// for a particular application, please consider padding the input image with dummy
-/// pixels of one pixel wide.
-/// Here is the typical usage:
-/// void *mserHandle;
-/// if (fcvMserInit (width,........,&mserHandle))
-/// {
-/// fcvMserExtu8 (mserHandle,...);
-/// fcvMserRelease(mserHandle);
-/// }
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMserExtu8_v2(). In the 2.0.0 release,
-/// fcvMserExtu8_v2 will be renamed to fcvMserExtu8.
-/// and the signature of fcvMserExtu8 as it appears now, will be removed.
-/// \n\n
-///
-/// @param mserHandle
-/// The MSER Handle returned by init.
-///
-/// @param srcPtr
-/// Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-/// Width of the source image.
-/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
-///
-/// @param srcHeight
-/// Height of the source image.
-/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
-///
-/// @param srcStride
-/// Stride of the source image.
-///
-/// @param maxContours
-/// Maximum contours that will be returned.
-/// Application dependent. OCR usually requires 100-1000 contours.
-/// Segmentation usually requires 50-100
-///
-/// @param numContours
-/// Output, Number of MSER contours in the region.
-///
-/// @param numPointsInContour
-/// Output, Number of points in each contour. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller.
-///
-/// @param pointsArraySize
-/// Size of the output points Array.
-/// Typical size: (# of pixels in source image)*30
-///
-/// @param pointsArray
-/// Output. This is the points in all the contours. This is a linear array, whose memory
-/// has to be allocated by the caller.
-/// Typical allocation size: pointArraySize.
-/// pointsArray[0...numPointsInContour[0]-1] defines the first MSER region;
-/// pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
-/// and so on.
-///
-/// @param contourVariation
-/// Output, Variation for each contour from previous grey level.
-/// This will have values filled up for the first (*numContours) values.
-/// This memory has to be allocated by the caller with size of maxContours.
-///
-/// @param contourPolarity
-/// Output, Polarity for each contour. This value is 1 if this is a MSER+ region,
-/// -1 if this is a MSER- region. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller with size of maxContours.
-///
-/// @param contourNodeId
-/// Output, Node id for each contour. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller with size of maxContours
-///
-/// @param contourNodeCounter
-/// Output, Node counter for each contour. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller with size of maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvMserExtu8( void *mserHandle,
- const uint8_t* __restrict srcPtr,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- unsigned int maxContours,
- unsigned int * __restrict numContours,
- unsigned int * __restrict numPointsInContour,
- unsigned int * __restrict pointsArray,
- unsigned int pointsArraySize,
- unsigned int * __restrict contourVariation,
- int * __restrict contourPolarity,
- unsigned int * __restrict contourNodeId,
- unsigned int * __restrict contourNodeCounter);
-
-///---------------------------------------------------------------------------
-/// @brief
-/// Function to invoke MSER with a smaller memory footprint and the (optional) output of contour bound boxes.
-/// Image width has to be greater than 50, and image height has to be greater than 5.
-/// Pixels at the image boundary are not processed. If boundary pixels are important
-/// for a particular application, please consider padding the input image with dummy
-/// pixels of one pixel wide.
-/// Here is the typical usage:
-/// void *mserHandle;
-/// if (fcvMserInit (width,........,&mserHandle))
-/// {
-/// if ( !fcvMseru8_v2 (mserHandle,...) )
-/// {
-/// // Error handle
-/// }
-/// fcvMserRelease(mserHandle);
-/// }
-///
-/// @param mserHandle
-/// The MSER Handle returned by init.
-///
-/// @param srcPtr
-/// Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-/// Width of the source image.
-/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
-///
-/// @param srcHeight
-/// Height of the source image.
-/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
-///
-/// @param srcStride
-/// Stride of the source image.
-///
-/// @param maxContours
-/// Maximum contours that will be returned.
-///
-/// @param numContours
-/// Output, Number of MSER contours in the region.
-///
-/// @param recArray
-/// Output, This is the bounding rectangle info for each contour.
-/// If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
-/// Typical allocation size: 4*maxContours.
-/// rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
-/// rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
-///
-/// @param numPointsInContour
-/// Output, Number of points in each contour. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller.
-///
-/// @param pointsArraySize
-/// Size of the output points Array.
-/// Typical size: (# of pixels in source image) * 30
-///
-/// @param pointsArray
-/// Output. This is the points in all the contours. This is a linear array, whose memory
-/// has to be allocated by the caller.
-/// Typical allocation size: pointArraySize.
-/// pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
-/// pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
-/// and so on.
-///
-/// @return
-/// 1 if successful.
-/// 0 if failure, e.g., to indicate detected contours are greater than maxContours.
-/// In that case, please consider increasing maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMseru8_v2( void *mserHandle,
- const uint8_t* __restrict srcPtr,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t maxContours,
- uint32_t* __restrict numContours,
- uint16_t* __restrict recArray,
- uint32_t* __restrict numPointsInContour,
- uint32_t pointsArraySize,
- uint16_t* __restrict pointsArray);
-
-///---------------------------------------------------------------------------
-/// @brief
-/// Function to invoke MSER with a smaller memory footprint,
-/// the (optional) output of contour bound boxes, and additional information.
-/// Image width has to be greater than 50, and image height has to be greater than 5.
-/// Pixels at the image boundary are not processed. If boundary pixels are important
-/// for a particular application, please consider padding the input image with dummy
-/// pixels of one pixel wide.
-/// Here is the typical usage:
-/// void *mserHandle;
-/// if (fcvMserInit (width,........,&mserHandle))
-/// {
-/// if ( !fcvMserExtu8_v2 (mserHandle,...) )
-/// {
-/// // Error handle
-/// }
-/// fcvMserRelease(mserHandle);
-/// }
-///
-/// @param mserHandle
-/// The MSER Handle returned by init.
-///
-/// @param srcPtr
-/// Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-/// Width of the source image.
-/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
-///
-/// @param srcHeight
-/// Height of the source image.
-/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
-///
-/// @param srcStride
-/// Stride of the source image.
-///
-/// @param maxContours
-/// Maximum contours that will be returned.
-///
-/// @param numContours
-/// Output, Number of MSER contours in the region.
-///
-/// @param recArray
-/// Output, This is the bounding rectangle info for each contour.
-/// If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
-/// Typical allocation size: 4*maxContours.
-/// rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
-/// rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
-///
-/// @param numPointsInContour
-/// Output, Number of points in each contour. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller.
-///
-/// @param pointsArraySize
-/// Size of the output points Array.
-/// Typical size: (# of pixels in source image) * 30
-///
-/// @param pointsArray
-/// Output. This is the points in all the contours. This is a linear array, whose memory
-/// has to be allocated by the caller.
-/// Typical allocation size: pointArraySize.
-/// pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
-/// pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
-/// and so on.
-///
-/// @param contourVariation
-/// Output, Variation for each contour from previous grey level.
-/// This will have values filled up for the first (*numContours) values.
-/// This memory has to be allocated by the caller with size of maxContours.
-///
-/// @param contourPolarity
-/// Output, Polarity for each contour. This value is 1 if this is a MSER+ region,
-/// -1 if this is a MSER- region. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller with size of maxContours.
-///
-/// @param contourNodeId
-/// Output, Node id for each contour. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller with size of maxContours
-///
-/// @param contourNodeCounter
-/// Output, Node counter for each contour. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller with size of maxContours.
-///
-/// @return
-/// 1 if successful.
-/// 0 if failure, e.g., to indicate detected contours are greater than maxContours.
-/// In that case, please consider increasing maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserExtu8_v2( void *mserHandle,
- const uint8_t* __restrict srcPtr,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t maxContours,
- uint32_t* __restrict numContours,
- uint16_t* __restrict recArray,
- uint32_t* __restrict numPointsInContour,
- uint32_t pointsArraySize,
- uint16_t* __restrict pointsArray,
- uint32_t* __restrict contourVariation,
- int8_t* __restrict contourPolarity,
- uint32_t* __restrict contourNodeId,
- uint32_t* __restrict contourNodeCounter);
-
-///---------------------------------------------------------------------------
-/// @brief
-/// Function to invoke MSER with a smaller memory footprint,
-/// the (optional) output of contour bound boxes, and additional information.
-/// Image width has to be greater than 50, and image height has to be greater than 5.
-/// Pixels at the image boundary are not processed. If boundary pixels are important
-/// for a particular application, please consider padding the input image with dummy
-/// pixels of one pixel wide.
-/// Here is the typical usage:
-/// void *mserHandle;
-/// if (fcvMserInit (width,........,&mserHandle))
-/// {
-/// if ( !fcvMserExtu8_v3 (mserHandle,...) )
-/// {
-/// // Error handle
-/// }
-/// fcvMserRelease(mserHandle);
-/// }
-///
-/// @param mserHandle
-/// The MSER Handle returned by init.
-///
-/// @param srcPtr
-/// Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-/// Width of the source image.
-/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
-///
-/// @param srcHeight
-/// Height of the source image.
-/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
-///
-/// @param srcStride
-/// Stride of the source image.
-///
-/// @param maxContours
-/// Maximum contours that will be returned.
-///
-/// @param numContours
-/// Output, Number of MSER contours in the region.
-///
-/// @param recArray
-/// Output, This is the bounding rectangle info for each contour.
-/// If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
-/// Typical allocation size: 4*maxContours.
-/// rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
-/// rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
-///
-/// @param staPointsInPath
-/// Output. Return the index of contour starting points in pathArray.
-/// This memory has to be allocated by the caller. The allocated size should be maxContours*sizeof(uint32_t).
-///
-/// @param numPointsInContour
-/// Output, Number of points in each contour. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller.
-///
-/// @param pathArraySize
-/// Input. The size of output pathArray in terms of how many uint16_t numbers. Must be srcWidth*srcHeight*4.
-/// Note: this parameter is not measured in terms of bytes.
-///
-/// @param pathArray
-/// Output. This is the compressed representation of points in all the contours. This is a linear array, whose memory
-/// has to be allocated by the caller.
-/// Typical allocation size: pathArraySize*sizeof(uint16_t).
-/// For example:
-/// pathArray[ staPointsInPath[0] ] : x coord of the FIRST point in the FIRST mser region.
-/// pathArray[ staPointsInPath[0] + 1 ] : y coord of the FIRST point in the FIRST mser region.
-/// pathArray[ staPointsInPath[0] + 2 ] : x coord of the SECOND point in the FIRST mser region.
-/// pathArray[ staPointsInPath[0] + 3 ] : y coord of the SECOND point in the FIRST mser region.
-/// . . .
-/// pathArray[ staPointsInPath[0] + 2*numPointsInContour[0] - 2 ] : x coord of the LAST point in the FIRST mser region.
-/// pathArray[ staPointsInPath[0] + 2*numPointsInContour[0] - 1 ] : y coord of the LAST point in the FIRST mser region.
-/// and
-/// pathArray[ staPointsInPath[1] ] : x coord of the FIRST point in the SECOND mser region.
-/// pathArray[ staPointsInPath[1] + 1 ] : y coord of the FIRST point in the SECOND mser region.
-/// pathArray[ staPointsInPath[1] + 2 ] : x coord of the SECOND point in the SECOND mser region.
-/// pathArray[ staPointsInPath[1] + 3 ] : y coord of the SECOND point in the SECOND mser region.
-/// . . .
-/// pathArray[ staPointsInPath[1] + 2*numPointsInContour[1] - 2 ] : x coord of the LAST point in the SECOND mser region.
-/// pathArray[ staPointsInPath[1] + 2*numPointsInContour[1] - 1 ] : y coord of the LAST point in the SECOND mser region.
-/// . . .
-///
-/// @param contourVariation
-/// Output, Variation for each contour from previous grey level.
-/// This will have values filled up for the first (*numContours) values.
-/// This memory has to be allocated by the caller with size of maxContours.
-///
-/// @param contourPolarity
-/// Output, Polarity for each contour. This value is 1 if this is a MSER+ region,
-/// -1 if this is a MSER- region. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller with size of maxContours.
-///
-/// @param contourNodeId
-/// Output, Node id for each contour. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller with size of maxContours
-///
-/// @param contourNodeCounter
-/// Output, Node counter for each contour. This will have values filled up
-/// for the first (*numContours) values. This memory has to be allocated by
-/// the caller with size of maxContours.
-///
-/// @return
-/// 1 if successful.
-/// 0 if failure, e.g., to indicate detected contours are greater than maxContours.
-/// In that case, please consider increasing maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserExtu8_v3( void *mserHandle,
- const uint8_t* __restrict srcPtr,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t maxContours,
- uint32_t* __restrict numContours,
- uint16_t* __restrict recArray,
- uint32_t* __restrict staPointsInPath,
- uint32_t* __restrict numPointsInContour,
- uint32_t pathArraySize,
- uint16_t* __restrict pathArray,
- uint32_t* __restrict contourVariation,
- int8_t* __restrict contourPolarity,
- uint32_t* __restrict contourNodeId,
- uint32_t* __restrict contourNodeCounter);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Function to initialize 8-neighbor MSER. To invoke 8-neighbor MSER functionality, 3 functions have to be called:
-/// fcvMserNN8Init, fcvMserNN8u8, fcvMserRelease.
-/// Image width has to be greater than 50, and image height has to be greater than 5.
-/// Pixels at the image boundary are not processed. If boundary pixels are important
-/// for a particular application, please consider padding the input image with dummy
-/// pixels of one pixel wide.
-/// Here is the typical usage:
-/// void *mserHandle;
-/// if (fcvMserNN8Init (width,........,&mserHandle))
-/// {
-/// if ( !fcvMserNN8u8 (mserHandle,...) )
-/// {
-/// // Error handle
-/// }
-/// fcvMserRelease(mserHandle);
-/// }
-///
-/// @param width
-/// Width of the image for which MSER has to be done.
-///
-/// @param height
-/// Height of the image for which MSER has to be done.
-///
-/// @param delta
-/// Delta to be used in MSER algorithm (the difference in grayscale values
-/// within which the region is stable ).
-/// Typical value range [0.8 8], typical value 2
-///
-/// @param minArea
-/// Minimum area (number of pixels) of a mser contour.
-/// Typical value range [10 50], typical value 30
-///
-/// @param maxArea
-/// Maximum area (number of pixels) of a mser contour.
-/// Typical value 14400 or 0.25*width*height
-///
-/// @param maxVariation
-/// Maximum variation in grayscale between 2 levels allowed.
-/// Typical value range [0.1 1.0], typical value 0.15
-///
-/// @param minDiversity
-/// Minimum diversity in grayscale between 2 levels allowed.
-/// Typical value range [0.1 1.0], typical value 0.2
-///
-/// @param mserHandle
-/// Output. the mserHandle to be used in subsequent calls.
-///
-/// @return
-/// 1 if successful.
-/// 0 if unsuccessful, mserHandle is invalid.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserNN8Init(const uint32_t width,
- const uint32_t height,
- uint32_t delta,
- uint32_t minArea ,
- uint32_t maxArea ,
- float32_t maxVariation ,
- float32_t minDiversity ,
- void **mserHandle );
-
-///---------------------------------------------------------------------------
-/// @brief
-/// Function to invoke 8-neighbor MSER.
-/// Image width has to be greater than 50, and image height has to be greater than 5.
-/// Pixels at the image boundary are not processed. If boundary pixels are important
-/// for a particular application, please consider padding the input image with dummy
-/// pixels of one pixel wide.
-/// Here is the typical usage:
-/// void *mserHandle;
-/// if (fcvMserNN8Init (width,........,&mserHandle))
-/// {
-/// if ( !fcvMserNN8u8 (mserHandle,...) )
-/// {
-/// // Error handle
-/// }
-/// fcvMserRelease(mserHandle);
-/// }
-///
-/// @param mserHandle
-/// The MSER Handle returned by init.
-///
-/// @param srcPtr
-/// Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-/// Width of the source image.
-/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserNN8Init.
-///
-/// @param srcHeight
-/// Height of the source image.
-/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserNN8Init.
-///
-/// @param srcStride
-/// Stride of the source image.
-///
-/// @param maxContours
-/// Maximum contours that will be returned.
-///
-/// @param numContours
-/// Output, Number of MSER contours in the region.
-///
-/// @param recArray
-/// Output, This is the bounding rectangle info for each contour.
-/// If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
-/// Typical allocation size: 4*maxContours.
-/// rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
-/// rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
-///
-/// @param numPointsInContour
-/// Output, Number of points in each contour. This will have values filled up for the
-/// first (*numContours) values. This memory has to be allocated by the caller.
-///
-/// @param pointsArraySize
-/// Size of the output points Array.
-/// Typical size: (# of pixels in source image) * 30
-///
-/// @param pointsArray
-/// Output. This is the points in all the contours. This is a linear array, whose memory
-/// has to be allocated by the caller.
-/// Typical allocation size: pointArraySize.
-/// pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
-/// pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
-/// and so on.
-///
-/// @return
-/// 1 if successful.
-/// 0 if failure, e.g., to indicate detected contours are greater than maxContours.
-/// In that case, please consider increasing maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserNN8u8 ( void *mserHandle,
- const uint8_t* __restrict srcPtr,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t maxContours,
- uint32_t* __restrict numContours,
- uint16_t* __restrict recArray,
- uint32_t* __restrict numPointsInContour,
- uint32_t pointsArraySize,
- uint16_t* __restrict pointsArray);
-
-///---------------------------------------------------------------------------
-/// @brief
-/// Function to invoke 8-neighbor MSER, , with additional outputs for each contour.
-/// Image width has to be greater than 50, and image height has to be greater than 5.
-/// Pixels at the image boundary are not processed. If boundary pixels are important
-/// for a particular application, please consider padding the input image with dummy
-/// pixels of one pixel wide.
-/// Here is the typical usage:
-/// void *mserHandle;
-/// if (fcvMserNN8Init (width,........,&mserHandle))
-/// {
-/// if ( !fcvMserExtNN8u8 (mserHandle,...) )
-/// {
-/// // Error handle
-/// }
-/// fcvMserRelease(mserHandle);
-/// }
-///
-/// @param mserHandle
-/// The MSER Handle returned by init.
-///
-/// @param srcPtr
-/// Pointer to an image array (unsigned char ) for which MSER has to be done.
-///
-/// @param srcWidth
-/// Width of the source image.
-/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserNN8Init.
-///
-/// @param srcHeight
-/// Height of the source image.
-/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserNN8Init.
-///
-/// @param srcStride
-/// Stride of the source image.
-///
-/// @param maxContours
-/// Maximum contours that will be returned.
-///
-/// @param numContours
-/// Output, Number of MSER contours in the region.
-///
-/// @param recArray
-/// Output, This is the bounding rectangle info for each contour.
-/// If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
-/// Typical allocation size: 4*maxContours.
-/// rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
-/// rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
-///
-/// @return
-/// 1 if successful.
-/// 0 if failure, e.g., to indicate detected contours are greater than maxContours.
-/// In that case, please consider increasing maxContours.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvMserExtNN8u8(void *mserHandle,
- const uint8_t* __restrict srcPtr,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t maxContours,
- uint32_t* __restrict numContours,
- uint16_t* __restrict recArray,
- uint32_t* __restrict numPointsInContour,
- uint32_t pointsArraySize,
- uint16_t* __restrict pointsArray,
- uint32_t* __restrict contourVariation,
- int8_t* __restrict contourPolarity,
- uint32_t* __restrict contourNodeId,
- uint32_t* __restrict contourNodeCounter);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Creates 2D gradient from source illuminance data.
-/// This function considers only the left/right neighbors
-/// for x-gradients and top/bottom neighbors for y-gradients.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientInterleavedf32_v2(). In the 2.0.0 release,
-/// fcvImageGradientInterleavedf32_v2 will be renamed to fcvImageGradientInterleavedf32
-/// and the signature of fcvImageGradientInterleavedf32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param gradients
-/// Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientInterleavedf32( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* __restrict gradients );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Creates 2D gradient from source illuminance data.
-/// This function considers only the left/right neighbors
-/// for x-gradients and top/bottom neighbors for y-gradients.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageGradientInterleavedf32() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageGradientInterleavedf32,
-/// \a fcvImageGradientInterleavedf32_v2 will be removed, and the current signature
-/// for \a fcvImageGradientInterleavedf32 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageGradientInterleavedf32 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gradients
-/// Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param gradStride
-/// Stride (in bytes) of the interleaved gradients array.
-/// \n\b NOTE: if 0, srcStride is set as (srcWidth-2)*2*sizeof(float).
-/// \n\b WARNING: should be multiple of 32 ( 8 * 4-byte values ), and at least as much as 8 * srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientInterleavedf32_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* __restrict gradients,
- unsigned int gradStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Creates 2D gradient from source illuminance data.
-/// This function considers only the left/right neighbors
-/// for x-gradients and top/bottom neighbors for y-gradients.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientPlanars16_v2(). In the 2.0.0 release,
-/// fcvImageGradientPlanars16_v2 will be renamed to fcvImageGradientPlanars16
-/// and the signature of fcvImageGradientPlanars16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (srcWidth)*(srcHeight) in size.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (srcWidth)*(srcHeight) in size.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientPlanars16( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict dx,
- int16_t* __restrict dy );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Creates 2D gradient from source illuminance data.
-/// This function considers only the left/right neighbors
-/// for x-gradients and top/bottom neighbors for y-gradients.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageGradientPlanars16() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageGradientPlanars16,
-/// \a fcvImageGradientPlanars16_v2 will be removed, and the current signature
-/// for \a fcvImageGradientPlanars16 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageGradientPlanars16 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (srcWidth)*(srcHeight) in size.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (srcWidth)*(srcHeight) in size.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-/// Stride (in bytes) of 'dx' and 'dy' arrays.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 16 (8 * 2-bytes per gradient value), and at least as much as srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientPlanars16_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict dx,
- int16_t* __restrict dy,
- unsigned int dxyStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Creates 2D gradient from source illuminance data.
-/// This function considers only the left/right neighbors
-/// for x-gradients and top/bottom neighbors for y-gradients.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientPlanarf32_v2(). In the 2.0.0 release,
-/// fcvImageGradientPlanarf32_v2 will be renamed to fcvImageGradientPlanarf32
-/// and the signature of fcvImageGradientPlanarf32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (width)*(height) in size.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (width)*(height) in size.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientPlanarf32( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* __restrict dx,
- float* __restrict dy );
-
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Creates 2D gradient from source illuminance data.
-/// This function considers only the left/right neighbors
-/// for x-gradients and top/bottom neighbors for y-gradients.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageGradientPlanarf32() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageGradientPlanarf32,
-/// \a fcvImageGradientPlanarf32_v2 will be removed, and the current signature
-/// for \a fcvImageGradientPlanarf32 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageGradientPlanarf32 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (srcWidth)*(srcHeight) in size.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (srcWidth)*(srcHeight) in size.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-/// Stride of Gradient values ('dx' and 'dy' arrays) measured in bytes.
-/// \n\b NOTE: if 0, srcStride is set as 4*srcWidth.
-/// \n\b WARNING: should be multiple of 32 (8 * 4-bytes per gradient value), and at least as much as 4*srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientPlanarf32_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* __restrict dx,
- float* __restrict dy,
- unsigned int dxyStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Extracts FAST corners from the image. This function tests the whole image
-/// for corners (apart from the border). FAST-9 looks for continuous segments on the
-/// pixel ring of 9 pixels or more.
-///
-/// @param src
-/// Pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width
-/// \n\b WARNING: should be a multiple of 8.
-/// \n\b WARNING: must be <= 2048.
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2). If 0 is passed, srcStride is set to width.
-/// \n\b WARNING: should be a multiple of 8.
-///
-/// @param barrier
-/// FAST threshold. The threshold is used to compare difference between intensity value of
-/// the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-/// \n\b WARNING: If border < 3, it will be default to 3.
-/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-/// pointer to the output array containing the interleaved x,y position of the
-/// detected corners
-/// \n e.g. struct { int x, y; } xy;
-/// \n\b WARNING: should be 128-bit aligned.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of
-/// corners is exceeded
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int barrier,
- unsigned int border,
- uint32_t* __restrict xy,
- unsigned int nCornersMax,
- uint32_t* __restrict nCorners );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Extracts FAST corners from the image. This function takes a bit mask so
-/// that only image areas masked with '0' are tested for corners (if these
-/// areas are also not part of the border). FAST-9 looks for continuous segments on the
-/// pixel ring of 9 pixels or more.
-///
-/// @param src
-/// pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// image width
-/// \n\b WARNING: must be <= 2048.
-/// \n\b WARNING: should be a multiple of 8.
-///
-/// @param srcHeight
-/// image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b WARNING: should be a multiple of 8. If left at 0 srcStride is default to srcWidth.
-///
-/// @param barrier
-/// FAST threshold. The threshold is used to compare difference between intensity value of
-/// the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-/// \n\b WARNING: If border < 3, it will be default to 3.
-/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-/// pointer to the output array containing the interleaved x,y position of the
-/// detected corners
-/// \n\b WARNING: should be 128-bit aligned.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of corners
-/// is exceeded
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @param mask
-/// Per-pixel mask for each pixel represented in input image.
-/// If a bit set to 0, pixel will be a candidate for corner detection.
-/// If a bit set to 1, pixel will be ignored.
-///
-/// @param maskWidth
-/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9InMasku8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int barrier,
- unsigned int border,
- uint32_t* __restrict xy,
- unsigned int nCornersMax,
- uint32_t* __restrict nCorners,
- const uint8_t* __restrict mask,
- unsigned int maskWidth,
- unsigned int maskHeight );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Extracts FAST corners from the image. This function tests the whole image
-/// for corners (apart from the border). FAST-10 looks for continuous segments on the
-/// pixel ring of 10 pixels or more.
-///
-/// @param src
-/// Pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width
-/// \n\b WARNING: should be a multiple of 8.
-/// \n\b WARNING: must be <= 2048.
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2). If 0 is passed, srcStride is set to width.
-///
-/// @param barrier
-/// FAST threshold. The threshold is used to compare difference between intensity value of
-/// the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-/// \n\b WARNING: If border < 3, it will be default to 3.
-/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-/// pointer to the output array containing the interleaved x,y position of the
-/// detected corners
-/// \n e.g. struct { int x, y; } xy;
-/// \n\b WARNING: should be 128-bit aligned.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exists when the maximum number of
-/// corners is exceeded
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast10u8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int32_t barrier,
- uint32_t border,
- uint32_t* __restrict xy,
- uint32_t nCornersMax,
- uint32_t* __restrict nCorners);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Extracts FAST corners from the image. This function takes a bit mask so
-/// that only image areas masked with '0' are tested for corners (if these
-/// areas are also not part of the border). FAST-10 looks for continuous segments on the
-/// pixel ring of 10 pixels or more.
-///
-/// @param src
-/// pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// image width
-/// \n\b WARNING: must be <= 2048.
-/// \n\b WARNING: should be a multiple of 8.
-///
-/// @param srcHeight
-/// image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param barrier
-/// FAST threshold. The threshold is used to compare difference between intensity value of
-/// the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-/// \n\b WARNING: If border < 3, it will be default to 3.
-/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-/// pointer to the output array containing the interleaved x,y position of the
-/// detected corners
-/// \n\b WARNING: should be 128-bit aligned.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exists when the maximum number of corners
-/// is exceeded
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @param mask
-/// Per-pixel mask for each pixel represented in input image.
-/// If a bit set to 0, pixel will be a candidate for corner detection.
-/// If a bit set to 1, pixel will be ignored.
-///
-/// @param maskWidth
-/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast10InMasku8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int32_t barrier,
- uint32_t border,
- uint32_t* __restrict xy,
- uint32_t nCornersMax,
- uint32_t* __restrict nCorners,
- const uint8_t* __restrict mask,
- uint32_t maskWidth,
- uint32_t maskHeight );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Extracts Harris corners from the image. This function tests the whole
-/// image for corners (apart from the border).
-///
-/// @param src
-/// Pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width
-/// \n\b WARNING: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-///
-/// @param xy
-/// pointer to the output array containing the interleaved x,y position of the
-/// detected corners
-/// \n\b WARNING: should be 128-bit aligned.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of
-/// corners is exceeded
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @param threshold
-/// Minimum "Harris Score" or "Harris Corner Response" of a pixel for it to be
-/// regarded as a corner.
-///
-/// @return
-/// 0 if successful.
-///
-///
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerHarrisu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- unsigned int border,
- uint32_t* __restrict xy,
- unsigned int nCornersMax,
- uint32_t* __restrict nCorners,
- int threshold );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Local Harris Max applies the Harris Corner algorithm on an 11x11 patch
-/// within an image to determine if a corner is present.
-///
-/// @param src
-/// Pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width
-/// \n\b WARNING: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2). If srcStride == 0, then will use srcWidth.
-///
-/// @param posX
-/// Center X coordinate of the search window
-///
-/// @param posY
-/// Center Y coordinate of the search window
-///
-/// @param maxX
-/// pointer to the X coordinate identified as a corner
-///
-/// @param maxY
-/// pointer to the Y coordinate identified as a corner
-///
-/// @param maxScore
-/// pointer to the Harris score associated with the corner
-///
-/// @return
-/// 0 if no corner is found (maxX, maxY, and maxScore are invalid)
-/// or if posX and/or posY position the patch outside of the range of
-/// the source image.
-/// 1 if a corner is found (maxX, maxY, and maxScore are valid)
-///
-///
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API unsigned int
-fcvLocalHarrisMaxu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- unsigned int posX,
- unsigned int posY,
- unsigned int *maxX,
- unsigned int *maxY,
- int *maxScore);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Extracts Harris corners from the image. This function takes a bit mask so
-/// that only image areas masked with '0' are tested for corners (if these
-/// areas are also not part of the border).
-///
-/// @param src
-/// pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// image width
-/// \n\b WARNING: should be a multiple of 8.
-///
-/// @param srcHeight
-/// image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-///
-/// @param xy
-/// pointer to the output array containing the interleaved x,y position of the
-/// detected corners
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of corners
-/// is exceeded
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @param threshold
-/// Minimum "Harris Score" or "Harris Corner Respose" of a pixel for it to be
-/// regarded as a corner.
-///
-/// @param mask
-/// Per-pixel mask for each pixel represented in input image.
-/// If a bit set to 0, pixel will be a candidate for corner detection.
-/// If a bit set to 1, pixel will be ignored.
-///
-/// @param maskWidth
-/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @return
-/// 0 if successful.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerHarrisInMasku8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- unsigned int border,
- uint32_t* __restrict xy,
- unsigned int nCornersMax,
- uint32_t* __restrict nCorners,
- int threshold,
- const uint8_t* __restrict mask,
- unsigned int maskWidth,
- unsigned int maskHeight );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Extracts Harris corners from the image. This function tests the whole
-/// image for corners (apart from the border). It is an improved version
-/// which is more robust to low contrast images.
-///
-/// @param src
-/// Pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b WARNING: should be a multiple of 8.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-///
-/// @param xy
-/// pointer to the output array containing the interleaved x,y position of the
-/// detected corners
-/// \n\b WARNING: should be 128-bit aligned.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of
-/// corners is exceeded
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @param threshold
-/// Minimum "Harris Score" or "Harris Corner Response" of a pixel for it to be
-/// regarded as a corner.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerHarrisAdaptiveu8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t border,
- float32_t* __restrict xy,
- uint32_t nCornersMax,
- uint32_t* __restrict nCorners,
- int32_t threshold);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Extracts Harris corners from the image.
-/// \n\b ATTENTION: Compared to fcvCornerHarrisu8, this API gives more accurate results
-/// in exchange for slower execution time.\n\n
-///
-/// DO NOT USE THIS API unless for testing purposes.
-/// This API can be removed without notice.
-///
-/// @details
-/// This function extracts Harris Corner features from the image. The input is
-/// an unsigned 8 bit image. Based on the values of the kernel size, the block size,
-/// the sensitivity, the function generates a Harris Response map (Harris Score).
-/// This map is then thresholded using the threshold parameter to locate local maxima.
-/// Additionally, if the Non Maximum Suppression flag is enabled, the function performs
-/// non maximum suppression of the thresholded response using the min distance parameter
-/// to calculate the neighborhood.
-///
-/// @param src
-/// Input unsigned 8 bit image from which corner features are to be detected
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width
-///
-/// @param srcHeight
-/// Input Image height
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element
-/// of a row and that of the successive row. If srcStride is equal to 0,
-/// it will be set to srcWidth.
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @param harrisResp
-/// The computed Harris Response Map of the image. If the @param normalizeResponse flag is set,
-/// then all values in the map are normalized between 0 and 255. If the @param normalizeResponse flag
-/// is not set, then the map is not normalized to this range.
-/// This buffer MUST be allocated as srcWidth*srcHeight*sizeof(float32_t).
-///
-/// @param respStride
-/// Harris response stride, i.e. the gap (in terms of bytes) between the first element
-/// of a row and that of the successive row. If respStride is equal to 0,
-/// it will be set to srcWidth * sizeof(float32_t).
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @param xy
-/// pointer to the output array containing the interleaved x,y positions of the
-/// detected corners.
-/// \n\b WARNING: should be 128-bit aligned.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-///
-/// @param nCornersMax
-/// Maximum number of corners that should be detected. The function exits when the
-/// maximum number of corners is exceeded.
-/// \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @param threshold
-/// Minimum "Harris Score" or "Harris Corner Response" of a pixel for it to be
-/// regarded as a corner. If the @param normalizeResponse flag is set, then this parameter MUST be a value between
-/// 0 and 255. If the @param normalizeResponse flag is not set, then this parameter can be any value in the range of
-/// int32_t. This parameter is used to threshold @param harrisResp to detect corner features.
-///
-/// @param sensitivity
-/// This parameter represents the sensitivity threshold from the Harris Stephens
-/// equation. Typical values are between 0.04 and 0.06
-///
-/// @param kernelSize
-/// Size of the Sobel Kernel used to compute the gradients from the input image
-/// MUST be 3,5 or 7.
-///
-/// @param blockSize
-/// Size of an average block for computing a derivative covariation matrix over each
-/// pixel neighborhood.
-///
-/// @param nmsEnabled
-/// A flag to enable or disable non maximum suppression. Set flag to 1 to enable it and
-/// 0 to disable.
-/// \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
-/// points before NMS
-///
-/// @param minDistance
-/// The radial euclidean distance to perform non-maximum suppression.
-///
-/// @param normalizeResponse
-/// This parameter is a flag to enable or disable normalization of the harris response.
-/// If it is set, then it enables normalization of the response to the range between 0 and 255. If it
-/// is not set, then the response is NOT normalized to this range.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvCornerHarrisScoreu8(const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t* __restrict harrisResp,
- uint32_t respStride,
- uint32_t* __restrict xy,
- uint32_t nCornersMax,
- uint32_t* __restrict nCorners,
- float32_t threshold,
- float32_t sensitivity,
- uint32_t kernelSize,
- uint32_t blockSize,
- uint32_t nmsEnabled,
- float32_t minDistance,
- uint32_t normalizeResponse);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Computes affine trans. for a given set of corresponding features points
-/// using a linear least square colver based on Cholkesky decomposition.
-///
-/// @param corrs
-/// Correspondence data struct containing coords of points in two frames
-///
-/// @param affine
-/// 3 x 3 affine matrix (computed best fit affine transformation)
-///
-/// @ingroup 3D_reconstruction
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGeomAffineFitf32( const fcvCorrespondences* __restrict corrs,
- float* __restrict affine );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Evaluates specified affine transformation against provided points
-/// correspondences. Checks which correspondence members have a projection
-/// error that is smaller than the given one (maxSquErr).
-///
-/// @param corrs
-/// Pointer to correspondences structure.
-///
-/// @param affine
-/// Affine matrix representing relationship between ptTo and ptFrom
-/// correspondences stored as 3x3 floating point matrix formatted as
-/// @todo r0h0, r0h1
-/// Pointer storage must be at least a 9-element floating point array.
-///
-/// @param maxsqerr
-/// Maximum error value squared.
-///
-/// @param inliers
-/// Output array for those indices that passed the test - the array MUST
-/// be able to store numIndices items.
-///
-/// @param numinliers
-/// Output number of corrs that passed the test.
-///
-/// @return
-/// 0 if successfull
-/// -1 if error value square is >= maxsqerr
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomAffineEvaluatef32( const fcvCorrespondences* __restrict corrs,
- float* __restrict affine,
- float maxsqerr,
- uint16_t* __restrict inliers,
- int32_t* numinliers );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Performs cholesky homography fitting on specified points correspondences.
-/// \n
-/// \n [x_to] [ a11 a12 a13 ] [ x_from ]
-/// \n [y_to] = [ a21 a22 a23 ] * [ y_from ]
-/// \n [ 1 ] [ a31 a32 a33 ] [ 1 ]
-/// \n note that all the correspondences are considered, if correspondence pairs
-/// are smaller than 4, the API returns. If correspondence pairs are larger than
-/// 4, the API takes all the correspondences into consideration using least
-/// squared method.
-///
-/// @details
-/// Output precision is within 3e-3
-///
-/// @param corrs
-/// Pointer to correspondences structure.
-///
-/// @param homography
-/// 3x3 floating point matrix formatted as @todo r0h0, r0h1
-/// Pointer storage must be at least a 9-element floating point array.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGeomHomographyFitf32( const fcvCorrespondences* __restrict corrs,
- float* __restrict homography );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Evaluates specified homography against provided points correspondences.
-/// Check which correspondence members have a projection error that is
-/// smaller than the given one (maxSquErr).
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvGeomHomographyEvaluatef32_v2(). In the 2.0.0 release,
-/// fcvGeomHomographyEvaluatef32_v2 will be renamed to fcvGeomHomographyEvaluatef32
-/// and the signature of fcvGeomHomographyEvaluatef32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param corrs
-/// Pointer to correspondences structure.
-///
-/// @param homography
-/// Homography representing relationship between ptTo and ptFrom
-/// correspondences stored as 3x3 floating point matrix formatted as
-/// @todo r0h0, r0h1
-/// Pointer storage must be at least a 9-element floating point array.
-///
-/// @param maxsqerr
-/// Maximum error value squared.
-///
-/// @param inliers
-/// Output array for those indices that passed the test - the array MUST
-/// be able to store numIndices items.
-///
-/// @param numinliers
-/// Output number of corrs that passed the test.
-///
-/// @return
-/// 0 that error is less than maximum error, -1 greater or equal to maximum
-/// error.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomHomographyEvaluatef32( const fcvCorrespondences* __restrict corrs,
- float* __restrict homography,
- float maxsqerr,
- uint16_t* __restrict inliers,
- int32_t* numinliers );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Evaluates specified homography against provided points correspondences.
-/// Check which correspondence members have a projection error that is
-/// smaller than the given one (maxSquErr).
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvGeomHomographyEvaluatef32() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvGeomHomographyEvaluatef32,
-/// \a fcvGeomHomographyEvaluatef32_v2 will be removed, and the current signature
-/// for \a fcvGeomHomographyEvaluatef32 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvGeomHomographyEvaluatef32 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param corrs
-/// Pointer to correspondences structure.
-///
-/// @param homography
-/// Homography representing relationship between ptTo and ptFrom
-/// correspondences stored as 3x3 floating point matrix formatted as
-/// @todo r0h0, r0h1
-/// Pointer storage must be at least a 9-element floating point array.
-///
-/// @param maxsqerr
-/// Maximum error value squared.
-///
-/// @param inliers
-/// Output array for those indices that passed the test - the array MUST
-/// be able to store numIndices items.
-///
-/// @param errinliers
-/// Output array for the error of indices of correspondences that passed
-/// the test.
-///
-/// @param numinliers
-/// Output number of corrs that passed the test.
-///
-/// @return
-/// 0 that error is less than maximum error, -1 greater or equal to maximum
-/// error.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomHomographyEvaluatef32_v2( const fcvCorrespondences* __restrict corrs,
- float32_t* __restrict homography,
- float32_t maxsqerr,
- uint16_t* __restrict inliers,
- float32_t*__restrict errinliers,
- int32_t* numinliers );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Performs cholesky pose fitting on specified points correspondences.
-/// Takes a pose and uses the correspondences to refine it using iterative
-/// Gauss-Newton optimization.
-///
-/// @param corrs
-/// Pointer to correspondences structure.
-///
-/// @param minIterations
-/// Minimum number of iterations to refine.
-///
-/// @param maxIterations
-/// Maximum number of iterations to refine.
-///
-/// @param stopCriteria
-/// Improvement threshold, iterations stop if improvement is less than this
-/// value.
-///
-/// @param initpose
-/// Pose representing initial pose
-/// correspondences stored as a
-/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-/// matrix and t is the translation vector. The matrix stored in pose is row
-/// major ordering: \n
-/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-/// matrix is: \n
-/// | a11, a12, a13 , a14|\n
-/// | a21, a22, a23, a24 |\n
-/// | a31, a32, a33, a34 |\n
-/// Pointer storage must be at least a 12-element floating point array.
-///
-/// @param refinedpose
-/// Pose representing refined pose
-/// correspondences stored as a
-/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-/// matrix and t is the translation vector. The matrix stored in pose is row
-/// major ordering: \n
-/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-/// matrix is: \n
-/// | a11, a12, a13 , a14|\n
-/// | a21, a22, a23, a24 |\n
-/// | a31, a32, a33, a34 |\n
-/// Pointer storage must be at least a 12-element floating point array.
-///
-/// @return
-/// Final reprojection error.
-///
-///
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API float
-fcvGeomPoseRefineGNf32( const fcvCorrespondences* __restrict corrs,
- short minIterations,
- short maxIterations,
- float stopCriteria,
- float* initpose,
- float* refinedpose );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Update and compute the differential pose based on the specified points correspondences
-/// This function and fcvGeomPoseOptimizeGNf32
-/// can be used iteratively to perform poseRefine GN.
-///
-/// @param projected
-/// 2D position after projection
-///
-/// @param reprojErr
-/// 2D reprojection error in camera coordinates (not in pixels!)
-///
-/// @param invz
-/// Inverse depth (z)
-///
-/// @param reprojVariance
-/// Reprojection variance in camera coordinates
-///
-/// @param numpts
-/// Number of points
-///
-/// @param pose
-/// Pose representing differential pose
-/// correspondences stored as a
-/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-/// matrix and t is the translation vector. The matrix stored in pose is row
-/// major ordering: \n
-/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-/// matrix is: \n
-/// | a11, a12, a13 , a14|\n
-/// | a21, a22, a23, a24 |\n
-/// | a31, a32, a33, a34 |\n
-/// Pointer storage must be at least a 12-element floating point array.
-///
-/// @return
-/// 0 if successfully clustered, otherwise error code
-///
-///
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomPoseUpdatef32(
- const float* __restrict projected,
- const float* __restrict reprojErr,
- const float* __restrict invz,
- const float* __restrict reprojVariance,
- unsigned int numpts,
- float* __restrict pose );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Update the pose based on the specified points correspondences
-/// using Gauss-Newton optimization. This function and fcvGeomPoseEvaluateErrorf32
-/// can be used iteratively to perform poseRefine GN.
-///
-/// @param projected
-/// 2D position after projection
-///
-/// @param reprojErr
-/// 2D reprojection error in camera coordinates (not in pixels!)
-///
-/// @param invz
-/// Inverse depth (z)
-///
-/// @param reprojVariance
-/// Reprojection variance in camera coordinates
-///
-/// @param numpts
-/// Number of points
-///
-/// @param pose
-/// Pose representing updated pose
-/// correspondences stored as a
-/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-/// matrix and t is the translation vector. The matrix stored in pose is row
-/// major ordering: \n
-/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-/// matrix is: \n
-/// | a11, a12, a13 , a14|\n
-/// | a21, a22, a23, a24 |\n
-/// | a31, a32, a33, a34 |\n
-/// Pointer storage must be at least a 12-element floating point array.
-///
-/// @return
-/// 0 if successfully clustered, otherwise error code
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomPoseOptimizeGNf32( const float* __restrict projected,
- const float* __restrict reprojErr,
- const float* __restrict invz,
- const float* __restrict reprojVariance,
- unsigned int numpts,
- float* __restrict pose );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Calculate the reprojection error based on the input pose.
-/// This function and fcvGeomPoseOptimizef32 can be used iteratively
-/// to perform poseRefine (GN or LM)..
-///
-/// @param corrs
-/// Pointer to correspondences structure.
-///
-/// @param pose
-/// Pose representing updated pose
-/// correspondences stored as a
-/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-/// matrix and t is the translation vector. The matrix stored in pose is row
-/// major ordering: \n
-/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-/// matrix is: \n
-/// | a11, a12, a13 , a14|\n
-/// | a21, a22, a23, a24 |\n
-/// | a31, a32, a33, a34 |\n
-/// Pointer storage must be at least a 12-element floating point array.
-///
-/// @param projected
-/// 2D position after projection
-///
-/// @param reprojErr
-/// 2D reprojection error in camera coordinates (not in pixels!)
-///
-/// @param invz
-/// Inverse depth (z)
-///
-/// @param reprojVariance
-/// Reprojection variance in camera coordinates
-///
-/// @return
-/// Reprojection error.
-///
-///
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API float
-fcvGeomPoseEvaluateErrorf32( const fcvCorrespondences* __restrict corrs,
- const float* __restrict pose,
- float* __restrict projected,
- float* __restrict reprojErr,
- float* __restrict invz,
- float* __restrict reprojVariance );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Checks which members have a projection error that is smaller than the
-/// given one.
-///
-/// @param corrs
-/// Pointer to correspondences structure.
-///
-/// @param pose
-/// Pose representing relationship between ptTo and ptFrom
-/// correspondences stored as a
-/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
-/// matrix and t is the translation vector. The matrix stored in pose is row
-/// major ordering: \n
-/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
-/// matrix is: \n
-/// | a11, a12, a13 , a14|\n
-/// | a21, a22, a23, a24 |\n
-/// | a31, a32, a33, a34 |\n
-/// Pointer storage must be at least a 12-element floating point array.
-///
-/// @param maxSquErr
-/// Maximum error value squared.
-///
-/// @param inliers
-/// Output array for those indices that passed the test - the array MUST
-/// be able to store numIndices items.
-///
-/// @param numInliers
-/// Output number of corrs that passed the test.
-///
-/// @return
-/// 0 that error is less than maximum error, -1 greater or equal to maximum
-/// error.
-///
-///
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvGeomPoseEvaluatef32( const fcvCorrespondences* __restrict corrs,
- const float* pose,
- float maxSquErr,
- uint16_t* __restrict inliers,
- uint32_t* numInliers );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Estimates a 6DOF pose
-/// \n\b NOTE: Given the coordinates of three 3D points (in world reference frame),
-/// and their corresponding perspective projections in an image,
-/// this algorithm determines the position and orientation of the camera in
-/// the world reference frame. The function provides up to four solutions
-/// that can be disambiguated using a fourth point.
-/// When used in conjunction with RANSAC, this function can perform efficient outlier rejection.
-/// Two degenerate cases should be avoided when using this function:
-/// - Indeterminate configuration:
-/// When the three points are collinear in space, there will be a family of poses mapping the
-/// three points to the same image points.
-/// - Unstable configuration:
-/// The camera center is located on a circular cylinder passing through the three points and
-/// the camera optical axis is perpendicular to the plane derived by the three points.
-/// With this configuration, a small change in the position of the three points will
-/// result in a large change of the estimated pose..
-///
-/// @param corrs
-/// 2D-3D correspondence points
-///
-/// @param pose
-/// computed pose (numPoses * 12 data)
-///
-/// @param numPoses (max = 4)
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGeom3PointPoseEstimatef32( const fcvCorrespondences* __restrict corrs,
- float* pose,
- int32_t* numPoses );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// 3x3 correlation with non-separable kernel.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterCorr3x3s8_v2(). In the 2.0.0 release,
-/// fcvFilterCorr3x3s8_v2 will be renamed to fcvFilterCorr3x3s8
-/// and the signature of fcvFilterCorr3x3s8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param kernel
-/// 2-D 3x3 kernel.
-/// \n\b NOTE: Normalized to Q4.4
-///
-/// @param src
-/// Input image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: must be an even number
-///
-/// @param srcHeight
-/// Image height.
-/// \n\b NOTE: must be an even number
-///
-/// @param dst
-/// Output convolution. Border values are ignored in this function.
-/// Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorr3x3s8( const int8_t* __restrict kernel,
- const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// 3x3 correlation with non-separable kernel.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterCorr3x3s8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterCorr3x3s8,
-/// \a fcvFilterCorr3x3s8_v2 will be removed, and the current signature
-/// for \a fcvFilterCorr3x3s8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterCorr3x3s8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param kernel
-/// 2-D 3x3 kernel.
-/// \n\b NOTE: Normalized to Q4.4
-///
-/// @param src
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: must be an even number
-///
-/// @param srcHeight
-/// Image height.
-/// \n\b NOTE: must be an even number
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output convolution. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride. Border values are ignored in this function.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorr3x3s8_v2( const int8_t* __restrict kernel,
- const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// NxN correlation with non-separable kernel.
-/// Border values are ignored in this function. The filling of dst starts
-/// at (N/2,N/2) and ends at (srcWidth-1-N/2,srcHeight-1-N/2).
-/// \n\b NOTE: The border is N/2 wide pixel strips at top, bottom, left and right of image.
-///
-/// @param kernel
-/// 2-D NxN kernel of float32_t.
-///
-/// @param N
-/// Dimension of kernel.
-///
-/// @param src
-/// Input image of unit8_t. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Src image stride, stride of image is the number of bytes between column 0 of
-/// row 1 and column 0 of row 2 in data memory.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output correlation. Size of buffer is dstStride*srcHeight*sizeof(float32_t) bytes.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride, stride of image is the number of bytes between column 0 of
-/// row 1 and column 0 of row 2 in data memory.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth*sizeof(float32_t).
-/// \n\b WARNING: should be multiple of 8, and at least as much as
-/// srcWidth*sizeof(float32_t) if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterCorrNxNu8f32( const float32_t* __restrict kernel,
- uint32_t N,
- const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t* __restrict dst,
- uint32_t dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// NxN correlation with non-separable kernel.
-/// Border values are ignored in this function. The filling of dst starts
-/// at (N/2,N/2) and ends at (srcWidth-1-N/2,srcHeight-1-N/2).
-/// \n\b NOTE: The border is N/2 wide pixel strips at top, bottom, left and right of image.
-///
-/// @param kernel
-/// 2-D NxN kernel of int8_t.
-///
-/// @param N
-/// Dimension of kernel.
-///
-/// @param shift
-/// The right shift count used to normalize output. Shift can be considered as Q factor of kernel.
-///
-/// @param src
-/// Input image of unit8_t. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Src image stride, stride of image is the number of bytes between column 0 of
-/// row 1 and column 0 of row 2 in data memory.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output correlation. Size of buffer is dstStride*srcHeight*sizeof(int16_t) bytes.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride, stride of image is the number of bytes between column 0 of
-/// row 1 and column 0 of row 2 in data memory.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth*sizeof(int16_t).
-/// \n\b WARNING: should be multiple of 8, and at least as much as
-/// srcWidth*sizeof(int16_t) if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterCorrNxNu8s16( const int8_t* __restrict kernel,
- uint32_t N,
- int8_t shift,
- const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int16_t* __restrict dst,
- uint32_t dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// NxN correlation with non-separable kernel.
-/// Border values are ignored in this function. The filling of dst starts
-/// at (N/2,N/2) and ends at (srcWidth-1-N/2,srcHeight-1-N/2).
-/// \n\b NOTE: The border is N/2 wide pixel strips at top, bottom, left and right of image.
-///
-/// @param kernel
-/// 2-D NxN kernel of int8_t.
-///
-/// @param N
-/// Dimension of kernel.
-///
-/// @param shift
-/// The right shift count used to normalize output. Shift can be considered as Q factor of kernel.
-///
-/// @param src
-/// Input image of unit8_t. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Src image stride, stride of image is the number of bytes between column 0 of
-/// row 1 and column 0 of row 2 in data memory.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output correlation. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride, stride of image is the number of bytes between column 0 of
-/// row 1 and column 0 of row 2 in data memory.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as
-/// srcWidth if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterCorrNxNu8( const int8_t* __restrict kernel,
- uint32_t N,
- int8_t shift,
- const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// 9x9 correlation with separable kernel.
-/// If src and dst point to the same address, it will do in-place.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterCorrSep9x9s16_v2(). In the 2.0.0 release,
-/// fcvFilterCorrSep9x9s16_v2 will be renamed to fcvFilterCorrSep9x9s16
-/// and the signature of fcvFilterCorrSep9x9s16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param kernel
-/// 1-D kernel in Q15.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src
-/// Input image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-/// \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param tmp
-/// Temporary image buffer used internally.
-/// Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dst
-/// Output correlation. Border values are ignored in this function.
-/// Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSep9x9s16( const int16_t* __restrict kernel,
- const int16_t* src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- int16_t* __restrict tmp,
- int16_t* dst );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// 9x9 FIR filter (convolution) with seperable kernel.
-/// If srcImg and dstImg point to the same address
-/// and srcStride equals to dstStride, it will do in-place.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterCorrSep9x9s16() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterCorrSep9x9s16,
-/// \a fcvFilterCorrSep9x9s16_v2 will be removed, and the current signature
-/// for \a fcvFilterCorrSep9x9s16 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterCorrSep9x9s16 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param kernel
-/// 1-D kernel.
-///
-/// @param srcImg
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-/// Image tile width.
-///
-/// @param srcHeight
-/// Image tile height.
-///
-/// @param srcStride
-/// source Image width
-///
-/// @param tmpImg
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-/// Output correlation. Border values are ignored in this function.
-/// Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: Size = width * heigth
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-/// dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCorrSep9x9s16_v2( const int16_t* __restrict kernel,
- const int16_t* srcImg,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict tmpImg,
- int16_t* dstImg,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// 11x11 correlation with separable kernel.
-/// If src and dst point to the same address, it will do in-place.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterCorrSep11x11s16_v2(). In the 2.0.0 release,
-/// fcvFilterCorrSep11x11s16_v2 will be renamed to fcvFilterCorrSep11x11s16
-/// and the signature of fcvFilterCorrSep11x11s16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param kernel
-/// 1-D kernel.
-/// \n\b NOTE: array must be >=12 elements with kernel[11]=0
-/// \n\b WARNING: should be 128-bit aligned.
-/// \n\b NOTE: Normalized to Q1.15
-///
-/// @param src
-/// Input image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-/// \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param tmpImg
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dst
-/// Output correlation. Border values are ignored in this function.
-/// Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSep11x11s16( const int16_t* __restrict kernel,
- const int16_t* src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- int16_t* __restrict tmpImg,
- int16_t* dst );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// 11x11 FIR filter (convolution) with seperable kernel.
-/// If srcImg and dstImg point to the same address
-/// and srcStride equals to dstStride, it will do in-place.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterCorrSep11x11s16() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterCorrSep11x11s16,
-/// \a fcvFilterCorrSep11x11s16_v2 will be removed, and the current signature
-/// for \a fcvFilterCorrSep11x11s16 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterCorrSep11x11s16 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param kernel
-/// 1-D kernel.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcImg
-/// Input image. Size of buffer is srStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-/// Image tile width.
-/// \n\b WARNING: should be multiple of 8.
-/// \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-/// Image tile height.
-///
-/// @param srcStride
-/// source Image width
-///
-/// @param tmpImg
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-/// Output correlation. Border values are ignored in this function.
-/// \n\b NOTE: Size = dstStride * srcHeigth
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-/// dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCorrSep11x11s16_v2( const int16_t* __restrict kernel,
- const int16_t* srcImg,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict tmpImg,
- int16_t* dstImg,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// 13x13 correlation with separable kernel.
-/// If src and dst point to the same address, it will do in-place.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterCorrSep13x13s16_v2(). In the 2.0.0 release,
-/// fcvFilterCorrSep13x13s16_v2 will be renamed to fcvFilterCorrSep13x13s16
-/// and the signature of fcvFilterCorrSep13x13s16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param kernel
-/// 1-D kernel.
-/// \n\b NOTE: Normalized to Q1.15
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src
-/// Input image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-/// \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param tmpImg
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dst
-/// Output correlation. Border values are ignored in this function.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSep13x13s16( const int16_t* __restrict kernel,
- const int16_t* src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- int16_t* __restrict tmpImg,
- int16_t* dst );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// 13x13 FIR filter (convolution) with seperable kernel.
-/// If srcImg and dstImg point to the same address
-/// and srcStride equals to dstStride, it will do in-place.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterCorrSep13x13s16() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterCorrSep13x13s16,
-/// \a fcvFilterCorrSep13x13s16_v2 will be removed, and the current signature
-/// for \a fcvFilterCorrSep13x13s16 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterCorrSep13x13s16 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param kernel
-/// 1-D kernel.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcImg
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-/// Image tile width.
-/// \n\b WARNING: should be multiple of 8.
-/// \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-/// Image tile height.
-///
-/// @param srcStride
-/// source Image width
-///
-/// @param tmpImg
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-/// Output correlation. Border values are ignored in this function.
-/// \n\b NOTE: Size = dstStride * srcHeigth
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-/// dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCorrSep13x13s16_v2( const int16_t* __restrict kernel,
- const int16_t* srcImg,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict tmpImg,
- int16_t* dstImg,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// 15x15 correlation with separable kernel.
-/// If src and dst point to the same address, it will do in-place.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterCorrSep15x15s16_v2(). In the 2.0.0 release,
-/// fcvFilterCorrSep15x15s16_v2 will be renamed to fcvFilterCorrSep15x15s16
-/// and the signature of fcvFilterCorrSep15x15s16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param kernel
-/// 1-D kernel.
-/// \n\b NOTE: array must be 16 elements with kernel[15]=0
-/// \n\b NOTE: Normalized to Q1.15
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param src
-/// Input image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-/// \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param tmpImg
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Must be same size as src
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dst
-/// Output correlation. Border values are ignored in this function.
-/// \n\b NOTE: Must be same size as src
-/// \n\b NOTE: data should be 128-bit aligned
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSep15x15s16( const int16_t* __restrict kernel,
- const int16_t* src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- int16_t* __restrict tmpImg,
- int16_t* dst );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// 15x15 FIR filter (convolution) with seperable kernel.
-/// If srcImg and dstImg point to the same address
-/// and srcStride equals to dstStride, it will do in-place.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterCorrSep15x15s16() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterCorrSep15x15s16,
-/// \a fcvFilterCorrSep15x15s16_v2 will be removed, and the current signature
-/// for \a fcvFilterCorrSep15x15s16 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterCorrSep15x15s16 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param kernel
-/// 1-D kernel.
-/// \n\b NOTE: array must be 16 elements with kernel[15]=0
-/// \n\b NOTE: Normalized to Q1.15
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcImg
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-/// Image tile width.
-/// \n\b WARNING: should be multiple of 8.
-/// \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-/// Image tile height.
-///
-/// @param srcStride
-/// source Image width
-///
-/// @param tmpImg
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-/// Output correlation. Border values are ignored in this function.
-/// \n\b NOTE: Size = dstStride * srcHeigth
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-/// dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCorrSep15x15s16_v2( const int16_t* __restrict kernel,
- const int16_t* srcImg,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict tmpImg,
- int16_t* dstImg,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// 17x17 correlation with separable kernel.
-/// If src and dst point to the same address, it will do in-place.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterCorrSep17x17s16_v2(). In the 2.0.0 release,
-/// fcvFilterCorrSep17x17s16_v2 will be renamed to fcvFilterCorrSep17x17s16
-/// and the signature of fcvFilterCorrSep17x17s16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param kernel
-/// 1-D kernel.
-/// \n\b NOTE: Normalized to Q1.15
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src
-/// Input image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-/// \n\b WARNING: must be > 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param tmpImg
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dst
-/// Output correlation.. Border values are ignored in this function.
-/// \n\b NOTE: Must be same size as src
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSep17x17s16( const int16_t* __restrict kernel,
- const int16_t* src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- int16_t* __restrict tmpImg,
- int16_t* dst );
-
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// 17x17 FIR filter (convolution) with seperable kernel.
-/// If srcImg and dstImg point to the same address
-/// and srcStride equals to dstStride, it will do in-place.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterCorrSep17x17s16() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterCorrSep17x17s16,
-/// \a fcvFilterCorrSep17x17s16_v2 will be removed, and the current signature
-/// for \a fcvFilterCorrSep17x17s16 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterCorrSep17x17s16 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param kernel
-/// 1-D kernel.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcImg
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-/// Image tile width.
-///
-/// @param srcHeight
-/// Image tile height.
-///
-/// @param srcStride
-/// source Image width
-///
-/// @param tmpImg
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-/// Output correlation. Border values are ignored in this function.
-/// \n\b NOTE: Size = dstStride * srcHeigth
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-/// dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterCorrSep17x17s16_v2( const int16_t* __restrict kernel,
- const int16_t* srcImg,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict tmpImg,
- int16_t* dstImg,
- unsigned int dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// NxN correlation with separable kernel.
-/// If srcImg and dstImg point to the same address
-/// and srcStride equals to dstStride, it will do in-place.
-///
-/// @param kernel
-/// 1-D kernel.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param knlSize
-/// Seperable kernel size.
-///
-/// @param srcImg
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-/// Image tile width.
-///
-/// @param srcHeight
-/// Image tile height.
-///
-/// @param srcStride
-/// source Image width
-///
-/// @param tmpImg
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstImg
-/// Output correlation. Border values are ignored in this function.
-/// \n\b NOTE: Size = dstStride * srcHeigth
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-/// dst Image width
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterCorrSepNxNs16( const int16_t* __restrict kernel,
- int knlSize,
- const int16_t* srcImg,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict tmpImg,
- int16_t* dstImg,
- unsigned int dstStride );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// MxN correlation with separable kernel.
-///
-/// @param kernelX
-/// 1-D kernel of int8_t. The kernel is first applied to rows.
-/// kernelX has Q factor equal to shift.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param knlSizeX
-/// Seperable kernel size of kernelX.
-/// \n\b NOTE: kenrelX must be <= 32.
-///
-/// @param kernelY
-/// 1-D kernel of int8_t. The kernel is applied to columns after kernelX
-/// is applied. It could be the same buffer as kernelX which makes it a
-/// NxN symetric kernel.
-/// kernelY has Q factor equal to shift.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param knlSizeY
-/// Seperable kernel size of kernelY.
-///
-/// @param shift
-/// The Q factor of kernels. Output is right-shifted by 2*shift to compensate for two rounds of filtering
-///
-/// @param srcImg
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Src image stride, stride of image is the number of bytes between column 0 of
-/// row 1 and column 0 of row 2 in data memory.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dstImg
-/// Output correlation. Can do in-place filtering (i.e. dstImg=srcImg).
-/// \n\b NOTE: Size = dstStride * srcHeigth
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @param dstStride
-/// Output stride, stride of image is the number of bytes between column 0 of
-/// row 1 and column 0 of row 2 in data memory.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterCorrSepMxNu8( const int8_t* kernelX,
- uint32_t knlSizeX,
- const int8_t* kernelY,
- uint32_t knlSizeY,
- int8_t shift,
- const uint8_t* srcImg,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* dstImg,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Calculates the mean and variance of intensities of a rectangle in a
-/// grayscale image.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageIntensityStats_v2(). In the 2.0.0 release,
-/// fcvImageIntensityStats_v2 will be renamed to fcvImageIntensityStats
-/// and the signature of fcvImageIntensityStats as it appears now,
-/// will be removed.
-/// This API is the same as fcvImageIntensityStats_v2 with
-/// FASTCV_UNBIASED_VARIANCE_ESTIMATOR
-/// \n\n
-///
-/// @param src
-/// pointer to 8-bit grayscale image
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of source image
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param xBegin
-/// x coordinate of top left of rectangle
-///
-/// @param yBegin
-/// y coordinate of top left of rectangle
-///
-/// @param recWidth
-/// width of rectangular region
-///
-/// @param recHeight
-/// height of rectangular region
-///
-/// @param mean
-/// output of mean of region
-///
-/// @param variance
-/// output of variance of region
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageIntensityStats( const uint8_t* __restrict src,
- unsigned int srcWidth,
- int xBegin,
- int yBegin,
- unsigned int recWidth,
- unsigned int recHeight,
- float* mean,
- float* variance );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Calculates the mean and variance of intensities of a rectangle in a
-/// grayscale image.
-///
-/// @param src
-/// pointer to 8-bit grayscale image
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of source image
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param xBegin
-/// x coordinate of top left of rectangle
-///
-/// @param yBegin
-/// y coordinate of top left of rectangle
-///
-/// @param recWidth
-/// width of rectangular region
-///
-/// @param recHeight
-/// height of rectangular region
-///
-/// @param mean
-/// output of mean of region
-///
-/// @param variance
-/// output of variance of region
-///
-/// @param varianceEstimator
-/// variance estimator
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvImageIntensityStats_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- int xBegin,
- int yBegin,
- uint32_t recWidth,
- uint32_t recHeight,
- float32_t* mean,
- float32_t* variance,
- fcvVarianceEstimator varianceEstimator);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a histogram of intensities for a rectangular region of a grayscale
-/// image. Bins each pixel into a histogram of size 256, depending on the
-/// intensity of the pixel (in the range 0 to 255).
-///
-/// @details
-///
-/// @param src
-/// pointer to 8-bit grayscale image
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of source image
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param xBegin
-/// x coordinate of top left of rectangle
-///
-/// @param yBegin
-/// y coordinate of top left of rectangle
-///
-/// @param recWidth
-/// Width of rectangular region
-///
-/// @param recHeight
-/// Height of rectangular region
-///
-/// @param histogram
-/// Array of size 256 for storing the histogram
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageIntensityHistogram( const uint8_t* __restrict src,
- unsigned int srcWidth,
- int xBegin,
- int yBegin,
- unsigned int recWidth,
- unsigned int recHeight,
- int32_t* histogram );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Builds an integral image of the incoming 8-bit image and adds an
-/// unfilled border on top and to the left.
-/// \n NOTE: border usually zero filled elsewhere.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvIntegratePatchu8_v2(). In the 2.0.0 release,
-/// fcvIntegratePatchu8_v2 will be renamed to fcvIntegratePatchu8
-/// and the signature of fcvIntegratePatchu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// sum (X,Y) = sum_{x (patchW+1)(patchH+1)
-///
-/// @param intgrlSqrdImgOut
-/// Integral image of squared values.
-/// \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatchu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- int patchX,
- int patchY,
- unsigned int patchW,
- unsigned int patchH,
- uint32_t* __restrict intgrlImgOut,
- uint32_t* __restrict intgrlSqrdImgOut );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Builds an integral image of the incoming 8-bit patch values and their
-/// squares and adds an unfilled border on top and to the left.
-/// \n NOTE: border usually zero filled elsewhere.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvIntegratePatchu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvIntegratePatchu8,
-/// \a fcvIntegratePatchu8_v2 will be removed, and the current signature
-/// for \a fcvIntegratePatchu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvIntegratePatchu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// sum (X,Y) = sum_{x (patchW+1)(patchH+1)
-///
-/// @param intgrlSqrdImgOut
-/// Integral image of squared values.
-/// \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatchu8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int patchX,
- int patchY,
- unsigned int patchW,
- unsigned int patchH,
- uint32_t* __restrict intgrlImgOut,
- uint32_t* __restrict intgrlSqrdImgOut );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Builds an integral image of the incoming 8-bit patch values and their
-/// squares and adds an unfilled border on top and to the left.
-/// \n NOTE: border usually zero filled elsewhere.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvIntegratePatchu8() and fcvIntegratePatchu8_v2() with the addition of
-/// extra parameters. This function has been added to allow for backward
-/// compatibility with the original function. When the 2.0.0 release of this
-/// library is made, this function will be renamed to: \a fcvIntegratePatchu8,
-/// \a fcvIntegratePatchu8_v2 and fcvIntegratePatchu8_v3 will be removed, and
-/// the current signature for \a fcvIntegratePatchu8 and fcvIntegratePatchu8_v2
-/// will be removed. Until 2.0.0, the developer should use this implementation
-/// with the expectation of renaming it to \a fcvIntegratePatchu8 when
-/// transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// sum (X,Y) = sum_{x (patchW+1)(patchH+1)
-///
-/// @param intgrlStride
-/// Stride in bytes of the Integral Image
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param intgrlSqrdImgOut
-/// Integral image of squared values.
-/// \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
-///
-/// @param intgrlSqrdStride
-/// Stride in bytes of the Squared Integral Image
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvIntegratePatchu8_v3(const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t patchX,
- uint32_t patchY,
- uint32_t patchW,
- uint32_t patchH,
- uint32_t* __restrict intgrlImgOut,
- uint32_t intgrlStride,
- uint32_t* __restrict intgrlSqrdImgOut,
- uint32_t intgrlSqrdStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Builds an integral image of the incoming 12x12 8-bit patch values and
-/// their squares. It also adds an unfilled border on top and to the left.
-/// \n NOTE: border usually zero filled elsewhere.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvIntegratePatch12x12u8_v2(). In the 2.0.0 release,
-/// fcvIntegratePatch12x12u8_v2 will be renamed to fcvIntegratePatch12x12u8
-/// and the signature of fcvIntegratePatch12x12u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// sum (X,Y) = sum_{x (12+1)(12+1)
-///
-/// @param intgrlSqrdImgOut
-/// Integral image of squared values.
-/// \n\b NOTE: Memory must be > (12+1)(12+1)
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatch12x12u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- int patchX,
- int patchY,
- uint32_t* __restrict intgrlImgOut,
- uint32_t* __restrict intgrlSqrdImgOut );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Builds an integral image of the incoming 12x12 8-bit patch values and
-/// their squares. It also adds an unfilled border on top and to the left.
-/// \n NOTE: border usually zero filled elsewhere.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvIntegratePatch12x12u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvIntegratePatch12x12u8,
-/// \a fcvIntegratePatch12x12u8_v2 will be removed, and the current signature
-/// for \a fcvIntegratePatch12x12u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvIntegratePatch12x12u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// sum (X,Y) = sum_{x (12+1)(12+1)
-///
-/// @param intgrlSqrdImgOut
-/// Integral image of squared values.
-/// \n\b NOTE: Memory must be > (12+1)(12+1)
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatch12x12u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int patchX,
- int patchY,
- uint32_t* __restrict intgrlImgOut,
- uint32_t* __restrict intgrlSqrdImgOut );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Builds an integral image of the incoming 18x18 8-bit patch values and
-/// their squares. It also adds an unfilled border on top and to the left.
-/// \n NOTE: border usually zero filled elsewhere.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvIntegratePatch18x18u8_v2(). In the 2.0.0 release,
-/// fcvIntegratePatch18x18u8_v2 will be renamed to fcvIntegratePatch18x18u8
-/// and the signature of fcvIntegratePatch18x18u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// sum (X,Y) = sum_{x (18+1)(18+1)
-///
-/// @param intgrlSqrdImgOut
-/// Integral image of squared values.
-/// \n\b NOTE: Memory must be > (18+1)(18+1)
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatch18x18u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- int patchX,
- int patchY,
- uint32_t* __restrict intgrlImgOut,
- uint32_t* __restrict intgrlSqrdImgOut );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Builds an integral image of the incoming 18x18 8-bit patch values and
-/// their squares. It also adds an unfilled border on top and to the left.
-/// \n NOTE: border usually zero filled elsewhere.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvIntegratePatch18x18u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvIntegratePatch18x18u8,
-/// \a fcvIntegratePatch18x18u8_v2 will be removed, and the current signature
-/// for \a fcvIntegratePatch18x18u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvIntegratePatch18x18u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// sum (X,Y) = sum_{x (18+1)(18+1)
-///
-/// @param intgrlSqrdImgOut
-/// Integral image of squared values.
-/// \n\b NOTE: Memory must be > (18+1)(18+1)
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegratePatch18x18u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int patchX,
- int patchY,
- uint32_t* __restrict intgrlImgOut,
- uint32_t* __restrict intgrlSqrdImgOut );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Integrates one line of an image or any portion of an image that is
-/// contiguous in memory.
-///
-/// @param src
-/// Input image. Size of buffer is srcWidth bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Number of pixels.
-/// \n NOTE: bit width enforces numPxls < 2^16
-///
-/// @param intgrl
-/// Sum of values from specified pixels.
-///
-/// @param intgrlSqrd
-/// Sum of squared values from specified pixels.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegrateImageLineu8( const uint8_t* __restrict src,
- uint16_t srcWidth,
- uint32_t* intgrl,
- uint32_t* intgrlSqrd );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Integrates 64 contiguous pixels of an image.
-///
-/// @param src
-/// Input image.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param intgrl
-/// Sum of values from specified pixels.
-///
-/// @param intgrlSqrd
-/// Sum of squared values from specified pixels.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegrateImageLine64u8( const uint8_t* __restrict src,
- uint16_t* intgrl,
- uint32_t* intgrlSqrd );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// compute approximate mean and variance for the range of NFT4 float
-/// descriptors where descriptor elements along dimension are treated
-/// as random vars
-///
-/// @param src
-/// contiguous block of descriptors of dimension 36
-///
-/// @param first
-/// index of the first descriptor in range array vind for computing mean and var
-///
-/// @param last
-/// index of the last descriptor in range array vind for computing mean and range
-///
-/// @param vind
-/// array of randomized indexes of descriptors
-///
-/// @param means
-/// buffer for approximate means, must be 36 long
-///
-/// @param vars
-/// buffer for approximate variances, must be 36 long
-///
-/// @param temp
-/// bufffer, must be 46 long
-///
-/// @return
-/// 0 - success
-/// EFAULT - invalid address
-/// EINVAL - invalid argument
-///
-/// @remark
-/// If descriptor range is > 100 then only
-/// 100 samples are drawn from the range to compute
-/// approximate means and variances.
-///
-/// Variances computed here do not have to be true variances because their
-/// values do not matter in kdtrees. The only thing that matters is that
-/// the ordering relation of variances is preserved
-///
-///
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvDescriptorSampledMeanAndVar36f32( const float* __restrict src,
- int first,
- int last,
- int32_t* vind,
- float* __restrict means,
- float* __restrict vars,
- float* __restrict temp );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Searches a 8x8 patch within radius around a center pixel for the max NCC.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvNCCPatchOnCircle8x8u8_v2(). In the 2.0.0 release,
-/// fcvNCCPatchOnCircle8x8u8_v2 will be renamed to fcvNCCPatchOnCircle8x8u8
-/// and the signature of fcvNCCPatchOnCircle8x8u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param patch
-/// Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param src
-/// Pointer to 8-bit image pixel values linearly laid out in memory.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width in pixels of the image.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height in pixels of the image.
-///
-/// @param search_center_x
-/// X location of search center in pixels of the image.
-///
-/// @param search_center_y
-/// Y location of search center in pixels of the image.
-///
-/// @param search_radius
-/// Radius of search in pixels. Must be <=5.
-///
-/// @param best_x
-/// Center X location on the image of the best NCC match. The center X has
-/// 4 pixels to the left and 3 to the right.
-///
-/// @param best_y
-/// Center Y location on the image of the best NCC match. The center Y has
-/// 4 pixels above and 3 pixels below.
-///
-/// @param bestNCC
-/// Largest value of the normalized cross-correlation found in the NCC search.
-/// It's quantized to integer value in Q7 (between -128 and 128).
-///
-/// @param findSubPixel (0 or 1)
-/// Use parabolic interpolation of NCC values to find sub-pixel estimates.
-///
-/// @param subX
-/// Sub-pixel estimate for optimal NCC relative to best_x.
-/// \n e.g., float x = (float)best_x + subX;
-///
-/// @param subY
-/// Sub-pixel estimate for optimal NCC relative to best_y.
-///
-/// @return
-/// 0 = OK \n
-/// 1 = "search_radius" too large\n
-/// 2 = invalid "search_center_x,y"\n
-/// 3 = not found\n
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvNCCPatchOnCircle8x8u8( const uint8_t* __restrict patch,
- const uint8_t* __restrict src,
- unsigned short srcWidth,
- unsigned short srcHeight,
- unsigned short search_center_x,
- unsigned short search_center_y,
- unsigned short search_radius,
- uint16_t* best_x,
- uint16_t* best_y,
- uint32_t* bestNCC,
- int findSubPixel,
- float* subX,
- float* subY );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Searches a 8x8 patch within radius around a center pixel for the max NCC.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvNCCPatchOnCircle8x8u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvNCCPatchOnCircle8x8u8,
-/// \a fcvNCCPatchOnCircle8x8u8_v2 will be removed, and the current signature
-/// for \a fcvNCCPatchOnCircle8x8u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvNCCPatchOnCircle8x8u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param patch
-/// Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param src
-/// Pointer to 8-bit image pixel values linearly laid out in memory.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width in pixels of the image.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height in pixels of the image.
-///
-/// @param search_center_x
-/// X location of search center in pixels of the image.
-///
-/// @param search_center_y
-/// Y location of search center in pixels of the image.
-///
-/// @param search_radius
-/// Radius of search in pixels. Must be <=5.
-///
-/// @param filterLowVariance
-/// Minimum variance. Used to as threshold to compare against variance of
-/// 8x8 block of src or patch.
-///
-/// @param best_x
-/// Center X location on the image of the best NCC match. The center X has
-/// 4 pixels to the left and 3 to the right.
-///
-/// @param best_y
-/// Center Y location on the image of the best NCC match. The center Y has
-/// 4 pixels above and 3 pixels below.
-///
-/// @param bestNCC
-/// Largest value of the normalized cross-correlation found in the NCC search.
-/// It's quantized to integer value in Q7 (between -128 and 128).
-///
-/// @param findSubPixel (0 or 1)
-/// Use parabolic interpolation of NCC values to find sub-pixel estimates.
-///
-/// @param subX
-/// Sub-pixel estimate for optimal NCC relative to best_x.
-/// \n e.g., float x = (float)best_x + subX;
-///
-/// @param subY
-/// Sub-pixel estimate for optimal NCC relative to best_y.
-///
-/// @return
-/// 0 = OK \n
-/// 1 = "search_radius" too large\n
-/// 2 = invalid "search_center_x,y"\n
-/// 3 = not found\n
-/// 4 = Patch has too low variance\n
-/// 5 = Image region has too low variance\n
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvNCCPatchOnCircle8x8u8_v2( const uint8_t* __restrict patch,
- const uint8_t* __restrict src,
- unsigned short srcWidth,
- unsigned short srcHeight,
- unsigned short search_center_x,
- unsigned short search_center_y,
- unsigned short search_radius,
- int filterLowVariance,
- uint16_t* best_x,
- uint16_t* best_y,
- uint32_t* bestNCC,
- int findSubPixel,
- float* subX,
- float* subY );
-
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Searches a 8x8 patch within square region around a center pixel
-/// for the max NCC.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvNCCPatchOnSquare8x8u8_v2(). In the 2.0.0 release,
-/// fcvNCCPatchOnSquare8x8u8_v2 will be renamed to fcvNCCPatchOnSquare8x8u8
-/// and the signature of fcvNCCPatchOnSquare8x8u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param patch
-/// Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param src
-/// Pointer to 8-bit image pixel values linearly laid out in memory.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width in pixels of the image.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height in pixels of the image.
-///
-/// @param search_center_x
-/// Center X coordinate of the search window
-///
-/// @param search_center_y
-/// Center Y coordinate of the search window
-///
-/// @param search_w
-/// Width of search square in pixels
-/// \n\b WARNING: must be 11 or less.
-///
-/// @param best_x
-/// Center X location on the image of the best NCC match. The center X has
-/// 4 pixels to the left and 3 to the right.
-///
-/// @param best_y
-/// Center Y location on the image of the best NCC match. The center Y has
-/// 4 pixels above and 3 pixels below.
-///
-/// @param bestNCC
-/// NCC value of the best match block.
-/// It's quantized to integer value in Q7 (between -128 and 128).
-///
-/// @param doSubPixel (0 or 1)
-/// Use parabolic interpolation of NCC values to find sub-pixel estimates.
-///
-/// @param subX
-/// Sub-pixel estimate for optimal NCC relative to best_x.
-/// \n e.g., float x = (float)best_x + subX;
-///
-/// @param subY
-/// Sub-pixel estimate for optimal NCC relative to best_y.
-///
-/// @return
-/// 0 = OK \n
-/// 1 = "search_radius" too large\n
-/// 2 = invalid "search_center_x,y"\n
-/// 3 = not found\n
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvNCCPatchOnSquare8x8u8( const uint8_t* __restrict patch,
- const uint8_t* __restrict src,
- unsigned short srcWidth,
- unsigned short srcHeight,
- unsigned short search_center_x,
- unsigned short search_center_y,
- unsigned short search_w,
- uint16_t* best_x,
- uint16_t* best_y,
- uint32_t* bestNCC,
- int doSubPixel,
- float* subX,
- float* subY );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Searches a 8x8 patch within square region around a center pixel
-/// for the max NCC.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvNCCPatchOnSquare8x8u8 with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvNCCPatchOnSquare8x8u8,
-/// \a fcvNCCPatchOnSquare8x8u8_v2 will be removed, and the current signature
-/// for \a fcvNCCPatchOnSquare8x8u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvNCCPatchOnSquare8x8u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param patch
-/// Pointer to 8-bit patch pixel values linearly laid out in memory.
-///
-/// @param src
-/// Pointer to 8-bit image pixel values linearly laid out in memory.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width in pixels of the image.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height in pixels of the image.
-///
-/// @param search_center_x
-/// Center X coordinate of the search window
-///
-/// @param search_center_y
-/// Center Y coordinate of the search window
-///
-/// @param search_w
-/// Width of search square in pixels
-/// \n\b WARNING: must be 11 or less.
-///
-/// @param filterLowVariance
-/// Minimum variance. Used to as threshold to compare against variance of
-/// 8x8 block of src or patch.
-///
-/// @param best_x
-/// Center X location on the image of the best NCC match. The center X has
-/// 4 pixels to the left and 3 to the right.
-///
-/// @param best_y
-/// Center Y location on the image of the best NCC match. The center Y has
-/// 4 pixels above and 3 pixels below.
-///
-/// @param bestNCC
-/// NCC value of the best match block.
-/// It's quantized to integer value in Q7 (between -128 and 128).
-///
-/// @param doSubPixel (0 or 1)
-/// Use parabolic interpolation of NCC values to find sub-pixel estimates.
-///
-/// @param subX
-/// Sub-pixel estimate for optimal NCC relative to best_x.
-/// \n e.g., float x = (float)best_x + subX;
-///
-/// @param subY
-/// Sub-pixel estimate for optimal NCC relative to best_y.
-///
-/// @return
-/// 0 = OK \n
-/// 1 = "search_radius" too large\n
-/// 2 = invalid "search_center_x,y"\n
-/// 3 = not found\n
-/// 4 = Patch has too low variance\n
-/// 5 = Image region has too low variance\n
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvNCCPatchOnSquare8x8u8_v2( const uint8_t* __restrict patch,
- const uint8_t* __restrict src,
- unsigned short srcWidth,
- unsigned short srcHeight,
- unsigned short search_center_x,
- unsigned short search_center_y,
- unsigned short search_w,
- int filterLowVariance,
- uint16_t* best_x,
- uint16_t* best_y,
- uint32_t* bestNCC,
- int doSubPixel,
- float* subX,
- float* subY );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sum of absolute differences of an image against an 8x8 template.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvSumOfAbsoluteDiffs8x8u8_v2(). In the 2.0.0 release,
-/// fcvSumOfAbsoluteDiffs8x8u8_v2 will be renamed to fcvSumOfAbsoluteDiffs8x8u8
-/// and the signature of fcvSumOfAbsoluteDiffs8x8u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// 8x8 sum of ||A-B||. The template patch is swept over the entire image and
-/// the results are put in dst.
-///
-/// @param patch
-/// 8x8 template
-///
-/// @param src
-/// Reference Image.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the src image.
-///
-/// @param srcHeight
-/// Height of the src image.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param dst
-/// The dst buffer shall be width X height bytes in length.
-/// Output of SAD(A,B). dst[4][4] correspondes to the 0,0 pixel of the template
-/// aligned with the 0,0 pixel of src. The dst border values not covered by
-/// entire 8x8 patch window will remain unmodified by the function. The caller
-/// should either initialize these to 0 or ignore.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfAbsoluteDiffs8x8u8( const uint8_t* __restrict patch,
- const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint16_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sum of absolute differences of an image against an 8x8 template.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvSumOfAbsoluteDiffs8x8u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvSumOfAbsoluteDiffs8x8u8,
-/// \a fcvSumOfAbsoluteDiffs8x8u8_v2 will be removed, and the current signature
-/// for \a fcvSumOfAbsoluteDiffs8x8u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvSumOfAbsoluteDiffs8x8u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// 8x8 sum of ||A-B||. The template patch is swept over the entire image and
-/// the results are put in dst.
-///
-/// @param patch
-/// 8x8 template
-///
-/// @param patchStride
-/// Stride of the 8x8 template buffer
-///
-/// @param dstStride
-/// Stride of the patch (in bytes) - i.e., how many bytes between column 0 of row N
-/// and column 0 of row N+1.
-///
-/// @param src
-/// Reference Image.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the src image.
-///
-/// @param srcHeight
-/// Height of the src image.
-///
-/// @param srcStride
-/// Stride of image (in bytes) - i.e., how many bytes between column 0 of row N
-/// and column 0 of row N+1.
-///
-/// @param dst
-/// The dst buffer shall be at least ( width x height ) values in length.
-/// Output of SAD(A,B). dst[4][4]correspondes to the 0,0 pixel of the template
-/// aligned with the 0,0 pixel of src. The dst border values not covered by
-/// entire 8x8 patch window will remain unmodified by the function. The caller
-/// should either initialize these to 0 or ignore.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of destination (in bytes) - i.e., how many bytes between column 0 of row N
-/// and column 0 of row N+1.
-///
-///
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfAbsoluteDiffs8x8u8_v2( const uint8_t* __restrict patch,
- unsigned int patchStride,
- const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint16_t* __restrict dst,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Down-scale the image to half width and height by averaging 2x2 pixels
-/// into one.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvScaleDownBy2u8_v2(). In the 2.0.0 release,
-/// fcvScaleDownBy2u8_v2 will be renamed to fcvScaleDownBy2u8
-/// and the signature of fcvScaleDownBy2u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// A box filter downsampling the next pixel, the pixel below, and the next
-/// pixel to the pixel below into one pixel.\n
-/// | px00 px01 px02 px03 |\n
-/// | px10 px11 px12 px13 |\n
-/// to:\n
-/// | (px00+px01+px10+px11)/4 (px02+px03+px12+px13)/4 |\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-/// \n\b NOTE:must be a multiple of 2
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is srcWidth*srcHeight/4 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDownBy2u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Down-scale the image to half width and height by averaging 2x2 pixels
-/// into one.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvScaleDownBy2u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvScaleDownBy2u8,
-/// \a fcvScaleDownBy2u8_v2 will be removed, and the current signature
-/// for \a fcvScaleDownBy2u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvScaleDownBy2u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// A box filter downsampling the next pixel, the pixel below, and the next
-/// pixel to the pixel below into one pixel.\n
-/// | px00 px01 px02 px03 |\n
-/// | px10 px11 px12 px13 |\n
-/// to:\n
-/// | (px00+px01+px10+px11)/4 (px02+px03+px12+px13)/4 |\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-/// \n\b NOTE:must be a multiple of 2
-///
-/// @param srcStride
-/// Image stride (in bytes).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight/2 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as srcWidth/2.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth/2 if not 0.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDownBy2u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Downscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvScaleDownBy2Gaussian5x5u8_v2(). In the 2.0.0 release,
-/// fcvScaleDownBy2Gaussian5x5u8_v2 will be renamed to fcvScaleDownBy2Gaussian5x5u8
-/// and the signature of fcvScaleDownBy2Gaussian5x5u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Downsamples the image using a 5x5 Gaussian filter kernel.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-/// \n\b NOTE:must be a multiple of 2
-///
-/// @param dst
-/// Output 8-bit downscale image of size (width / 2) x (height / 2).
-/// \n\b NOTE: border values have been taken cared w.r.t. the pixel coordinate.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownBy2Gaussian5x5u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Downscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvScaleDownBy2Gaussian5x5u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvScaleDownBy2Gaussian5x5u8,
-/// \a fcvScaleDownBy2Gaussian5x5u8_v2 will be removed, and the current signature
-/// for \a fcvScaleDownBy2Gaussian5x5u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvScaleDownBy2Gaussian5x5u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Downsamples the image using a 5x5 Gaussian filter kernel.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride (in bytes).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit downscale image of size (width / 2) x (height / 2).
-/// \n\b NOTE: border values have been taken cared w.r.t. the pixel coordinate.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as srcWidth/2.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth/2 if not 0.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownBy2Gaussian5x5u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Downscale the image to quarter width and height by averaging 4x4 pixels
-/// into one..
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvScaleDownBy4u8_v2(). In the 2.0.0 release,
-/// fcvScaleDownBy4u8_v2 will be renamed to fcvScaleDownBy4u8
-/// and the signature of fcvScaleDownBy4u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// A 4x4 downsampling box filter across adjacent pixels is applied.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-/// \n\b NOTE:must be a multiple of 4
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is srcWidth*srcHeight/16 bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDownBy4u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Downscale the image to quarter width and height by averaging 4x4 pixels
-/// into one..
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvScaleDownBy4u8_v2() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvScaleDownBy4u8_v2,
-/// \a fcvScaleDownBy4u8_v2 will be removed, and the current signature
-/// for \a fcvScaleDownBy4u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvScaleDownBy4u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// A 4x4 downsampling box filter across adjacent pixels is applied.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-/// \n\b NOTE:must be a multiple of 4
-///
-/// @param srcStride
-/// Image stride (in bytes).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight/4 bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as srcWidth/4.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth/4 if not 0.
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDownBy4u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Downscale the image to 2/3 width and height by averaging 3x3 pixels
-/// into one..
-///
-/// @details
-/// A 3x3 downsampling box filter across adjacent pixels is applied.
-///
-/// @param src
-/// Input 8-bit image.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: In case of non multiple of 3, it will crop to the closest multiple of 3
-///
-/// @param srcHeight
-/// Image height.
-/// \n\b NOTE: In case of non multiple of 3, it will crop to the closest multiple of 3
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2). If 0 is passed, srcStride is set to srcWidth.
-///
-/// @param dst
-/// Output 8-bit image.
-/// \n\b WARNING: should be 128-bit aligned.
-/// Memory must be pre-allocated at least srcWidth * srcHeight * 2 / 3
-/// dstWidth = srcWidth/3*2
-/// dstHeight = srcHeight/3*2
-///
-/// @param dstStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2). If 0 is passed, dstStride is set to dstWidth which is srcWidth *2/3.
-///
-/// @return
-/// 0 if successful
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDown3To2u8( const uint8_t* __restrict src,
- unsigned srcWidth,
- unsigned srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Downsample Horizontaly and/or Vertically by an *integer* scale.
-///
-/// @details
-/// Uses Nearest Neighbor method
-///
-/// @param src
-/// Input 8-bit image.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Source Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Source Image height.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2). If 0 is passed, srcStride is set to srcWidth.
-///
-/// @param dst
-/// Output 8-bit image.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Destination Image width.
-///
-/// @param dstHeight
-/// Destination Image height.
-///
-/// @param dstStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2). If 0 is passed, dstStride is set to dstWidth which is srcWidth *2/3.
-///
-/// @return
-/// 0 if successful
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvScaleDownNNu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstWidth,
- unsigned int dstHeight,
- unsigned int dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Downsample Horizontaly and/or Vertically by an *integer* scale.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvScaleDownu8_v2(). In the 2.0.0 release,
-/// fcvScaleDownu8_v2 will be renamed to fcvScaleDownu8
-/// and the signature of fcvScaleDownu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Uses an box averaging filter of size MxN where M is the scale factor
-/// in horizontal dimension and N is the scale factor in the vertical
-/// dimension.
-/// \n \b NOTE: input dimensions should be multiple of output dimensions.
-/// \n NOTE: On different processors, some output pixel values may be off by 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Source Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Source Image height.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstWidth*dstHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Destination Image width.
-///
-/// @param dstHeight
-/// Destination Image height.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst,
- unsigned int dstWidth,
- unsigned int dstHeight );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Downsample Horizontaly and/or Vertically by an *integer* scale.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvScaleDownu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvScaleDownu8,
-/// \a fcvScaleDownu8_v2 will be removed, and the current signature
-/// for \a fcvScaleDownu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvScaleDownu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Uses an box averaging filter of size MxN where M is the scale factor
-/// in horizontal dimension and N is the scale factor in the vertical
-/// dimension
-/// \n \b NOTE: input dimensions should be multiple of output dimensions.
-/// \n NOTE: On different processors, some output pixel values may be off by 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Source Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Source Image height.
-///
-/// @param srcStride
-/// Image stride (in bytes).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*dstHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Destination Image width.
-///
-/// @param dstHeight
-/// Destination Image height.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownu8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstWidth,
- unsigned int dstHeight,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Upscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvScaleUpBy2Gaussian5x5u8_v2(). In the 2.0.0 release,
-/// fcvScaleUpBy2Gaussian5x5u8_v2 will be renamed to fcvScaleUpBy2Gaussian5x5u8
-/// and the signature of fcvScaleUpBy2Gaussian5x5u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Upsamples the image using a 5x5 Gaussian filter kernel.
-/// /n/b NOTE: border values have been taken care with Gaussion coefficients.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit upsampled image of size (2*width) x (2*height).
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleUpBy2Gaussian5x5u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Upscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvScaleUpBy2Gaussian5x5u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvScaleUpBy2Gaussian5x5u8,
-/// \a fcvScaleUpBy2Gaussian5x5u8_v2 will be removed, and the current signature
-/// for \a fcvScaleUpBy2Gaussian5x5u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvScaleUpBy2Gaussian5x5u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Upsamples the image using a 5x5 Gaussian filter kernel.
-/// /n/b NOTE: border values have been taken care with Gaussion coefficients.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcStride
-/// Image stride (in bytes).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit upsampled image of size (2*dstStride) x (2*srcHeight).
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as srcWidth*2.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth*2 if not 0.
-///
-///
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleUpBy2Gaussian5x5u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Translate to float and normalize 36 8-bit elements
-///
-/// @param src
-/// Pointer to the first input vector
-///
-/// @param invLen
-/// Pointer to inverse length of the first input vector
-/// located right after each 36 element vector
-///
-/// @param numVecs
-/// Number of vectors to translate
-///
-/// @param reqNorm
-/// Required norm
-///
-/// @param srcStride
-/// Step in bytes to data of the next vector
-/// Each vector has 36 8-bit elements and 1 float invLen
-///
-/// @param dst
-/// Pointer to contiguous block for output vectors
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param stopBuild
-/// Allows other threads to break this function in the middle of processing.
-/// When set to 1, the function will exit on the next iteration.
-///
-/// @return
-/// 0 - success
-/// EFAULT - invalid address
-/// EINVAL - invalid argument
-///
-/// @ingroup math_vector
-// -----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvVecNormalize36s8f32( const int8_t* __restrict src,
- unsigned int srcStride,
- const float* __restrict invLen,
- unsigned int numVecs,
- float reqNorm,
- float* __restrict dst,
- int32_t* stopBuild );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Sum of squared differences of one 36-byte vector against 4 others.
-///
-/// @details
-/// SSD of one vector (a) against 4 others (b0,b1,b2,b3) using their given
-/// inverse lengths for normalization.
-/// \n\n SSD(a,b0), SSD(a,b1), SSD(a,b2), SSD(a,b3)
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenA
-/// Inverse of vector A = 1/|A|
-///
-/// @param b0
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b1
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b2
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param b3
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenB
-/// Inverse of vectors b0...b3 = 1/|b0|,... 1/|b3|
-/// \n\b WARNING: array should be 128-bit aligned
-///
-/// @param distances
-/// Output of the 4 results { SSD(a,b0), SSD(a,b1), SSD(a,b2), SSD(a,b3) }.
-/// \n ACCURACY: 1.0e-6
-/// \n\b WARNING: array should be 128-bit aligned
-///
-///
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfSquaredDiffs36x4s8( const int8_t* __restrict a,
- float invLenA,
- const int8_t* __restrict b0,
- const int8_t* __restrict b1,
- const int8_t* __restrict b2,
- const int8_t* __restrict b3,
- const float* __restrict invLenB,
- float* __restrict distances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Sum of squared differences of one 36-byte vector against N others.
-///
-/// @details
-/// SSD of one vector (a) against N other 36-byte vectors
-/// ( b[0], b[1], ..., b[n-1] )
-/// using their given inverse lengths for normalization.
-/// \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenA
-/// Inverse of vector A = 1/|A|
-///
-/// @param b
-/// Vectors b[0]...b[n-1].
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param invLenB
-/// Inverse of vectors b[0]...b[n-1] = 1/|b[0]|,... 1/|b[n-1]|
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param numB
-/// Number of B vectors.
-///
-/// @param distances
-/// Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }.
-/// \n ACCURACY: 1.0e-6
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfSquaredDiffs36xNs8( const int8_t* __restrict a,
- float invLenA,
- const int8_t* const * __restrict b,
- const float* __restrict invLenB,
- unsigned int numB,
- float* __restrict distances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Sorting of 8 float numbers
-///
-/// @details
-/// Perform sorting of 8 scores in ascending order (output of SumOfSquaredDiffs)
-///
-/// @param inScores
-/// Input 8 element float array
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param outScores
-/// Output is 8 element sorted float array
-/// \n\b WARNING: array should be 128-bit aligned
-///
-///
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSort8Scoresf32( float* __restrict inScores, float* __restrict outScores );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Binarizes a grayscale image based on a threshold value.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterThresholdu8_v2(). In the 2.0.0 release,
-/// fcvFilterThresholdu8_v2 will be renamed to fcvFilterThresholdu8
-/// and the signature of fcvFilterThresholdu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Sets the pixel to max(255) if it's value is greater than the threshold;
-/// else, set the pixel to min(0).
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit binarized image. Size of buffer is srcWidth*srcHeight bytes.
-/// If src equals to dst, it will do in-place.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param threshold
-/// Threshold value for binarization.
-/// \n\b WARNING: must be larger than 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFilterThresholdu8( const uint8_t* src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* dst,
- unsigned int threshold );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Binarizes a grayscale image based on a threshold value.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterThresholdu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterThresholdu8,
-/// \a fcvFilterThresholdu8_v2 will be removed, and the current signature
-/// for \a fcvFilterThresholdu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterThresholdu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Sets the pixel to max(255) if it's value is greater than the threshold;
-/// else, set the pixel to min(0).
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
-/// If src equals to dst and srcStride equals to dstStride, it will do in-place.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param threshold
-/// Threshold value for binarization.
-/// \n\b WARNING: must be larger than 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterThresholdu8_v2( const uint8_t* src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* dst,
- unsigned int dstStride,
- unsigned int threshold );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Binarizes a grayscale image based on a threshold value.
-/// The binarized image will be in the two values selected by user.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterThresholdu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterThresholdu8,
-/// \a fcvFilterThresholdu8_v3 will be removed, and the current signature
-/// for \a fcvFilterThresholdu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterThresholdu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Sets the pixel to max(255) if it's value is greater than the threshold;
-/// else, set the pixel to min(0).
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
-/// If src equals to dst and srcStride equals to dstStride, it will do in-place.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param threshold
-/// Threshold value for binarization.
-/// \n\b WARNING: must be larger than 0.
-///
-/// @param trueValue
-/// The value in type of uint8_t assigned to the destination pixel if the source is larger than threshold
-///
-/// @param falseValue
-/// The value in type of uint8_t assigned to the destination pixel if the source is smaller than or equal to threshold
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterThresholdu8_v3( const uint8_t* src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* dst,
- unsigned int dstStride,
- unsigned int threshold,
- uint8_t trueValue,
- uint8_t falseValue);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Binarizes a grayscale image based on a pair of threshold values.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterThresholdRangeu8_v2(). In the 2.0.0 release,
-/// fcvFilterThresholdRangeu8_v2 will be renamed to fcvFilterThresholdRangeu8
-/// and the signature of fcvFilterThresholdRangeu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Sets the pixel to min(0) if it's value is greater than the higher threshold
-/// or smaller than the lower threshold;
-/// else, set the pixel to max(255).
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
-/// If src equals to dst and srcStride equals to dstStride, it will do in-place.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param lowThresh
-/// The lower threshold value for binarization.
-///
-/// @param highThresh
-/// The higher threshold value for binarization.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterThresholdRangeu8( const uint8_t* src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* dst,
- uint32_t dstStride,
- uint8_t lowThresh,
- uint8_t highThresh );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Binarizes a grayscale image based on a pair of threshold values.
-/// The binarized image will be in the two values selected by user.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterThresholdRangeu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterThresholdRangeu8,
-/// \a fcvFilterThresholdRangeu8_v2 will be removed, and the current signature
-/// for \a fcvFilterThresholdRangeu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterThresholdRangeu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Sets the pixel to min(0) if it's value is greater than the higher threshold
-/// or smaller than the lower threshold;
-/// else, set the pixel to max(255).
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
-/// If src equals to dst and srcStride equals to dstStride, it will do in-place.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param lowThresh
-/// The lower threshold value for binarization.
-///
-/// @param highThresh
-/// The higher threshold value for binarization.
-///
-/// @param trueValue
-/// The value in type of uint8_t assigned to the destination pixel if the source is
-/// within the range inclusively defined by the pair of threshold values
-///
-/// @param falseValue
-/// The value in type of uint8_t assigned to the destination pixel if the source is
-/// out of the range defined by the pair of threshold values
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterThresholdRangeu8_v2( const uint8_t* src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* dst,
- uint32_t dstStride,
- uint8_t lowThresh,
- uint8_t highThresh,
- uint8_t trueValue,
- uint8_t falseValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dilate a grayscale image by taking the local maxima of 3x3 neighborhood window.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterDilate3x3u8_v2(). In the 2.0.0 release,
-/// fcvFilterDilate3x3u8_v2 will be renamed to fcvFilterDilate3x3u8
-/// and the signature of fcvFilterDilate3x3u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit dilated image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterDilate3x3u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dilate a grayscale image by taking the local maxima of 3x3 neighborhood window.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterDilate3x3u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterDilate3x3u8,
-/// \a fcvFilterDilate3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterDilate3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterDilate3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit dilated image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterDilate3x3u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Erode a grayscale image by taking the local minima of 3x3 neighborhood window.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterErode3x3u8_v2(). In the 2.0.0 release,
-/// fcvFilterErode3x3u8_v2 will be renamed to fcvFilterErode3x3u8
-/// and the signature of fcvFilterErode3x3u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit eroded image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterErode3x3u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Erode a grayscale image by taking the local minima of 3x3 nbhd window.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterErode3x3u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterErode3x3u8,
-/// \a fcvFilterErode3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterErode3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterErode3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit eroded image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterErode3x3u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Warps the patch centered at nPos in the input image using the affine
-/// transform in nAffine
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvTransformAffine8x8u8_v2(). In the 2.0.0 release,
-/// fcvTransformAffine8x8u8_v2 will be renamed to fcvTransformAffine8x8u8
-/// and the signature of fcvTransformAffine8x8u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image. Size of buffer is srcWidth*srcHeight bytes.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param nPos[ 2 ]
-/// Position in the image in 32 bit fixed point (Q16)
-/// \n\b NOTE: if any 1 coordinates of the warped square are inside the image, return 1 and
-/// \n leave function. Otherwise, return 0.
-/// \n\b WARNING: must be 64-bit aligned.
-///
-/// @param nAffine[ 2 ][ 2 ]
-/// Transformation matrix in 32 bit fixed point (Q16). The matrix stored
-/// in nAffine is using row major ordering: \n
-/// a11, a12, a21, a22 where the matrix is: \n
-/// | a11, a12 |\n
-/// | a21, a22 |\n
-///
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param nPatch
-/// Transformed patch.
-///
-/// @return
-/// 0 if the transformation is valid
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvTransformAffine8x8u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- const int32_t* __restrict nPos,
- const int32_t* __restrict nAffine,
- uint8_t* __restrict nPatch );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Warps the patch centered at nPos in the input image using the affine
-/// transform in nAffine
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvTransformAffine8x8u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvTransformAffine8x8u8,
-/// \a fcvTransformAffine8x8u8_v2 will be removed, and the current signature
-/// for \a fcvTransformAffine8x8u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvTransformAffine8x8u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Stride of image (in bytes) - i.e., how many bytes between column 0 of row N
-/// and column 0 of row N+1.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: must be at least as much as srcWidth if not 0.
-///
-/// @param nPos[ 2 ]
-/// Position in the image in 32 bit fixed point (Q16)
-/// \n\b NOTE: if any 1 coordinates of the warped square are inside the image, return 1 and
-/// \n leave function. Otherwise, return 0.
-/// \n\b WARNING: must be 64-bit aligned.
-///
-/// @param nAffine[ 2 ][ 2 ]
-/// Transformation matrix in 32 bit fixed point (Q16). The matrix stored
-/// in nAffine is using row major ordering: \n
-/// a11, a12, a21, a22 where the matrix is: \n
-/// | a11, a12 |\n
-/// | a21, a22 |\n
-///
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param patch
-/// Transformed patch.
-///
-/// @param patchStride
-/// Stride of patch (in bytes) - i.e., how many bytes between column 0 of row N
-/// and column 0 of row N+1.
-/// \n\b NOTE: if 0, srcStride is set as 8.
-/// \n\b WARNING: must be at least as much as 8 if not 0.
-///
-/// @return
-/// 0 if the transformation is valid
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvTransformAffine8x8u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- const int32_t* __restrict nPos,
- const int32_t* __restrict nAffine,
- uint8_t* __restrict patch,
- unsigned int patchStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Warps a grayscale image using the a perspective projection transformation
-/// matrix (also known as a homography). This type of transformation is an
-/// invertible transformation which maps straight lines to straight lines.
-/// Bi-linear interpolation is used where applicable.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvWarpPerspectiveu8_v2(). In the 2.0.0 release,
-/// fcvWarpPerspectiveu8_v2 will be renamed to fcvWarpPerspectiveu8
-/// and the signature of fcvWarpPerspectiveu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Warps an image taking into consideration the perspective scaling.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Input image height.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-/// Warped output image. Size of buffer is dstWidth*dstHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Dst image width.
-/// \n\b NOTE: data should be multiple of 8.
-///
-/// @param dstHeight
-/// Dst image height.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param projectionMatrix
-/// 3x3 perspective transformation matrix (generally a homography). The
-/// matrix stored in homography is row major ordering: \n
-/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-/// | a11, a12, a13 |\n
-/// | a21, a22, a23 |\n
-/// | a31, a32, a33 |\n
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// Note:
-/// The projection matrix follows the so-called inverse mapping convention.
-/// It is applied to the dst coordinates to produce the corresponding
-/// src coordinates. In other 3rd party tools, the so-called forward mapping
-/// convention may be used, where the projection matrix refers to the one
-/// applied to the src coordinates to produce the dst coordinates.
-/// When comparing with 3rd party results, please make sure
-/// the same convention of projection matrices are assumed. If not,
-/// please transform the projection matrix into an equivalent form under
-/// the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvWarpPerspectiveu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst,
- unsigned int dstWidth,
- unsigned int dstHeight,
- float* __restrict projectionMatrix );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Warps a grayscale image using the a perspective projection transformation
-/// matrix (also known as a homography). This type of transformation is an
-/// invertible transformation which maps straight lines to straight lines.
-/// Bi-linear interpolation is used where applicable.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvWarpPerspectiveu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvWarpPerspectiveu8,
-/// \a fcvWarpPerspectiveu8_v2 will be removed, and the current signature
-/// for \a fcvWarpPerspectiveu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Warps an image taking into consideration the perspective scaling.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Input image height.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcStride
-/// Input image stride (in bytes).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Warped output image. Size of buffer is dstStride*dstHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Dst image width.
-/// \n\b NOTE: data should be multiple of 8.
-///
-/// @param dstHeight
-/// Dst image height.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param dstStride
-/// Output image stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
-///
-/// @param projectionMatrix
-/// 3x3 perspective transformation matrix (generally a homography). The
-/// matrix stored in homography is row major ordering: \n
-/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-/// | a11, a12, a13 |\n
-/// | a21, a22, a23 |\n
-/// | a31, a32, a33 |\n
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// Note:
-/// The projection matrix follows the so-called inverse mapping convention.
-/// It is applied to the dst coordinates to produce the corresponding
-/// src coordinates. In other 3rd party tools, the so-called forward mapping
-/// convention may be used, where the projection matrix refers to the one
-/// applied to the src coordinates to produce the dst coordinates.
-/// When comparing with 3rd party results, please make sure
-/// the same convention of projection matrices are assumed. If not,
-/// please transform the projection matrix into an equivalent form under
-/// the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvWarpPerspectiveu8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstWidth,
- unsigned int dstHeight,
- unsigned int dstStride,
- float* __restrict projectionMatrix );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Warps a 3 color channel image based on a 3x3 perspective projection matrix using
-/// bilinear interpolation.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcv3ChannelWarpPerspectiveu8_v2(). In the 2.0.0 release,
-/// fcv3ChannelWarpPerspectiveu8_v2 will be renamed to fcv3ChannelWarpPerspectiveu8
-/// and the signature of fcv3ChannelWarpPerspectiveu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image. Size of buffer is srcWidth*srcHeight*3 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Input image height.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param dst
-/// Warped output image. Size of buffer is dstWidth*dstHeight*3 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Output image width.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param dstHeight
-/// Output image height.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param projectionMatrix
-/// 3x3 perspective transformation matrix (generally a homography). The
-/// matrix stored in homography is row major ordering: \n
-/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-/// | a11, a12, a13 |\n
-/// | a21, a22, a23 |\n
-/// | a31, a32, a33 |\n
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// Note:
-/// The projection matrix follows the so-called inverse mapping convention.
-/// It is applied to the dst coordinates to produce the corresponding
-/// src coordinates. In other 3rd party tools, the so-called forward mapping
-/// convention may be used, where the projection matrix refers to the one
-/// applied to the src coordinates to produce the dst coordinates.
-/// When comparing with 3rd party results, please make sure
-/// the same convention of projection matrices are assumed. If not,
-/// please transform the projection matrix into an equivalent form under
-/// the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcv3ChannelWarpPerspectiveu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst,
- unsigned int dstWidth,
- unsigned int dstHeight,
- float* __restrict projectionMatrix );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Warps a 3 color channel image based on a 3x3 perspective projection
-/// matrix using bilinear interpolation.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcv3ChannelWarpPerspectiveu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcv3ChannelWarpPerspectiveu8,
-/// \a fcv3ChannelWarpPerspectiveu8_v2 will be removed, and the current signature
-/// for \a fcv3ChannelWarpPerspectiveu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcv3ChannelWarpPerspectiveu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcHeight
-/// Input image height.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcStride
-/// Input image stride (in bytes).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth*3.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth*3 if not 0.
-///
-/// @param dst
-/// Warped output image. Size of buffer is dstStride*dstHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Output image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param dstHeight
-/// Output image height.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param dstStride
-/// Output image stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as dstWidth*3.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth*3 if not 0.
-///
-/// @param projectionMatrix
-/// 3x3 perspective transformation matrix (generally a homography). The
-/// matrix stored in homography is row major ordering: \n
-/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-/// | a11, a12, a13 |\n
-/// | a21, a22, a23 |\n
-/// | a31, a32, a33 |\n
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// Note:
-/// The projection matrix follows the so-called inverse mapping convention.
-/// It is applied to the dst coordinates to produce the corresponding
-/// src coordinates. In other 3rd party tools, the so-called forward mapping
-/// convention may be used, where the projection matrix refers to the one
-/// applied to the src coordinates to produce the dst coordinates.
-/// When comparing with 3rd party results, please make sure
-/// the same convention of projection matrices are assumed. If not,
-/// please transform the projection matrix into an equivalent form under
-/// the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcv3ChannelWarpPerspectiveu8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstWidth,
- unsigned int dstHeight,
- unsigned int dstStride,
- float* __restrict projectionMatrix );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// General function for computing cluster centers and cluster bindings
-/// for a set of points of dimension dim.
-///
-/// @param points
-/// Array of all points. Array size must be greater than
-/// numPoints * dim.
-///
-/// @param numPoints
-/// Number of points in points array.
-///
-/// @param dim
-/// dimension, e.g. 36
-///
-/// @param pointStride
-/// Byte distance between adjacent points in array
-///
-/// @param indices
-/// Array of point indices in points array. Processing will only
-/// occur on points whose indices are in this array. Each index in array
-/// must be smaller numPoints.
-///
-/// @param numIndices
-/// Length of indices array. numIndieces must be <= numPoints.
-///
-/// @param numClusters
-/// Number of cluster centers
-///
-/// @param clusterCenters
-/// current cluster centers;
-/// elements are distant by clusterCenterStride
-///
-/// @param clusterCenterStride
-/// byte distance between adjacent cluster centers in array
-///
-/// @param newClusterCenters
-/// array for new cluster centers; should be numClusterCenters long
-///
-/// @param clusterMemberCounts
-/// Element counts for each cluster; should be numClusterCenters long
-///
-/// @param clusterBindings
-/// Output indices of the clusters to which each vector belongs to, array must
-/// be numIndices long.
-///
-/// @param sumOfClusterDistances
-/// Array for sum of distances of cluster elements to cluster centers;
-/// Must be numClusters long
-///
-/// @return
-/// 0 if successfully clustered, otherwise error code
-///
-/// @remark
-/// This is general clusterer. There are no assumptions on points other
-/// than they belong to a vector space
-///
-///
-///
-/// @ingroup clustering_and_search
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvClusterEuclideanf32( const float* __restrict points,
- int numPoints, // actually not used but helpful
- int dim,
- int pointStride,
- const size_t* __restrict indices,
- int numIndices,
- int numClusters,
- float* __restrict clusterCenters,
- int clusterCenterStride,
- float* __restrict newClusterCenters,
- size_t* __restrict clusterMemberCounts,
- size_t* __restrict clusterBindings,
- float* sumOfClusterDistances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Function for computing cluster centers and cluster bindings
-/// for a set of normalized points of dimension dim. Cluster centers
-/// are also normalized (see remark below)
-///
-/// @param points
-/// Array of all points. Array size must be greater than
-/// numPoints * dim.
-///
-/// @param numPoints
-/// Number of points in points array.
-///
-/// @param dim
-/// dimension, e.g. 36
-///
-/// @param pointStride
-/// Byte distance between adjacent points in array
-///
-/// @param indices
-/// Array of point indices in points array. Processing will only
-/// occur on points whose indices are in this array. Each index in array
-/// must be smaller numPoints.
-///
-/// @param numIndices
-/// Length of indices array. numIndieces must be <= numPoints.
-///
-/// @param numClusters
-/// Number of cluster centers
-///
-/// @param clusterCenters
-/// current cluster centers;
-/// elements are distant by clusterCenterStride
-///
-/// @param clusterCenterStride
-/// byte distance between adjacent cluster centers in array
-///
-/// @param newClusterCenters
-/// array for new cluster centers; should be numClusterCenters long
-///
-/// @param clusterMemberCounts
-/// Element counts for each cluster; should be numClusterCenters long
-///
-/// @param clusterBindings
-/// Output indices of the clusters to which each vector belongs to, a
-/// rray must be numIndices long.
-///
-/// @param sumOfClusterDistances
-/// Array for sum of distances of cluster elements to cluster centers;
-/// Must be numClusters long
-///
-/// @return
-/// 0 if successfully clustered, otherwise error code
-///
-/// @remark
-/// this function assumes that points are normalized (e.g. NFT4
-/// descriptors). Cluster centers are also normalized. Normalized points
-/// are on a surface of unit sphere which is not a vector space but
-/// curved manifold of dimension (dim-1) embeded in Euclidean vector space
-/// of dimension dim
-///
-/// @ingroup clustering_and_search
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvClusterEuclideanNormedf32( const float* __restrict points,
- int numPoints,
- int dim,
- int pointStride,
- const size_t* __restrict indices,
- int numIndices,
- int numClusters,
- float* __restrict clusterCenters,
- int clusterCenterStride,
- float* __restrict newClusterCenters,
- size_t* __restrict clusterMemberCounts,
- size_t* __restrict clusterBindings,
- float* sumOfClusterDistances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Function for computing cluster centers and cluster bindings
-/// for a set of normalized points of dimension 36. Cluster centers
-/// are also normalized (see remark below)
-///
-/// @param points
-/// Array of all points. Array size must be greater than
-/// numPoints * 36.
-///
-/// @param numPoints
-/// Number of points in points array.
-///
-/// @param pointStride
-/// Byte distance between adjacent points in array
-///
-/// @param indices
-/// Array of point indices in points array. Processing will only
-/// occur on points whose indices are in this array. Each index in array
-/// must be smaller numPoints.
-///
-/// @param numIndices
-/// Length of indices array. numIndieces must be <= numPoints.
-///
-/// @param numClusters
-/// Number of cluster centers
-///
-/// @param clusterCenters
-/// current cluster centers;
-/// elements are distant by clusterCenterStride
-///
-/// @param clusterCenterStride
-/// byte distance between adjacent cluster centers in array
-///
-/// @param newClusterCenters
-/// array for new cluster centers; should be numClusterCenters long
-///
-/// @param clusterMemberCounts
-/// Element counts for each cluster; should be numClusterCenters long
-///
-/// @param clusterBindings
-/// Output indices of the clusters to which each vector belongs to, a
-/// rray must be numIndices long.
-///
-/// @param sumOfClusterDistances
-/// Array for sum of distances of cluster elements to cluster centers;
-/// Must be numClusters long
-///
-/// @return
-/// 0 if successfully clustered, otherwise error code
-///
-/// @remark
-/// this function assumes that points are normalized (e.g. NFT4
-/// descriptors). Cluster centers are also normalized. Normalized points
-/// are on a surphace of unit sphere which is not a vector space but
-/// curved manifold of dimension (dim-1) embeded in Euclidean vector space
-/// of dimension dim
-///
-/// @ingroup clustering_and_search
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvClusterEuclideanNormed36f32( const float* __restrict points,
- int numPoints,
- int pointStride,
- const size_t* __restrict indices,
- int numIndices,
- int numClusters,
- float* __restrict clusterCenters,
- int clusterCenterStride,
- float* __restrict newClusterCenters,
- size_t* __restrict clusterMemberCounts,
- size_t* __restrict clusterBindings,
- float* sumOfClusterDistances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Blur with 5x5 Gaussian filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterGaussian5x5s16_v2(). In the 2.0.0 release,
-/// fcvFilterGaussian5x5s16_v2 will be renamed to fcvFilterGaussian5x5s16
-/// and the signature of fcvFilterGaussian5x5s16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Convolution with 5x5 Gaussian kernel:
-/// \n 1 4 6 4 1
-/// \n 4 16 24 16 4
-/// \n 6 24 36 24 6
-/// \n 4 16 24 16 4
-/// \n 1 4 6 4 1
-///
-/// @param src
-/// Input int data (can be sq. of gradient, etc).
-/// \n\b NOTE: Size of buffer is srcWidth*srcHeight*2 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output int data. Size of buffer is srcWidth*srcHeight*2 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-/// If set to 0, border is ignored.
-/// If set to 1, border is blurred by 0-padding adjacent values.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5s16( const int16_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- int16_t* __restrict dst,
- int blurBorder );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Blur with 5x5 Gaussian filter
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterGaussian5x5s16() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterGaussian5x5s16,
-/// \a fcvFilterGaussian5x5s16_v2 will be removed, and the current signature
-/// for \a fcvFilterGaussian5x5s16 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterGaussian5x5s16 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Convolution with 5x5 Gaussian kernel:
-/// \n 1 4 6 4 1
-/// \n 4 16 24 16 4
-/// \n 6 24 36 24 6
-/// \n 4 16 24 16 4
-/// \n 1 4 6 4 1
-///
-/// @param src
-/// Input int data (can be sq. of gradient, etc).
-/// Size of buffer is srcStride*srcHeight*2 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth*2.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
-///
-/// @param dst
-/// Output int data. Size of buffer is dstStride*srcHeight*2 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride in bytes.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth*2.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
-///
-/// @param blurBorder
-/// If set to 0, border is ignored.
-/// If set to 1, border is blurred by 0-padding adjacent values.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5s16_v2( const int16_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict dst,
- unsigned int dstStride,
- int blurBorder );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Blur with 5x5 Gaussian filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterGaussian5x5s32_v2(). In the 2.0.0 release,
-/// fcvFilterGaussian5x5s32_v2 will be renamed to fcvFilterGaussian5x5s32
-/// and the signature of fcvFilterGaussian5x5s32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Convolution with 5x5 Gaussian kernel:
-/// \n 1 4 6 4 1
-/// \n 4 16 24 16 4
-/// \n 6 24 36 24 6
-/// \n 4 16 24 16 4
-/// \n 1 4 6 4 1
-///
-/// @param src
-/// Input int data (can be sq. of gradient, etc).
-/// Size of buffer is srcWidth*srcHeight*4 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output int data. Size of buffer is srcWidth*srcHeight*4 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-/// If set to 0, border is ignored.
-/// If set to 1, border is blurred by 0-padding adjacent values.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5s32( const int32_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- int32_t* __restrict dst,
- int blurBorder );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Blur with 5x5 Gaussian filter
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterGaussian5x5s32() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterGaussian5x5s32,
-/// \a fcvFilterGaussian5x5s32_v2 will be removed, and the current signature
-/// for \a fcvFilterGaussian5x5s32 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterGaussian5x5s32 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Convolution with 5x5 Gaussian kernel:
-/// \n 1 4 6 4 1
-/// \n 4 16 24 16 4
-/// \n 6 24 36 24 6
-/// \n 4 16 24 16 4
-/// \n 1 4 6 4 1
-///
-/// @param src
-/// Input int data (can be sq. of gradient, etc).
-/// Size of buffer is srcStride*srcHeight*4 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Input Image stride in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth*sizeof(int32_t).
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output int data. Size of buffer is dstStride*srcHeight*4 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output Image stride in bytes.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth*sizeof(int32_t).
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param blurBorder
-/// If set to 0, border is ignored.
-/// If set to 1, border is blurred by 0-padding adjacent values.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5s32_v2( const int32_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int32_t* __restrict dst,
- unsigned int dstStride,
- int blurBorder );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Segments an image (3 or 1 channel) into meaningful regions,
-/// depending on the color or gray scale uniformity of the neighborhood pixels.
-///
-/// @param src
-/// Pointer to 8-bit color (3-channel) or grayscale (1-channel) image.
-///
-/// @param srcWidth
-/// Width of src image, measured by pixels.
-///
-/// @param srcHeight
-/// Height of src image, measured by pixels.
-///
-/// @param srcStride
-/// Stride of src image, measured by bytes.
-/// WARNING: should be multiple of 8, and at least as much as srcWidth*numChannel if not 0.
-///
-/// @param numChannel
-/// Number of channels of src image. 1 for gray scale and 3 for color image.
-///
-/// @param thresholdSplit
-/// Threshold for region split. Higher value: larger uniform region segmented.
-/// Range of 3-channel image segmentation 20~500: 20~50 for heavy over-segmentation, 50~100 for median over-segmentation, 100~150 for light over-segmentation, 150~250 for normal segmentation, 250~400 for light under-segmentation, 400~500 for heavy under-segmentation.
-/// Range of 1-channel image segmentation 3~150: 3~10 for heavy over-segmentation, 10~15 for median over-segmentation, 15~25 for light over-segmentation, 25~50 for normal segmentation, 50~75 for light under-segmentation, 75~150 for heavy under-segmentation.
-///
-/// @param thresholdMerge
-/// Threshold for region merge, measured by the region area (pixels). Higher value: larger uniform region segmented. Range 10~1000 for VGA size image.
-/// Range of 3-channel image segmentation 10~1000: 10~30 for heavy over-segmentation, 30~60 for median over-segmentation, 60~150 for light over-segmentation, 150~400 for normal segmentation, 400~600 for light under-segmentation, 600~1000 for heavy under-segmentation.
-/// Same for the 1-channel image.
-/// For other image size, please tune the thresholdMerge value proportional to the VGA size.
-///
-/// @param segLabel
-/// Segmented labels. 1 channel with same size of src. Pixel belonging to the same region is uniformly labeled by a non-zero number.
-///
-/// @param segLabelStride
-/// Stride of segmented labels, measured by bytes.
-/// WARNING: should be multiple of 8, and at least as much as srcWidth*4 if not 0.
-///
-/// @param data
-/// data buffer for inner function buffer allocation. The buffer size is recommended below,
-/// for 3-channel image: *data = (uint8_t *) malloc ( srcWidth*srcHeight*18*sizeof(uint8_t) );
-/// for 1-channel image: *data = (uint8_t *) malloc ( srcWidth*srcHeight*16*sizeof(uint8_t) );
-///
-/// @return
-/// 0 if successful.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvImageSegmentationRegionGrow( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t numChannel,
- uint32_t thresholdSplit,
- uint32_t thresholdMerge,
- uint32_t* __restrict segLabel,
- uint32_t segLabelStride,
- uint8_t* __restrict data );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Warps the patch centered at nPos in the input image using the affine
-/// transform in nAffine
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvTransformAffineu8_v2(). In the 2.0.0 release,
-/// fcvTransformAffineu8_v2 will be renamed to fcvTransformAffineu8
-/// and the signature of fcvTransformAffineu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image. Size of buffer is srcWidth*srcHeight bytes.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param position[ 2 ]
-/// Position in the image
-/// \n\b WARNING: must be 64-bit aligned.
-///
-/// @param affine[ 2 ][ 2 ]
-/// Transformation matrix. The matrix stored
-/// in affine is using row major ordering: \n
-/// a11, a12, a21, a22 where the matrix is: \n
-/// | a11, a12 |\n
-/// | a21, a22 |\n
-///
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param patch
-/// Transformed patch.
-///
-/// @param patchWidth
-/// Patch width.
-///
-/// @param patchHeight
-/// Patch height.
-///
-/// @return
-/// 0 if the transformation is valid
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvTransformAffineu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- const float* __restrict position,
- const float* __restrict affine,
- uint8_t* __restrict patch,
- unsigned int patchWidth,
- unsigned int patchHeight );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Warps the patch centered at nPos in the input image using the affine
-/// transform in nAffine
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvTransformAffineu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvTransformAffineu8,
-/// \a fcvTransformAffineu8_v2 will be removed, and the current signature
-/// for \a fcvTransformAffineu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvTransformAffineu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Stride of image (in bytes) - i.e., how many bytes between column 0 of row N
-/// and column 0 of row N+1.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: must be at least as much as srcWidth if not 0.
-///
-/// @param position[ 2 ]
-/// Position in the image
-/// \n\b WARNING: must be 64-bit aligned.
-///
-/// @param affine[ 2 ][ 2 ]
-/// Transformation matrix. The matrix stored
-/// in affine is using row major ordering: \n
-/// a11, a12, a21, a22 where the matrix is: \n
-/// | a11, a12 |\n
-/// | a21, a22 |\n
-///
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param patch
-/// Transformed patch.
-///
-/// @param patchWidth
-/// Patch width.
-///
-/// @param patchHeight
-/// Patch height.
-///
-/// @param patchStride
-/// Stride of patch (in bytes) - i.e., how many bytes between column 0 of row N
-/// and column 0 of row N+1.
-/// \n\b NOTE: if 0, patchStride is set as patchWidth.
-/// \n\b WARNING: must be at least as much as patchWidth if not 0.
-///
-/// @return
-/// 0 if the transformation is valid
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvTransformAffineu8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- const float* __restrict position,
- const float* __restrict affine,
- uint8_t* __restrict patch,
- unsigned int patchWidth,
- unsigned int patchHeight,
- unsigned int patchStride );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Extracts a 17x17 rotation corrected patch from a 25x25 image.
-///
-/// @param src
-/// 25x25 input image in continuous memory.
-///
-/// @param dst
-/// 17x17 output patch.
-///
-/// @param orientation
-/// Rotation angle of patch relative to src.
-/// \n 10-bit fixed-point angle around unit circle.
-/// \n NOTE: 0 = 0 degrees and 1024 = 360 degrees.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCopyRotated17x17u8( const uint8_t* __restrict src,
- uint8_t* __restrict dst,
- int orientation );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Counts "1" bits in supplied vector.
-///
-/// @param src
-/// Pointer to vector to count bits that are 1.
-///
-/// @param srcLength
-/// Length of the vector to count bits. Assumed that the remainder of bits modulo 8
-/// will be set to 0 a priori.
-///
-/// @return
-/// total number of "1" bits in supplied vector
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvBitCountu8( const uint8_t* __restrict src,
- unsigned int srcLength );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Counts "1" bits in supplied 32-byte vector.
-///
-/// @param src
-/// Pointer to 32-byte vector(s) to count bits that are 1.
-///
-/// @return
-/// total number of "1" bits in supplied vector
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvBitCount32x1u8( const uint8_t* __restrict src );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Counts bits in supplied 4, 32-byte vectors.
-///
-/// @param a
-/// Pointer to 32-byte vector to count bits.
-///
-/// @param b
-/// Pointer to 32-byte vector to count bits.
-///
-/// @param c
-/// Pointer to 32-byte vector to count bits.
-///
-/// @param d
-/// Pointer to 32-byte vector to count bits.
-///
-/// @param bitCount
-/// Array to store the four resultant bit counts.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBitCount32x4u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- const uint8_t* __restrict c,
- const uint8_t* __restrict d,
- uint32_t* __restrict bitCount );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Counts bits in supplied 64-byte vector.
-///
-/// @param src
-/// Pointer to 64-byte vector(s) to count bits.
-///
-/// @return
-/// Bit count.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvBitCount64x1u8( const uint8_t* __restrict src );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Counts bits in supplied 4, 64-byte vectors.
-///
-/// @param a
-/// Pointer to 64-byte vector to count bits.
-///
-/// @param b
-/// Pointer to 64-byte vector to count bits.
-///
-/// @param c
-/// Pointer to 64-byte vector to count bits.
-///
-/// @param d
-/// Pointer to 64-byte vector to count bits.
-///
-/// @param bitCount
-/// Array to store the four resultant bit counts.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBitCount64x4u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- const uint8_t* __restrict c,
- const uint8_t* __restrict d,
- uint32_t* __restrict bitCount );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Counts bits in supplied vector of unsigned intergers.
-///
-/// @param src
-/// Pointer to vector(s) to count bits.
-///
-/// @param srcLength
-/// Number of elements in vector
-///
-/// @return
-/// Bit count.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvBitCountu32( const uint32_t* __restrict src,
- unsigned int srcLength );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Computes the Hamming distance between the two supplied arbitrary length
-/// vectors.
-///
-/// @param a
-/// Pointer to vector to compute distance.
-///
-/// @param b
-/// Pointer to vector to compute distance.
-///
-/// @param abLength
-/// Length in bits of each of the vectors. Assumed that the remainder of
-/// bits modulo 8 will be set to 0 a priori.
-///
-/// @return
-/// Hamming distance between the two vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvHammingDistanceu8( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- unsigned int abLength );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Computes the Hamming distance between the two supplied 32-byte vectors.
-///
-/// @param a
-/// Pointer to 32-byte vector to compute distance.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-/// Pointer to 32-byte vector to compute distance.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @return
-/// Hamming distance between the two vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvHammingDistance32x1u8a4( const uint8_t* __restrict a,
- const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Computes the Hamming distance between the two supplied 64-byte vectors.
-///
-/// @param a
-/// Pointer to 64-byte vector to compute distance.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-/// Pointer to 64-byte vector to compute distance.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @return
-/// Hamming distance between the two vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvHammingDistance64x1u8a4( const uint8_t* __restrict a,
- const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Computes the Hamming distance between the two supplied 32-byte vectors.
-///
-/// @param a
-/// Pointer to 32-byte vector to compute distance.
-///
-/// @param b
-/// Pointer to 32-byte vector to compute distance.
-///
-/// @return
-/// Hamming distance between the two vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvHammingDistance32x1u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Computes the Hamming distance between the two supplied 64-byte vectors.
-///
-/// @param a
-/// Pointer to 64-byte vector to compute distance.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-/// Pointer to 64-byte vector to compute distance.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @return
-/// Hamming distance between the two vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvHammingDistance64x1u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Computes the Hamming distance between A and each of B,C,D,E 32-byte vectors.
-///
-/// @param a
-/// Pointer to 32-byte vector to compute distance.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-/// Pointer to 32-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param c
-/// Pointer to 32-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param d
-/// Pointer to 32-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param e
-/// Pointer to 32-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param hammingDistances
-/// Array to store each Hamming distance between the vectors.
-/// \n\b WARNING: should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvHammingDistance32x4u8a4( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- const uint8_t* __restrict c,
- const uint8_t* __restrict d,
- const uint8_t* __restrict e,
- uint32_t* __restrict hammingDistances );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Computes the Hamming distance between A and each of B,C,D,E 64-byte
-/// vectors.
-///
-/// @param a
-/// Pointer to 32-byte vector to compute distance.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-/// Pointer to 32-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param c
-/// Pointer to 32-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param d
-/// Pointer to 32-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param e
-/// Pointer to 32-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param hammingDistances
-/// Array to store each Hamming distance between the vectors.
-/// \n\b WARNING: should be 128-bit aligned
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvHammingDistance64x4u8a4( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- const uint8_t* __restrict c,
- const uint8_t* __restrict d,
- const uint8_t* __restrict e,
- uint32_t* __restrict hammingDistances );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Computes the Hamming distance between A and each of B,C,D,E 64-byte vectors.
-///
-/// @param a
-/// Pointer to 64-byte vector to compute distance.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param b
-/// Pointer to 64-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param c
-/// Pointer to 64-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param d
-/// Pointer to 64-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param e
-/// Pointer to 64-byte vector to compute distance from A.
-/// \n\b WARNING: must be 32-bit aligned
-///
-/// @param hammingDistances
-/// Array to store each Hamming distance between the vectors.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvHammingDistance64x4u8( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- const uint8_t* __restrict c,
- const uint8_t* __restrict d,
- const uint8_t* __restrict e,
- uint32_t* __restrict hammingDistances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Extracts FAST corners and scores from the image
-///
-/// @param src
-/// 8-bit image
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width
-/// \n\b NOTE: should be a multiple of 8.
-/// \n\b WARNING: must be <= 2048.
-///
-/// @param srcHeight
-/// image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param barrier
-/// FAST threshold. The threshold is used to compare difference between intensity value of
-/// the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-/// \n\b WARNING: If border < 3, it will be default to 3.
-/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-/// pointer to the output array cointaining the interleaved x,y position of the
-/// detected corners.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param scores
-/// Pointer to the output array containing the scores of the detected corners.
-/// The score is the highest threshold that can still validate the detected corner.
-/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
-/// For example, a corner of score 108 is stronger than a corner of score 50.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of
-/// corners is exceeded.
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9Scoreu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int barrier,
- unsigned int border,
- uint32_t* __restrict xy,
- uint32_t* __restrict scores,
- unsigned int nCornersMax,
- uint32_t* __restrict nCorners );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Extracts FAST corners and scores from the image
-///
-/// @param src
-/// Grayscale image with one byte per pixel
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// image width
-/// \n\b NOTE: should be a multiple of 8.
-/// \n\b WARNING: must be <= 2048.
-///
-/// @param srcHeight
-/// image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param barrier
-/// FAST threshold. The threshold is used to compare difference between intensity value of
-/// the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-/// \n\b WARNING: If border < 3, it will be default to 3.
-/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-/// Pointer to the output array cointaining the interleaved x,y position of the
-/// detected corners.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param scores
-/// Pointer to the output array containing the scores of the detected corners.
-/// The score is the highest threshold that can still validate the detected corner.
-/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
-/// For example, a corner of score 108 is stronger than a corner of score 50.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of
-/// corners is exceeded.
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @param mask
-/// Per-pixel mask for each pixel represented in input image.
-/// If a bit set to 0, pixel will be a candidate for corner detection.
-/// If a bit set to 1, pixel will be ignored.
-///
-/// @param maskWidth
-/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9InMaskScoreu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int barrier,
- unsigned int border,
- uint32_t* __restrict xy,
- uint32_t* __restrict scores,
- unsigned int nCornersMax,
- uint32_t* __restrict nCorners,
- const uint8_t* __restrict mask,
- unsigned int maskWidth,
- unsigned int maskHeight );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Extracts FAST corners and scores from the image
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvCornerFast9Scoreu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvCornerFast9Scoreu8,
-/// \a fcvCornerFast9Scoreu8_v2 will be removed, and the current signature
-/// for \a fcvCornerFast9Scoreu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvCornerFast9Scoreu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// non-maximum suppression can be enabled to reduce the number of false corners.
-///
-/// @param src
-/// 8-bit image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width, the number of pixels in a row.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param barrier
-/// FAST threshold. The threshold is used to compare difference between intensity value of
-/// the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-/// \n\b WARNING: If border < 3, it will be default to 3.
-/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-/// Pointer to the output array cointaining the interleaved x,y position of the
-/// detected corners.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param scores
-/// Pointer to the output array containing the scores of the detected corners.
-/// The score is the highest threshold that can still validate the detected corner.
-/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
-/// For example, a corner of score 108 is stronger than a corner of score 50.
-/// \n\b NOTE: should be 128-bit aligned.
-/// \n\b NOTE: size of buffer is @param nCornersMax
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of
-/// corners is exceeded.
-/// \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
-///
-/// @param nCorners
-/// Pointer to an integer storing the number of corners detected
-///
-/// @param nmsEnabled
-/// Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
-/// \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
-/// points before NMS
-///
-/// @param tempBuf
-/// Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
-/// Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9Scoreu8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int barrier,
- unsigned int border,
- uint32_t* __restrict xy,
- uint32_t* __restrict scores,
- unsigned int nCornersMax,
- uint32_t* __restrict nCorners,
- uint32_t nmsEnabled,
- void* __restrict tempBuf);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Extracts FAST corners and scores from the image based on the mask. The mask specifies pixels
-/// to be ignored by the detector.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvCornerFast9InMaskScoreu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvCornerFast9InMaskScoreu8,
-/// \a fcvCornerFast9InMaskScoreu8_v2 will be removed, and the current signature
-/// for \a fcvCornerFast9InMaskScoreu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvCornerFast9InMaskScoreu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// non-maximum suppression can be enabled to reduce the number of false corners.
-///
-/// @param src
-/// 8-bit grayscale image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width, the number of pixels in a row.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param barrier
-/// FAST threshold. The threshold is used to compare difference between intensity value of
-/// the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-/// \n\b WARNING: If border < 3, it will be default to 3.
-/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-/// Pointer to the output array cointaining the interleaved x,y position of the
-/// detected corners.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param scores
-/// Pointer to the output array containing the scores of the detected corners.
-/// The score is the highest threshold that can still validate the detected corner.
-/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
-/// For example, a corner of score 108 is stronger than a corner of score 50.
-/// \n\b NOTE: should be 128-bit aligned.
-/// \n\b NOTE: size of buffer is @param nCornersMax
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of
-/// corners is exceeded.
-/// \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
-///
-/// @param nCorners
-/// Pointer to an integer storing the number of corners detected
-///
-/// @param mask
-/// Mask used to omit regions of the image. For allowed mask sizes refer to
-/// @param maskWidth and @param maskHeight . The mask is so defined to work with multiple
-/// scales if necessary. For any pixel set to '1' in the mask, the corresponding pixel in the image
-/// will be ignored.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param maskWidth
-/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param nmsEnabled
-/// Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
-/// \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
-/// points before NMS
-///
-/// @param tempBuf
-/// Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
-/// Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast9InMaskScoreu8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int barrier,
- unsigned int border,
- uint32_t* __restrict xy,
- uint32_t* __restrict scores,
- unsigned int nCornersMax,
- uint32_t* __restrict nCorners,
- const uint8_t* __restrict mask,
- unsigned int maskWidth,
- unsigned int maskHeight,
- uint32_t nmsEnabled,
- void* __restrict tempBuf);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Extracts FAST corners and scores from the image
-///
-/// @details
-/// non-maximum suppression can be enabled to reduce the number of false corners.
-///
-/// @param src
-/// 8-bit image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width, the number of pixels in a row.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param barrier
-/// FAST threshold. The threshold is used to compare difference between intensity value of
-/// the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-/// \n\b WARNING: If border < 3, it will be default to 3.
-/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-/// Pointer to the output array cointaining the interleaved x,y position of the
-/// detected corners.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param scores
-/// Pointer to the output array containing the scores of the detected corners.
-/// The score is the highest threshold that can still validate the detected corner.
-/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
-/// For example, a corner of score 108 is stronger than a corner of score 50.
-/// \n\b NOTE: should be 128-bit aligned.
-/// \n\b NOTE: size of buffer is @param nCornersMax
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of
-/// corners is exceeded.
-/// \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @param nmsEnabled
-/// Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
-/// \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
-/// points before NMS
-///
-/// @param tempBuf
-/// Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
-/// Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast10Scoreu8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int32_t barrier,
- uint32_t border,
- uint32_t* __restrict xy,
- uint32_t* __restrict scores,
- uint32_t nCornersMax,
- uint32_t* __restrict nCorners,
- uint32_t nmsEnabled,
- void* __restrict tempBuf);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Extracts FAST corners and scores from the image based on the mask. The mask specifies pixels
-/// to be ignored by the detector.
-///
-/// @param src
-/// 8-bit grayscale image where keypoints are detected
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// image width
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param barrier
-/// FAST threshold. The threshold is used to compare difference between intensity value of
-/// the central pixel and pixels on a circle surrounding this pixel.
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom,right,left of the image
-/// \n\b WARNING: If border < 3, it will be default to 3.
-/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
-///
-/// @param xy
-/// Pointer to the output array cointaining the interleaved x,y position of the
-/// detected corners.
-/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param scores
-/// Pointer to the output array containing the scores of the detected corners.
-/// The score is the highest threshold that can still validate the detected corner.
-/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
-/// For example, a corner of score 108 is stronger than a corner of score 50.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param nCornersMax
-/// Maximum number of corners. The function exits when the maximum number of
-/// corners is exceeded.
-/// \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
-///
-/// @param nCorners
-/// pointer to an integer storing the number of corners detected
-///
-/// @param mask
-/// Mask used to omit regions of the image. For allowed mask sizes refer to
-/// @param maskWidth and @param maskHeight. The mask is so defined to work with multiple
-/// scales if necessary. For any pixel set to '1' in the mask, the corresponding pixel in the image
-/// will be ignored.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param maskWidth
-/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param maskHeight
-/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
-/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
-///
-/// @param nmsEnabled
-/// Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
-/// \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
-/// points before NMS
-///
-/// @param tempBuf
-/// Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
-/// Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCornerFast10InMaskScoreu8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int32_t barrier,
- uint32_t border,
- uint32_t* __restrict xy,
- uint32_t* __restrict scores,
- uint32_t nCornersMax,
- uint32_t* __restrict nCorners,
- const uint8_t* __restrict mask,
- uint32_t maskWidth,
- uint32_t maskHeight,
- uint32_t nmsEnabled,
- void* __restrict tempBuf);
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Optical flow. Bitwidth optimized implementation
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvTrackLKOpticalFlowu8_v2(). In the 2.0.0 release,
-/// fcvTrackLKOpticalFlowu8_v2 will be renamed to fcvTrackLKOpticalFlowu8
-/// and the signature of fcvTrackLKOpticalFlowu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src1
-/// Input image from frame #1.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-/// Input image from frame #2.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Input image height.
-///
-/// @param src1Pyr
-/// Image Pyradmid of src1
-/// \n\b WARNING: obtained by calling fcvPyramidCreateu8
-///
-/// @param src2Pyr
-/// Image Pyradmid of src2
-/// \n\b WARNING: obtained by calling fcvPyramidCreateu8
-///
-/// @param dx1Pyr
-/// Horizontal Sobel gradient pyramid for src1
-/// \n\b NOTE: To be left NULL. In this case the function will
-/// build the pyramid internally.
-///
-/// @param dy1Pyr
-/// Vertical Sobel grading pyraid for src1
-/// \n\b NOTE: To be left NULL. In this case the function will
-/// build the pyramid internally.
-///
-/// @param featureXY
-/// Pointer to X,Y floating point, sub-pixel coordinates for features to
-/// track. Stored as X,Y tuples. featureXY array storage must
-/// be >= featureLen*2.
-///
-/// @param featureXY_out
-/// Pointer to X,Y floating point, sub-pixel coordinates for tracked features
-/// Stored as X,Y tuples. featureXY array storage must
-/// be >= featureLen*2.
-///
-/// @param featureStatus
-/// Pointer to integer array for status of each feature defined in
-/// featureXY. featureStatus array storage must
-/// be >= featureLen.
-///
-/// @param featureLen
-/// Number of features in featuresXY and featureStatus array.
-///
-/// @param windowWidth
-/// Width of window for optical flow searching. Must be odd number.
-/// \n\b NOTE: suggested value 5, 7 or 9
-///
-/// @param windowHeight
-/// Height of window for optical flow searching. Must be odd number.
-/// \n\b NOTE:: suggested value 5, 7 or 9
-///
-/// @param maxIterations
-/// Maximum number of LK iterations to perform per pyramid level.
-/// \n\b NOTE: suggested value 5 or 7
-///
-/// @param nPyramidLevels
-/// Number of pyramid levels.
-/// \n\b NOTE: suggested value 3 or 4 depending on size of image
-///
-/// @param maxResidue
-/// Maximum feature residue above which feature is declared lost.
-/// \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param minDisplacement
-/// Minimum displacement solved below which iterations are stopped.
-/// \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param minEigenvalue
-/// Threshold for feature goodness. If it is set it to 0, the check is disabled.
-/// \n\b NOTE: If good features are passed to the function, then it is suggested
-/// that you set it to 0 to have faster function time
-/// \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param lightingNormalized
-/// if 1 Enable lightning normalization
-/// \n if 0 Disable lightning normalization
-/// \n\b NOTE: obsolete parameters, set to 0
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTrackLKOpticalFlowu8( const uint8_t* __restrict src1,
- const uint8_t* __restrict src2,
- int srcWidth,
- int srcHeight,
- const fcvPyramidLevel* src1Pyr,
- const fcvPyramidLevel* src2Pyr,
- const fcvPyramidLevel* dx1Pyr,
- const fcvPyramidLevel* dy1Pyr,
- const float* featureXY,
- float* featureXY_out,
- int32_t* featureStatus,
- int featureLen,
- int windowWidth,
- int windowHeight,
- int maxIterations,
- int nPyramidLevels,
- float maxResidue,
- float minDisplacement,
- float minEigenvalue,
- int lightingNormalized );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Optical flow (with stride so ROI can be supported)
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvTrackLKOpticalFlowu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvTrackLKOpticalFlowu8,
-/// \a fcvTrackLKOpticalFlowu8_v2 will be removed, and the current signature
-/// for \a fcvTrackLKOpticalFlowu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a ffcvTrackLKOpticalFlowu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src1
-/// Input image from frame #1.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-/// Input image from frame #2.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param width
-/// Input image width.
-///
-/// @param height
-/// Input image height.
-///
-/// @param stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to width.
-/// NOTE: should be a multiple of 8.
-///
-/// @param src1Pyr
-/// Image Pyramid of src1 (with stride)
-/// \n\b WARNING: obtained by calling fcvPyramidCreateu8_v2
-///
-/// @param src2Pyr
-/// Image Pyradmid of src2 (with stride)
-/// \n\b WARNING: obtained by calling fcvPyramidCreateu8_v2
-///
-/// @param featureXY
-/// Pointer to X,Y floating point, sub-pixel coordinates for features to
-/// track. Stored as X,Y tuples. featureXY array storage must
-/// be >= featureLen*2.
-///
-/// @param featureXY_out
-/// Pointer to X,Y floating point, sub-pixel coordinates for tracked features
-/// Stored as X,Y tuples. featureXY array storage must
-/// be >= featureLen*2.
-///
-/// @param featureStatus
-/// Pointer to integer array for status of each feature defined in
-/// featureXY. featureStatus array storage must
-/// be >= featureLen.
-///
-/// @param featureLen
-/// Number of features in featuresXY and featureStatus array.
-///
-/// @param windowWidth
-/// Width of window for optical flow searching. Must be odd number.
-/// \n\b NOTE: suggested value 5, 7 or 9
-///
-/// @param windowHeight
-/// Height of window for optical flow searching. Must be odd number.
-/// \n\b NOTE:: suggested value 5, 7 or 9
-///
-/// @param maxIterations
-/// Maximum number of LK iterations to perform per pyramid level.
-/// \n\b NOTE: suggested value 5 or 7
-///
-/// @param nPyramidLevels
-/// Number of pyramid levels.
-/// \n\b NOTE: suggested value 3 or 4 depending on size of image
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTrackLKOpticalFlowu8_v2( const uint8_t* __restrict src1,
- const uint8_t* __restrict src2,
- uint32_t width,
- uint32_t height,
- uint32_t stride,
- const fcvPyramidLevel_v2 *src1Pyr,
- const fcvPyramidLevel_v2 *src2Pyr,
- const float32_t* featureXY,
- float32_t* featureXY_out,
- int32_t* featureStatus,
- int32_t featureLen,
- int32_t windowWidth,
- int32_t windowHeight,
- int32_t maxIterations,
- int32_t nPyramidLevels);
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Optical flow.
-///
-/// \n\b ATTENTION: This function will be removed when the 2.0.0 release of this library
-/// is made. Until 2.0.0, the developer should use this implementation with the expectation of
-/// using \a fcvTrackLKOpticalFlowu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src1
-/// Input image from frame #1.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-/// Input image from frame #2.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Input image height.
-///
-/// @param src1Pyr
-/// Image Pyradmid of src1
-/// \n\b WARNING: obtained by calling fcvPyramidCreateu8
-///
-/// @param src2Pyr
-/// Image Pyradmid of src2
-/// \n\b WARNING: obtained by calling fcvPyramidCreateu8
-///
-/// @param dx1Pyr
-/// Horizontal Sobel gradient pyramid for src1
-/// \n\b NOTE: To be left NULL. In this case the function will
-/// build the pyramid internally.
-///
-/// @param dy1Pyr
-/// Vertical Sobel grading pyraid for src1
-/// \n\b NOTE: To be left NULL. In this case the function will
-/// build the pyramid internally.
-///
-/// @param featureXY
-/// Pointer to X,Y floating point, sub-pixel coordinates for features to
-/// track. Stored as X,Y tuples. featureXY array storage must
-/// be >= featureLen*2.
-///
-/// @param featureXY_out
-/// Pointer to X,Y floating point, sub-pixel coordinates for tracked features
-/// Stored as X,Y tuples. featureXY array storage must
-/// be >= featureLen*2.
-///
-/// @param featureStatus
-/// Pointer to integer array for status of each feature defined in
-/// featureXY. featureStatus array storage must
-/// be >= featureLen.
-/// \n\b NOTE: Possible status are :
-/// \n TRACKED 1
-/// \n NOT_FOUND -1
-/// \n SMALL_DET -2
-/// \n MAX_ITERATIONS -3
-/// \n OUT_OF_BOUNDS -4
-/// \n LARGE_RESIDUE -5
-/// \n SMALL_EIGVAL -6
-/// \n INVALID -99
-///
-/// @param featureLen
-/// Number of features in featuresXY and featureStatus array.
-///
-/// @param windowWidth
-/// Width of window for optical flow searching. Must be odd number.
-/// \n\b NOTE: suggested value 5, 7 or 9
-///
-/// @param windowHeight
-/// Height of window for optical flow searching. Must be odd number.
-/// \n\b NOTE:: suggested value 5, 7 or 9
-///
-/// @param maxIterations
-/// Maximum number of LK iterations to perform per pyramid level.
-/// \n\b NOTE: suggested value 5 or 7
-///
-/// @param nPyramidLevels
-/// Number of pyramid levels.
-/// \n\b NOTE: suggested value 3 or 4 depending on size of image
-///
-/// @param maxResidue
-/// Maximum feature residue above which feature is declared lost.
-/// \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param minDisplacement
-/// Minimum displacement solved below which iterations are stopped.
-/// \n\b NOTE : Suggest that be set to between 0.1 and 0.2, say 0.15
-/// \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param minEigenvalue
-/// Threshold for feature goodness. If it is set it to 0, the check is disabled.
-/// \n\b NOTE: If good features are passed to the function, then it is suggested
-/// that you set it to 0 to have faster function time
-/// \n\b NOTE: obsolete parameters, set to 0
-///
-/// @param lightingNormalized
-/// if 1 Enable lightning normalization
-/// \n if 0 Disable lightning normalization
-/// \n\b NOTE: obsolete parameters, set to 0
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTrackLKOpticalFlowf32( const uint8_t* __restrict src1,
- const uint8_t* __restrict src2,
- unsigned int srcWidth,
- unsigned int srcHeight,
- const fcvPyramidLevel* src1Pyr,
- const fcvPyramidLevel* src2Pyr,
- const fcvPyramidLevel* dx1Pyr,
- const fcvPyramidLevel* dy1Pyr,
- const float* featureXY,
- float* featureXY_out,
- int32_t* featureStatus,
- int featureLen,
- int windowWidth,
- int windowHeight,
- int maxIterations,
- int nPyramidLevels,
- float maxResidue,
- float minDisplacement,
- float minEigenvalue,
- int lightingNormalized );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Builds an image pyramid of float32 arising from a single
-/// original image - that are successively downscaled w.r.t. the
-/// pre-set levels.
-/// \n\b NOTE: Memory should be deallocated using fcvPyramidDelete
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvPyramidCreatef32_v2(). In the 2.0.0 release,
-/// fcvPyramidCreatef32_v2 will be renamed to fcvPyramidCreatef32
-/// and the signature of fcvPyramidCreatef32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Base image. Size of buffer is srcWidth*srcHeight*4 bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of base image
-/// \n\b WARNING: must be a multiple of 2^numLevels
-///
-/// @param srcHeight
-/// Height of base image
-/// \n\b WARNING: must be a multiple of 2^numLevels
-///
-/// @param numLevels
-/// Number of levels of the pyramid
-///
-/// @param pyramid
-/// Output pyramid of numLevels+1 images of the same type as src .
-/// pyramid[0] will be the same as src . pyramid[1] is the next
-/// pyramid layer, a smoothed and down-sized src , and so on.
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidCreatef32( const float* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int numLevels,
- fcvPyramidLevel* pyramid );
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Builds an image pyramid (with stride).
-/// \n\b NOTE: Memory should be deallocated using fcvPyramidDelete_v2
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvPyramidCreatef32() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvPyramidCreatef32,
-/// \a fcvPyramidCreatef32_v2 will be removed, and the current signature
-/// for \a fcvPyramidCreatef32 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvPyramidCreatef32 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// base image
-///
-/// @param srcWidth
-/// width of base image
-/// \n\b NOTE: Needs to be a multiple of 2^numLevels
-///
-/// @param srcHeight
-/// height of base image
-/// \n\b NOTE: Needs to be a multiple of 2^numLevel
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory (base image).
-/// \n\b NOTE: Needs to be a multiple of 2^numLevels
-/// \n\b NOTE: If left at 0, pyramid (non-base) image stride is the same as its srcWidth*sizeof(float32_t)
-///
-/// @param numLevels
-/// Number of levels of the pyramid
-///
-/// @param fcvPyramidLevel_v2
-/// output pyramid (with stride) of numLevels+1 images of the same type as src .
-/// pyramid[0] will be the same as src . pyramid[1] is the next
-/// pyramid layer, a smoothed and down-sized src , and so on.
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidCreatef32_v2( const float32_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t numLevels,
- fcvPyramidLevel_v2* pyramid );
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Builds an image pyramid of uint8_t arising from a single
-/// original image - that are successively downscaled w.r.t. the
-/// pre-set levels.
-/// \n\b NOTE: Memory should be deallocated using fcvPyramidDelete
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvPyramidCreateu8_v2(). In the 2.0.0 release,
-/// fcvPyramidCreateu8_v2 will be renamed to fcvPyramidCreateu8
-/// and the signature of fcvPyramidCreateu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Base image. Size of buffer is srcWidth*srcHeight bytes.
-///
-/// @param srcWidth
-/// Width of base image
-/// \n\b WARNING: must be a multiple of 2^(numLevels-1)
-///
-/// @param srcHeight
-/// height of base image
-/// \n\b NOTE: must be a multiple of 2^(numLevels-1)
-///
-/// @param numLevels
-/// Number of levels of the pyramid
-///
-/// @param pyramid
-/// Output pyramid of numLevels+1 images of the same type as src .
-/// pyramid[0] will be the same as src . pyramid[1] is the next
-/// pyramid layer, a smoothed and down-sized src , and so on.
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidCreateu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int numLevels,
- fcvPyramidLevel* pyramid );
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Builds an image pyramid (with stride).
-/// \n\b NOTE: Memory should be deallocated using fcvPyramidDelete
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvPyramidCreateu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvPyramidCreateu8,
-/// \a fcvPyramidCreateu8_v2 will be removed, and the current signature
-/// for \a fcvPyramidCreateu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvPyramidCreateu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// base image
-///
-/// @param srcWidth
-/// width of base image
-/// \n\b NOTE: Needs to be a multiple of 2^numLevels
-///
-/// @param srcHeight
-/// height of base image
-/// \n\b NOTE: Needs to be a multiple of 2^numLevel
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory (base image).
-/// \n\b NOTE: Needs to be a multiple of 2^numLevels
-/// \n\b NOTE: Pyramid (non-base) image stride is the same as its width
-///
-/// @param numLevels
-/// Number of levels of the pyramid
-///
-/// @param fcvPyramidLevel_v2
-/// output pyramid (with stride) of numLevels+1 images of the same type as src .
-/// pyramid[0] will be the same as src . pyramid[1] is the next
-/// pyramid layer, a smoothed and down-sized src , and so on.
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidCreateu8_v2( const uint8_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t numLevels,
- fcvPyramidLevel_v2* pyramid );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Builds a Gaussian image pyramid.
-/// DO NOT USE THIS API unless for testing purposes.
-/// This API can be removed without notice.
-///
-/// @details
-/// This function builds a Gaussian image Pyramid given an input image. Each level
-/// of the pyramid is computed by first applying a gaussian filter on the previous level,
-/// and then scaling the image based on the type of scale factor selected. The memory for
-/// the pyramid must be allocated using fcvPyramidAllocate_v3(), and should be
-/// deallocated using fcvPyramidDelete_v2()
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvPyramidCreateu8_v2() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvPyramidCreateu8,
-/// \a fcvPyramidCreateu8_v3 will be removed, and the current signature
-/// for \a fcvPyramidCreateu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvPyramidCreateu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// base image
-///
-/// @param srcWidth
-/// Width of base image
-///
-/// @param srcHeight
-/// Height of base image
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory (base image).
-/// \n\b NOTE: The stride of pyramid levels other than the base are set to be the same as their width
-///
-/// @param numLevels
-/// Number of levels of the pyramid
-///
-/// @param scale
-/// Defines the type of scaling used for each pyramid level.
-/// FASTCV_PYRAMID_SCALE_HALF downscales each level of the pyramid by a factor of 2.
-/// FASTCV_PYRAMID_SCALE_ORB downscales each level of the pyramid by a factor of 1/(2)^(1/4),
-/// which is approximated as 0.8408964f
-///
-/// @param pyramidGaussian
-/// output pyramid of "numLevels" images of the same type as src .
-/// pyramidGaussian[0] will be the same as src . pyramidGaussian[1] is the next
-/// pyramid layer, a smoothed and scaled src, and so on.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvPyramidCreateu8_v3(const uint8_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t numLevels,
- fcvPyramidScale scale,
- fcvPyramidLevel_v2* __restrict pyramidGaussian);
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Creates a gradient pyramid of int16_t from an image pyramid of uint8_t
-///
-/// @param imgPyr
-/// Input Image Pyramid
-///
-/// @param dxPyr
-/// Horizontal Sobel gradient pyramid
-///
-/// @param dyPyr
-/// Verical Sobel gradient pyramid
-///
-/// @param numLevels
-/// Number of levels in the pyramids
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidSobelGradientCreatei16( const fcvPyramidLevel* imgPyr,
- fcvPyramidLevel* dxPyr,
- fcvPyramidLevel* dyPyr,
- unsigned int numLevels );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Creates a gradient pyramid of float32 from an image pyramid of uint8_t
-///
-/// @param imgPyr
-/// input Image Pyramid
-///
-/// @param dxPyr
-/// Horizontal Sobel gradient pyramid
-///
-/// @param dyPyr
-/// Verical Sobel gradient pyramid
-///
-/// @param numLevels
-/// Number of levels in the pyramids
-///
-/// @ingroup image_processing
-//-------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidSobelGradientCreatef32( const fcvPyramidLevel* imgPyr,
- fcvPyramidLevel* dxPyr,
- fcvPyramidLevel* dyPyr,
- unsigned int numLevels );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Creates a gradient pyramid of integer8 from an image pyramid of uint8_t
-///
-/// @param imgPyr
-/// input Image Pyramid
-///
-/// @param dxPyr
-/// Horizontal Sobel gradient pyramid
-///
-/// @param dyPyr
-/// Verical Sobel gradient pyramid
-///
-/// @param numLevels
-/// Number of levels in the pyramids
-///
-/// @ingroup image_processing
-// -----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidSobelGradientCreatei8( const fcvPyramidLevel* imgPyr,
- fcvPyramidLevel* dxPyr,
- fcvPyramidLevel* dyPyr,
- unsigned int numLevels );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientSobelPlanars16_v3(). In the 2.0.0 release,
-/// fcvImageGradientSobelPlanars16_v3 will be renamed to fcvImageGradientSobelPlanars16
-/// and the signature of fcvImageGradientSobelPlanars16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (width)*(height) in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values
-/// Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (width)*(height) in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values
-/// Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelPlanars16( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict dx,
- int16_t* __restrict dy);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientSobelPlanars16_v3(). In the 2.0.0 release,
-/// fcvImageGradientSobelPlanars16_v3 will be renamed to fcvImageGradientSobelPlanars16
-/// and the signature of fcvImageGradientSobelPlanars16_v2 and
-/// fcvImageGradientSobelPlanars16_v3 as it appears now, will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values
-/// Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values
-/// Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-/// Stride (in bytes) of 'dx' and 'dy' gradient arrays.
-/// \n\b NOTE: if 0, dxyStride is set as (srcWidth*sizeof(int16_t)).
-/// \n\b WARNING: should be multiple of 16 (8 * 2-bytes per gradient value), and at least as much as srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelPlanars16_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict dx,
- int16_t* __restrict dy,
- unsigned int dxyStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data without normalization.
-/// This function computes central differences on 3x3 neighborhood and then convolves
-/// the result with Sobel kernel
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageGradientSobelPlanars16_v2() with a change in behavior: no normalization
-/// at the end of the calculation.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageGradientSobelPlanars16,
-/// \a fcvImageGradientSobelPlanars16_v2 and fcvImageGradientSobelPlanars16_v3
-/// will be removed, and the current signature for \a fcvImageGradientSobelPlanars16
-/// and fcvImageGradientSobelPlanars16_v3 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageGradientSobelPlanars16 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient. The number of pixels in a row.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dxyStride
-/// Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelPlanars16_v3( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict dx,
- int16_t* __restrict dy,
- unsigned int dxyStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientSobelInterleaveds16_v3(). In the 2.0.0 release,
-/// fcvImageGradientSobelInterleaveds16_v3 will be renamed to fcvImageGradientSobelInterleaveds16
-/// and the signature of fcvImageGradientSobelInterleaveds16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param gradients
-/// Buffer to store horizontal and vertical gradient. Must be
-/// (width-2)*(height-2) *2 in size.
-/// Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelInterleaveds16( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict gradients );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientSobelInterleaveds16_v3(). In the 2.0.0 release,
-/// fcvImageGradientSobelInterleaveds16_v3 will be renamed to fcvImageGradientSobelInterleaveds16
-/// and the signature of fcvImageGradientSobelInterleaveds16 and
-/// fcvImageGradientSobelInterleaveds16_v2 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gradients
-/// Buffer to store horizontal and vertical gradient. Must be
-/// gradStride*(height-2) *2 bytes in size.
-/// Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param gradStride
-/// Stride (in bytes) of the interleaved gradients array.
-/// \n\b NOTE: if 0, gradStride is set as (srcWidth-2)*2*sizeof(int16_t).
-/// \n\b WARNING: should be multiple of 8, and at least as much as 4*srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelInterleaveds16_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict gradients,
- unsigned int gradStride );
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-/// \n Compared to the original and v2 functions, this v3 functions does not normalize
-/// \n the gradients (divide by 8). It just returns the actual dx, dy values.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageGradientSobelInterleaveds16_v2() with a change in behavior: no
-/// normalization at the end of the calculation.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageGradientSobelInterleaveds16,
-/// \a fcvImageGradientSobelInterleaveds16_v2 and fcvImageGradientSobelInterleaveds16_v3
-/// will be removed, and the current signature for \a fcvImageGradientSobelInterleaveds16
-/// and fcvImageGradientSobelInterleaveds16_v3 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageGradientSobelInterleaveds16 when transitioning to 2.0.0.
-/// \n\n
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient. The number of pixels in a row.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param gradients
-/// Buffer to store horizontal and vertical gradient. Must be
-/// gradStride*(height-2) *2 bytes in size.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param gradStride
-/// Stride (in bytes) is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in the interleaved gradients array. If left at 0 gradStride is default to 4 * (srcWidth-2).
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @ingroup image_processing
-// -----------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelInterleaveds16_v3( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int16_t* __restrict gradients,
- unsigned int gradStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientSobelInterleavedf32_v2(). In the 2.0.0 release,
-/// fcvImageGradientSobelInterleavedf32_v2 will be renamed to fcvImageGradientSobelInterleavedf32
-/// and the signature of fcvImageGradientSobelInterleavedf32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param gradients
-/// Buffer to store horizontal and vertical gradient. Must be
-/// (width-2)*(height-2) *2 floats in size.
-/// Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelInterleavedf32( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* __restrict gradients);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageGradientSobelInterleavedf32() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageGradientSobelInterleavedf32,
-/// \a fcvImageGradientSobelInterleavedf32_v2 will be removed, and the current signature
-/// for \a fcvImageGradientSobelInterleavedf32 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageGradientSobelInterleavedf32 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gradients
-/// Buffer to store horizontal and vertical gradient. Must be
-/// gradStride*(height-2) *2 bytes in size.
-/// Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param gradStride
-/// Stride (in bytes) of the interleaved gradients array.
-/// \n\b NOTE: if 0, gradStride is set as (srcWidth-2)*2*sizeof(float).
-/// \n\b WARNING: should be multiple of 8, and at least as much as (srcWidth-2)*2*sizeof(float) if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelInterleavedf32_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* __restrict gradients,
- unsigned int gradStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function
-/// computes central differences on 3x3 neighborhood and then convolves the
-/// result with Sobel kernel
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterGaussian3x3u8_v2(). In the 2.0.0 release,
-/// fcvImageGradientSobelPlanars8_v2 will be renamed to fcvImageGradientSobelPlanars8
-/// and the signature of fcvImageGradientSobelPlanars8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (width)*(height) in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (width)*(height) in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelPlanars8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int8_t* __restrict dx,
- int8_t* __restrict dy);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function
-/// computes central differences on 3x3 neighborhood and then convolves the
-/// result with Sobel kernel
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageGradientSobelPlanars8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageGradientSobelPlanars8,
-/// \a fcvImageGradientSobelPlanars8_v2 will be removed, and the current signature
-/// for \a fcvImageGradientSobelPlanars8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageGradientSobelPlanars8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-/// Stride (in bytes) of 'dx' and 'dy' gradient arrays.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvImageGradientSobelPlanars8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- int8_t* __restrict dx,
- int8_t* __restrict dy,
- unsigned int dxyStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientSobelPlanarf32_v2(). In the 2.0.0 release,
-/// fcvImageGradientSobelPlanarf32_v2 will be renamed to fcvImageGradientSobelPlanarf32
-/// and the signature of fcvImageGradientSobelPlanarf32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (width)*(height) in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (width)*(height) in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelPlanarf32( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* dx,
- float* dy);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageGradientSobelPlanarf32() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageGradientSobelPlanarf32,
-/// \a fcvImageGradientSobelPlanarf32_v2 will be removed, and the current signature
-/// for \a fcvImageGradientSobelPlanarf32 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageGradientSobelPlanarf32 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-/// Stride (in bytes) of 'dx' and 'dy' gradient arrays.
-/// \n\b NOTE: if 0, dxyStride is set as 4*srcWidth.
-/// \n\b WARNING: should be multiple of 32 (8 * 4-bytes per gradient value),and at least as much as srcWidth*sizeof(float) if not 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelPlanarf32_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* dx,
- float* dy,
- unsigned int dxyStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageGradientSobelPlanarf32f32_v2(). In the 2.0.0 release,
-/// fcvImageGradientSobelPlanarf32f32_v2 will be renamed to fcvImageGradientSobelPlanarf32f32
-/// and the signature of fcvImageGradientSobelPlanarf32f32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight floats.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels (not bytes) between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (width)*(height) floats in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (width)*(height) floats in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelPlanarf32f32( const float * __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* dx,
- float* dy);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data. This function computes
-/// central differences on 3x3 neighborhood and then convolves the result with Sobel
-/// kernel
-/// \n
-/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
-/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
-/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageGradientSobelPlanarf32f32()() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageGradientSobelPlanarf32f32(),
-/// \a fcvImageGradientSobelPlanarf32f32_v2 will be removed, and the current signature
-/// for \a fcvImageGradientSobelPlanarf32f32 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageGradientSobelPlanarf32f32 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight floats.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride (in bytes) of image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b WARNING: should be multiple of 32 (8 * 4-bytes), and at least as much as srcWidth*sizeof(float) if not 0.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth*4.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
-/// contains undefined values. Gradient output is scaled by 1/8.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dxyStride
-/// Stride (in bytes) of 'dx' and 'dy' gradient arrays.
-/// \n\b WARNING: should be multiple of 32 (8 * 4-bytes per gradient value).
-/// \n\b WARNING: should be multiple of 32 (8 * 4-bytes), and at least as much as srcWidth*sizeof(float) if not 0.
-/// \n\b NOTE: if 0, dxyStride is set as srcWidth*4.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageGradientSobelPlanarf32f32_v2( const float * __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- float* dx,
- float* dy,
- unsigned int dxyStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Block Optical Flow 16x16 - Tracks all 16x16 blocks in the Region of Interest
-/// (ROI) from Source-1 to Source-2. Generates Motion Vectors for blocks where
-/// motion is detected.
-///
-/// @details
-///
-/// @param[in] src1
-/// Pointer to source image where the original blocks are present.
-/// \n Dimensions should be same as \a src2, and equal to \a srcWidth,
-/// \a srcHeight, \a srcStride.
-/// \n\b WARNING: should be 128-bit aligned. Buffer size is srcStride*srcHeight bytes.
-///
-/// @param[in] src2
-/// Pointer to second source image where motion vectors for blocks in \a img1
-/// are to be located.
-/// \n Dimensions should be same as \a src1, and equal to \a srcWidth,
-/// \a srcHeight, \a srcStride.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param[in] srcWidth
-/// Width of source images pointed by \a src1 and \a src2.
-///
-/// @param[in] srcHeight
-/// Height of source images pointed by \a src1 and \a src2.
-///
-/// @param[in] srcStride
-/// Stride of source images pointed by \a src1 and \a src2.
-///
-/// @param[in] roiLeft
-/// Left co-ordinate (x0) of Region-of-Interest (ROI).
-///
-/// @param[in] roiTop
-/// Top co-orgdinate (y0) of Region-of-Interest (ROI).
-///
-/// @param[in] roiRight
-/// Right co-ordinate (x1) of Region-of-Interest (ROI).
-///
-/// @param[in] roiBottom
-/// Bottom co-ordinate (y1) of Region-of-Interest (ROI).
-///
-/// @param[in] shiftSize
-/// Distance in number of pixels (both horizontally and vertically) between
-/// consecutive blocks for which motion vector is searched.
-/// \n\b NOTE: Larger the value, less number of blocks will be tracked, and
-/// hence the function will run faster.
-///
-/// @param[in] searchWidth
-/// Numbers of pixels horizontally on left and right of the source block (src2) where a
-/// match is searched for. For example, if searchWidth is 8 and searchHeight
-/// is 8, then the search area for any given block will be 32x32 around
-/// the location of that block.
-///
-/// @param[in] searchHeight
-/// Numbers of pixels vertically on top and bottom of the source block (src2) where a
-/// match is searched for. For example, if searchWidth is 8 and searchHeight
-/// is 8, then the search area for any given block will be 32x32 around
-/// the location of that block.
-///
-/// @param[in] searchStep
-/// Distance in number of pixels between consecutive search targets within
-/// the above search window.
-/// \n\b NOTE: Larger the value, more coarse the search will be and thus
-/// will make the fucntion run faster. Smaller the value, more dense the
-/// search will be, making the funciton run slower.
-///
-/// @param[in] usePrevious
-/// Indicates if the function should use the existing motion vectors in
-/// locX and locY as the starting point for motion vector search.
-/// \n\b NOTE: This parameter is redundant at the moment.
-///
-/// @param[out] numMv
-/// Pointer to variable that will store the count of Motion Vectors
-/// generated by the function.
-/// \n\b WARNING: This pointer should be Non-NULL.
-///
-/// @param[out] locX
-/// Pointer to an array which will store the X co-ordinates of the
-/// original Block for which a Motion Vector is generated.
-/// \n\b NOTE: The array will contain \a numMv valid entries.
-/// \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
-/// (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
-/// \n\b WARNING: This pointer should be Non-NULL, and the array size should
-/// be >= number of 16x16 blocks in ROI.
-///
-/// @param[out] locY
-/// Pointer to an array which will store the Y co-ordinates of the
-/// original Block for which a Motion Vector is generated.
-/// \n\b NOTE: The array will contain \a numMv valid entries.
-/// \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
-/// (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
-/// \n\b WARNING: This pointer should be Non-NULL, and the array size should
-/// be >= number of 16x16 blocks in ROI.
-///
-/// @param[out] mvX
-/// Pointer to an array which will store the X co-ordinates of the block in \a src2
-/// corresponding block in \a src1. (\a mvX[i]-\a locX[i]) will give the motion
-/// vector for the block in \a src1.
-/// \n\b NOTE: The array will contain \a numMv valid entries.
-/// \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
-/// (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
-/// \n\b WARNING: This pointer should be Non-NULL, and the array size should
-/// be >= number of 16x16 blocks in ROI.
-///
-/// @param[out] mvY
-/// Pointer to an array which will store the Y co-ordinates of the block in \a src2
-/// corresponding block in \a src1. (\a mvY[i]-\a locY[i]) will give the motion
-/// vector for the block in \a src1.
-/// \n\b NOTE: The array will contain \a numMv valid entries.
-/// \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
-/// (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
-/// \n\b WARNING: This pointer should be Non-NULL, and the array size should
-/// be >= number of 16x16 blocks in ROI.
-///
-/// @return
-/// 0 - Success, Failure otherwise.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API int
-fcvTrackBMOpticalFlow16x16u8( const uint8_t* __restrict src1,
- const uint8_t* __restrict src2,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t roiLeft,
- uint32_t roiTop,
- uint32_t roiRight,
- uint32_t roiBottom,
- uint32_t shiftSize,
- uint32_t searchWidth,
- uint32_t searchHeight,
- uint32_t searchStep,
- uint32_t usePrevious,
- uint32_t * numMv,
- uint32_t * locX,
- uint32_t * locY,
- uint32_t * mvX,
- uint32_t * mvY);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Searches a set of patches within the source image for the max NCCs. The search
-/// regions are corresponding to the patches in the search list.
-///
-/// @param patches
-/// Pointer to a set of 8-bit patches, each patch takes patchWidth *patchHeight pixel
-/// values which are linearly laid out in memory.
-/// \n\b WARNING: patchWidth * patchHeight must be <= 256
-///
-/// @param patchWidth
-/// Width in pixels of the patch.
-///
-/// @param patchHeight
-/// Height in pixels of the patch.
-///
-/// @param src
-/// Pointer to 8-bit image for search.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width in pixels of the image.
-///
-/// @param srcHeight
-/// Height in pixels of the image.
-///
-/// @param srcStride
-/// The stride of the imge. Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param searchCenterX
-/// The list of Center X coordinate of each search window
-///
-/// @param searchCenterY
-/// The list of Center Y coordinate of each search window
-///
-/// @param searchWidth
-/// Width of search range in pixels
-/// \n\b WARNING: must be odd number.
-///
-/// @param searchHeight
-/// Height of search range in pixels
-/// \n\b WARNING: must be odd number.
-///
-/// @param filterLowVariance
-/// Minimum variance. Used to as threshold to compare against variance of
-/// the block of src or patch.
-///
-/// @param bestX
-/// The list of Center X location on the image of the best NCC matches.
-/// The center X has (patchWidth/2) pixels to the left and
-/// (patchWidth - (patchWidth/2) - 1) to the right.
-///
-/// @param bestY
-/// The list of Center Y location on the image of the best NCC matches.
-/// The center Y has (patchWidth/2) pixels above and
-/// (patchWidth - (patchWidth/2) - 1) below.
-///
-/// @param bestNCC
-/// NCC value of the best match blocks.
-/// It's quantized to integer value in Q7 (between -128 and 128).
-///
-/// @param findSubPixel (0 or 1)
-/// Use parabolic interpolation of NCC values to find sub-pixel estimates.
-///
-/// @param subX
-/// Sub-pixel estimate for optimal NCC relative to bestX.
-/// \n e.g., float x = (float)bestX + subX;
-///
-/// @param subY
-/// Sub-pixel estimate for optimal NCC relative to bestY.
-///
-/// @param numSearches
-/// number of patch searches in the image.
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvNCCPatchesOnRectu8 ( const uint8_t* __restrict patches,
- uint32_t patchWidth,
- uint32_t patchHeight,
- const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- const uint32_t * __restrict searchCenterX,
- const uint32_t * __restrict searchCenterY,
- uint32_t searchWidth,
- uint32_t searchHeight,
- int32_t filterLowVariance,
- uint32_t* __restrict bestX,
- uint32_t* __restrict bestY,
- uint32_t* __restrict bestNCC,
- int32_t findSubPixel,
- float32_t* __restrict subX,
- float32_t* __restrict subY,
- uint32_t numSearches );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Performs per-element bitwise-OR operation on two 8-bit single channel images.
-/// Two images should have the same size. dst(I)=src1(I) V src2(I) if mask(I) is not zero.
-///
-/// @param src1
-/// Pointer to the 8-bit source image 1.
-///
-/// @param src2
-/// Pointer to the 8-bit source image 2.
-///
-/// @param srcWidth
-/// Width of source images pointed by src1 and src2.
-///
-/// @param srcHeight
-/// Height of source images pointed by src1 and src2.
-///
-/// @param srcStride
-/// Stride of source images (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param dst
-/// Pointer to the 8-bit destination image.
-///
-/// @param dstStride
-/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param mask
-/// Pointer to the 8-bit single channel mask. It specifies elements of the destination array to be changed.
-/// The mask is optional. If there is no mask, the value is NULL.
-///
-/// @param maskStride
-/// Stride of the mask (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// If there is no mask, the value is 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBitwiseOru8(const uint8_t* __restrict src1,
- const uint8_t* __restrict src2,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t * __restrict dst,
- uint32_t dstStride,
- uint8_t * __restrict mask,
- uint32_t maskStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Performs per-element bitwise-OR operation on two 32-bit single channel images.
-/// Two images should have the same size. dst(I)=src1(I) V src2(I) if mask(I) is not zero.
-///
-/// @param src1
-/// Pointer to the 32-bit source image 1.
-///
-/// @param src2
-/// Pointer to the 32-bit source image 2.
-///
-/// @param srcWidth
-/// Width of source images pointed by src1 and src2.
-///
-/// @param srcHeight
-/// Height of source images pointed by src1 and src2.
-///
-/// @param srcStride
-/// Stride of source images (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param dst
-/// Pointer to the 8-bit destination image.
-///
-/// @param dstStride
-/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param mask
-/// Pointer to the 8-bit single channel mask. It specifies elements of the destination array to be changed.
-/// The mask is optional. If there is no mask, the value is NULL.
-///
-/// @param maskStride
-/// Stride of the mask (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// If there is no mask, the value is 0.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvBitwiseOrs32(const int32_t* __restrict src1,
- const int32_t* __restrict src2,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int32_t * __restrict dst,
- uint32_t dstStride,
- uint8_t * __restrict mask,
- uint32_t maskStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Converts an image from RGB space to grayscale
-///
-/// @details
-///
-/// @param src
-/// Source 8-bit image, BGR888 format (R is lowest byte for the pixel)
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Source image width.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Source image height.
-///
-/// @param srcStride
-/// Stride of source image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// If set to 0, srcStride=srcWidth as default
-///
-/// @param dst
-/// Destination 8-bit gray-scale image.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// If set to 0, dstStride=srcStride as default
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvColorRGB888ToGrayu8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Integral of the image tilted by 45 degrees
-///
-/// @details
-/// Calculates the tilted integral image of an input image
-/// and adds an zero-filled border on top. Left border not zero.
-/// dst[i,j]=sum (src[m,n]), where n according to
-/// descDBTargetId.
-///
-/// @param dbLUT
-/// A pointer to uint32_t [numDBLUT][2],
-/// which stores the starting index of descDB and
-/// the number of descriptors
-/// \n\b WARNING: must be 64-bit aligned.
-///
-/// @param numDBLUT
-/// The size of dbLUT
-///
-/// @param descDB
-/// A pointer to int8_t [numDescDB][36],
-/// which stores descriptors
-/// \n\b WARNING: must be 64-bit aligned.
-///
-/// @param descDBInvLenQ38
-/// A pointer to uint32_t [numDescDB],
-/// which stores the inverse length of descDB.
-/// The value is in Q38 format.
-///
-/// @param descDBTargetId
-/// A pointer to uint16_t [numDescDB],
-/// which stores the target id.
-///
-/// @param descDBOldIdx
-/// A pointer to uint32_t [numDescDB],
-/// which stores the old index of the desc before sorting
-///
-/// @param numDescDB
-/// Number of descriptor in the database.
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvLinearSearchPrepare8x36s8( uint32_t * __restrict dbLUT,
- uint32_t numDBLUT,
- int8_t * __restrict descDB,
- uint32_t * __restrict descDBInvLenQ38,
- uint16_t * __restrict descDBTargetId,
- uint32_t * __restrict descDBOldIdx,
- uint32_t numDescDB );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Perform linear search of descriptor in a database
-///
-/// @param dbLUT
-/// A pointer to uint32_t [numDBLUT][2],
-/// which stores the starting index of descDB and
-/// the number of descriptors
-/// \n\b WARNING: must be 64-bit aligned.
-///
-/// @param numDBLUT
-/// The size of dbLUT
-///
-/// @param descDB
-/// A pointer to int8_t [numDescDB][36],
-/// which stores descriptors
-/// \n\b WARNING: must be 64-bit aligned.
-///
-/// @param descDBInvLenQ38
-/// A pointer to uint32_t [numDescDB],
-/// which stores the inverse length of descDB.
-/// The value is in Q38 format.
-///
-/// @param descDBTargetId
-/// A pointer to uint16_t [numDescDB],
-/// which stores the target id.
-///
-/// @param numDescDB
-/// Number of descriptor in the database.
-///
-/// @param srcDesc
-/// A pointer to int8_t [numSrcDesc][36],
-/// which stores descriptors.
-/// \n\b WARNING: must be 64-bit aligned.
-///
-/// @param srcDescInvLenQ38
-/// A pointer to uint32_t [numSrcDec],
-/// which stores the inverse length of srcDesc.
-/// The value is in Q38 format.
-///
-/// @param srcDescIdx
-/// A pointer to the dbLUT data
-///
-/// @param numSrcDesc
-/// Number of source descriptor
-///
-/// @param targetsToIgnore
-/// A list of target IDs to be ignored
-///
-/// @param numTargetsToIgnore
-/// Number of targets to be ignored
-///
-/// @param maxDistanceQ31
-/// Maximum distance for correspondences.
-/// In Q31 format.
-///
-/// @param correspondenceDBIdx
-/// A pointer to uint32_t [maxNumCorrespondences],
-/// which will be used by this function to output indices of featuresDB
-/// as a part of correspondences.
-///
-/// @param correspondenceSrcDescIdx
-/// A pointer to uint32_t [maxNumCorrespondences],
-/// which will be used by this function to output indices of descriptors
-/// as a part of correspondences.
-///
-/// @param correspondenceDistanceQ31
-/// A pointer to uint32_t [maxNumCorrespondences],
-/// which will be used by this function to output the distances
-/// as a part of correspondences.
-/// In Q31 format.
-///
-/// @param maxNumCorrespondences
-/// Maximum number of correspondences allowed
-///
-/// @param numCorrespondences
-/// Number of correspondences returned by this function
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvLinearSearch8x36s8(
- const uint32_t * __restrict dbLUT,
- uint32_t numDBLUT,
- const int8_t * __restrict descDB,
- const uint32_t * __restrict descDBInvLenQ38,
- const uint16_t * __restrict descDBTargetId,
- uint32_t numDescDB,
- const int8_t * __restrict srcDesc,
- const uint32_t * __restrict srcDescInvLenQ38,
- const uint32_t * __restrict srcDescIdx,
- uint32_t numSrcDesc,
- const uint16_t * __restrict targetsToIgnore,
- uint32_t numTargetsToIgnore,
- uint32_t maxDistanceQ31,
- uint32_t * __restrict correspondenceDBIdx,
- uint32_t * __restrict correspondenceSrcDescIdx,
- uint32_t * __restrict correspondenceDistanceQ31,
- uint32_t maxNumCorrespondences,
- uint32_t * __restrict numCorrespondences );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds only extreme outer contours in a binary image. There is no nesting
-/// relationship between contours. It sets hierarchy[i][2]=hierarchy[i][3]=-1
-/// for all the contours.
-///
-/// @param src
-/// Grayscale image with one byte per pixel. Non-zero pixels are treated as
-/// 1's. Zero pixels remain 0's, so the image is treated as binary.
-///
-/// @param srcWidth
-/// Image width
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param maxNumContours
-/// Maximum number of contours can be found
-///
-/// @param numContours
-/// Number of actually found contours
-///
-/// @param numContourPoints
-/// Number of points in each found contour
-///
-/// @param contourStartPoints
-/// Pointers to the start point of each found contour
-///
-/// @param pointBuffer
-/// Pointer to point buffer for contour points' coordinates. It should
-/// be allocated before calling this function.
-///
-/// @param pointBufferSize
-/// Size of point buffer in terms of uint32_t
-///
-/// @param hierarchy
-/// Information about the image topology. It has numContours elements.
-/// For each contour i, the elements hierarchy[i][0], hiearchy[i][1],
-/// hiearchy[i][2], and hiearchy[i][3] are set to 0-based indices of the
-/// next and previous contours at the same hierarchical level, the first
-/// child contour and the parent contour, respectively. If for a contour i
-/// there are no next, previous, parent, or nested contours, the corresponding
-/// elements of hierarchy[i] will be negative.
-///
-/// @param contourHandle
-/// Pointer to assistant and intermediate data. It should be allocated by
-/// fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindContoursExternalu8( uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t maxNumContours,
- uint32_t* __restrict numContours,
- uint32_t* __restrict numContourPoints,
- uint32_t** __restrict contourStartPoints,
- uint32_t* __restrict pointBuffer,
- uint32_t pointBufferSize,
- int32_t hierarchy[][4],
- void* contourHandle );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds contours in a binary image without any hierarchical relationships.
-///
-/// @param src
-/// Grayscale image with one byte per pixel. Non-zero pixels are treated as
-/// 1's. Zero pixels remain 0's, so the image is treated as binary.
-///
-/// @param srcWidth
-/// Image width
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param maxNumContours
-/// Maximum number of contours can be found
-///
-/// @param numContours
-/// Number of actually found contours
-///
-/// @param numContourPoints
-/// Number of points in each found contour
-///
-/// @param contourStartPoints
-/// Pointers to the start point of each found contour
-///
-/// @param pointBuffer
-/// Pointer to point buffer for contour points' coordinates. It should
-/// be allocated before calling this function.
-///
-/// @param pointBufferSize
-/// Size of point buffer in terms of uint32_t
-///
-/// @param contourHandle
-/// Pointer to assistant and intermediate data. It should be allocated by
-/// fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindContoursListu8( uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t maxNumContours,
- uint32_t* __restrict numContours,
- uint32_t* __restrict numContourPoints,
- uint32_t** __restrict contourStartPoints,
- uint32_t* __restrict pointBuffer,
- uint32_t pointBufferSize,
- void* contourHandle );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds contours in a binary image and organizes them into a two-level
-/// hierarchy. At the top level, there are external boundaries of the
-/// components. At the second level, there are boundaries of the holes.
-/// If there is another contour inside a hole of a connected component,
-/// it is still put at the top level.
-///
-/// @param src
-/// Grayscale image with one byte per pixel. Non-zero pixels are treated as
-/// 1's. Zero pixels remain 0's, so the image is treated as binary.
-///
-/// @param srcWidth
-/// Image width
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param maxNumContours
-/// Maximum number of contours can be found (<= 126)
-///
-/// @param numContours
-/// Number of actually found contours
-///
-/// @param holeFlag
-/// Hole flag for each found contour to indicate whether it is a hole or not
-///
-/// @param numContourPoints
-/// Number of points in each found contour
-///
-/// @param contourStartPoints
-/// Pointers to the start point of each found contour
-///
-/// @param pointBuffer
-/// Pointer to point buffer for contour points' coordinates. It should
-/// be allocated before calling this function.
-///
-/// @param pointBufferSize
-/// Size of point buffer in terms of uint32_t
-///
-/// @param hierarchy
-/// Information about the image topology. It has numContours elements.
-/// For each contour i, the elements hierarchy[i][0], hiearchy[i][1],
-/// hiearchy[i][2], and hiearchy[i][3] are set to 0-based indices of the
-/// next and previous contours at the same hierarchical level, the first
-/// child contour and the parent contour, respectively. If for a contour i
-/// there are no next, previous, parent, or nested contours, the corresponding
-/// elements of hierarchy[i] will be negative.
-///
-/// @param contourHandle
-/// Pointer to assistant and intermediate data. It should be allocated by
-/// fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindContoursCcompu8( uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t maxNumContours,
- uint32_t* __restrict numContours,
- uint32_t* __restrict holeFlag,
- uint32_t* __restrict numContourPoints,
- uint32_t** __restrict contourStartPoints,
- uint32_t* __restrict pointBuffer,
- uint32_t pointBufferSize,
- int32_t hierarchy[][4],
- void* contourHandle );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds contours in a binary image and reconstructs a full hierarchy of
-/// nested contours
-///
-/// @param src
-/// Grayscale image with one byte per pixel. Non-zero pixels are treated as
-/// 1's. Zero pixels remain 0's, so the image is treated as binary.
-///
-/// @param srcWidth
-/// Image width
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @param numContours
-/// Number of actually found contours
-///
-/// @param maxNumContours
-/// Maximum number of contours can be found (<= 126)
-///
-/// @param holeFlag
-/// Hole flag for each found contour to indicate whether it is a hole or not
-///
-/// @param numContourPoints
-/// Number of points in each found contour
-///
-/// @param contourStartPoints
-/// Pointers to the start point of each found contour
-///
-/// @param pointBuffer
-/// Pointer to point buffer for contour points' coordinates. It should
-/// be allocated before calling this function.
-///
-/// @param pointBufferSize
-/// Size of point buffer in terms of uint32_t
-///
-/// @param hierarchy
-/// Information about the image topology. It has numContours elements.
-/// For each contour i, the elements hierarchy[i][0], hiearchy[i][1],
-/// hiearchy[i][2], and hiearchy[i][3] are set to 0-based indices of the
-/// next and previous contours at the same hierarchical level, the first
-/// child contour and the parent contour, respectively. If for a contour i
-/// there are no next, previous, parent, or nested contours, the corresponding
-/// elements of hierarchy[i] will be negative.
-///
-/// @param contourHandle
-/// Pointer to assistant and intermediate data. It should be allocated by
-/// fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindContoursTreeu8( uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t maxNumContours,
- uint32_t* __restrict numContours,
- uint32_t* __restrict holeFlag,
- uint32_t* __restrict numContourPoints,
- uint32_t** __restrict contourStartPoints,
- uint32_t* __restrict pointBuffer,
- uint32_t pointBufferSize,
- int32_t hierarchy[][4],
- void* contourHandle );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Allocates assistant and intermediate data for contour
-///
-/// @param srcStride
-/// Stride of image (i.e., how many pixels between column 0 of row 1 and
-/// column 0 of row 2).
-///
-/// @return
-/// Pointer to allocated data
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void*
-fcvFindContoursAllocate( uint32_t srcStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Deallocates assistant and intermediate data for contour
-///
-/// @param contourHandle
-/// Pointer to assistant and intermediate data
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindContoursDelete( void* contourHandle );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Solve linear equation system
-/// Ax = b
-///
-/// @details
-///
-///
-/// @param A
-/// The matrix contains coefficients of the linear equation system
-///
-/// @param numRows
-/// The number of rows for the matrix A
-///
-/// @param numCols
-/// The number of columns for the matrix A
-///
-/// @param b
-/// The right side value
-///
-/// @param x
-/// The solution vector
-///
-///
-/// @return
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSolvef32(const float32_t * __restrict A,
- int32_t numCols,
- int32_t numRows,
- const float32_t * __restrict b,
- float32_t * __restrict x);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Calculates a perspective transform from four pairs of the corresponding
-/// points.
-/// NOTE: in order to guarantee a valid output transform, any three points
-/// in src1 or src2 cannot be collinear.
-///
-/// @param src1
-/// Coordinates of quadrangle vertices in the source image
-///
-/// @param src2
-/// Coordinates of the corresponding quadrangle vertices in the destination
-/// image
-///
-/// @param transformCoefficient
-/// 3x3 matrix of a perspective transform
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvGetPerspectiveTransformf32( const float32_t src1[8],
- const float32_t src2[8],
- float32_t transformCoefficient[9] );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sets every element of a uint8_t single channel array to a given value.
-///
-/// @details
-/// A non-zero element of the mask array indicates the corresponding element
-/// of the destination array to be changed. The mask itself equals to zero means that
-/// all elements of the dst array need to be changed. The mask is assumed to
-/// have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-/// The destination matrix
-///
-/// @param dstWidth
-/// Destination matrix width
-///
-/// @param dstHeight
-/// Destination matrix height
-///
-/// @param dstStride
-/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value
-/// the input uint8_t value
-///
-/// @param mask
-/// Operation mask, 8-bit single channel array; specifies elements of the src
-/// array to be changed.
-///
-/// @param maskStride
-/// Stride for the mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-/// No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSetElementsu8( uint8_t * __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- uint8_t value,
- const uint8_t * __restrict mask,
- uint32_t maskStride
- );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sets every element of an int32_t single channel array to a given value.
-///
-/// @details
-/// A non-zero element of the mask array indicates the corresponding element
-/// of the destination array to be changed. The mask itself equals to zero means that
-/// all elements of the dst array need to be changed. The mask is assumed to
-/// have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-/// The destination matrix
-///
-/// @param dstWidth
-/// Destination matrix width
-///
-/// @param dstHeight
-/// Destination matrix height
-///
-/// @param dstStride
-/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value
-/// the input int32_t value
-///
-/// @param mask
-/// Operation mask, 8-bit single channel array; specifies elements of the src
-/// array to be changed
-///
-/// @param maskStride
-/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-/// No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementss32( int32_t * __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- int32_t value,
- const uint8_t * __restrict mask ,
- uint32_t maskStride
- );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sets every element of a float32_t single channel array to a given value.
-///
-/// @details
-/// A non-zero element of the mask array indicates the corresponding element
-/// of the destination array to be changed. The mask itself equals to zero means that
-/// all elements of the dst array need to be changed. The mask is assumed to
-/// have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-/// The destination matrix
-///
-/// @param dstWidth
-/// Destination matrix width
-///
-/// @param dstHeight
-/// Destination matrix height
-///
-/// @param dstStride
-/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value
-/// the input float32_t value
-///
-/// @param mask
-/// Operation mask, 8-bit single channel array; specifies elements of the src
-/// array to be changed
-///
-/// @param maskStride
-/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-/// No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsf32( float32_t * __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- float32_t value,
- const uint8_t * __restrict mask,
- uint32_t maskStride
- );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sets every element of a uint8_t 4-channel array to a given 4-element scalar.
-///
-/// @details
-/// A non-zero element of the mask array indicates the corresponding element
-/// of the destination array to be changed. The mask itself equals to zero means that
-/// all elements of the dst array need to be changed. The mask is assumed to
-/// have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-/// The destination matrix
-///
-/// @param dstWidth
-/// Destination matrix width
-///
-/// @param dstHeight
-/// Destination matrix height
-///
-/// @param dstStride
-/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-/// First uint8_t value of the Scalar
-///
-/// @param value2
-/// Second uint8_t value of the Scalar
-///
-/// @param value3
-/// Third uint8_t value of the Scalar
-///
-/// @param value4
-/// Fourth uint8_t value of the Scalar
-///
-/// @param mask
-/// Operation mask, 8-bit single channel array; specifies elements of the src
-/// array to be changed
-///
-/// @param maskStride
-/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-/// No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc4u8( uint8_t * __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- uint8_t value1,
- uint8_t value2,
- uint8_t value3,
- uint8_t value4,
- const uint8_t * __restrict mask,
- uint32_t maskStride
- );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sets every element of an int32_t 4-channel array to a given 4-element scalar.
-///
-/// @details
-/// A non-zero element of the mask array indicates the corresponding element
-/// of the destination array to be changed. The mask itself equals to zero means that
-/// all elements of the dst array need to be changed. The mask is assumed to
-/// have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-/// The destination matrix
-///
-/// @param dstWidth
-/// Destination matrix width
-///
-/// @param dstHeight
-/// Destination matrix height
-///
-/// @param dstStride
-/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-/// First int32_t value of the Scalar
-///
-/// @param value2
-/// Second int32_t value of the Scalar
-///
-/// @param value3
-/// Third int32_t value of the Scalar
-///
-/// @param value4
-/// Fourth int32_t value of the Scalar
-///
-/// @param mask
-/// Operation mask, 8-bit single channel array; specifies elements of the src
-/// array to be changed.
-///
-/// @param maskStride
-/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-/// No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc4s32( int32_t * __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- int32_t value1,
- int32_t value2,
- int32_t value3,
- int32_t value4,
- const uint8_t * __restrict mask,
- uint32_t maskStride
- );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sets every element of a float32_t 4-channel array to a given 4-element scalar.
-///
-/// @details
-/// A non-zero element of the mask array indicates the corresponding element
-/// of the destination array to be changed. The mask itself equals to zero means that
-/// all elements of the dst array need to be changed. The mask is assumed to
-/// have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-/// The destination matrix
-///
-/// @param dstWidth
-/// Destination matrix width
-///
-/// @param dstHeight
-/// Destination matrix height
-///
-/// @param dstStride
-/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-/// First float32_t value of the Scalar
-///
-/// @param value2
-/// Second float32_t value of the Scalar
-///
-/// @param value3
-/// Third float32_t value of the Scalar
-///
-/// @param value4
-/// Fourth float32_t value of the Scalar
-///
-/// @param mask
-/// Operation mask, 8-bit single channel array; specifies elements of the src
-/// array to be changed
-///
-/// @param maskStride
-/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-/// No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc4f32( float32_t * __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- float32_t value1,
- float32_t value2,
- float32_t value3,
- float32_t value4,
- const uint8_t * __restrict mask,
- uint32_t maskStride
- );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sets every element of a uint8_t 3-channel array to a given 3-element scalar.
-///
-/// @details
-/// A non-zero element of the mask array indicates the corresponding element
-/// of the destination array to be changed. The mask itself equals to zero means that
-/// all elements of the dst array need to be changed. The mask is assumed to
-/// have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-/// The destination matrix
-///
-/// @param dstWidth
-/// Destination matrix width
-///
-/// @param dstHeight
-/// Destination matrix height
-///
-/// @param dstStride
-/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-/// First uint8_t value of the Scalar
-///
-/// @param value2
-/// Second uint8_t value of the Scalar
-///
-/// @param value3
-/// Third uint8_t value of the Scalar
-///
-/// @param mask
-/// Operation mask, 8-bit single channel array; specifies elements of the src
-/// array to be changed
-///
-/// @param maskStride
-/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-/// No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc3u8( uint8_t * __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- uint8_t value1,
- uint8_t value2,
- uint8_t value3,
- const uint8_t * __restrict mask,
- uint32_t maskStride
- );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sets every element of an int32_t 3-channel array to a given 3-element scalar.
-///
-/// @details
-/// A non-zero element of the mask array indicates the corresponding element
-/// of the destination array to be changed. The mask itself equals to zero means that
-/// all elements of the dst array need to be changed. The mask is assumed to
-/// have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-/// The destination matrix
-///
-/// @param dstWidth
-/// Destination matrix width
-///
-/// @param dstHeight
-/// Destination matrix height
-///
-/// @param dstStride
-/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-/// First int32_t value of the Scalar
-///
-/// @param value2
-/// Second int32_t value of the Scalar
-///
-/// @param value3
-/// Third int32_t value of the Scalar
-///
-/// @param mask
-/// Operation mask, 8-bit single channel array; specifies elements of the src
-/// array to be changed.
-///
-/// @param maskStride
-/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-/// No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc3s32( int32_t * __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- int32_t value1,
- int32_t value2,
- int32_t value3,
- const uint8_t * __restrict mask,
- uint32_t maskStride
- );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Sets every element of a float32_t 3-channel array to a given 3-element scalar.
-///
-/// @details
-/// A non-zero element of the mask array indicates the corresponding element
-/// of the destination array to be changed. The mask itself equals to zero means that
-/// all elements of the dst array need to be changed. The mask is assumed to
-/// have the same width and height( in terms of pixels) as the destination array.
-///
-/// @param dst
-/// The destination matrix
-///
-/// @param dstWidth
-/// Destination matrix width
-///
-/// @param dstHeight
-/// Destination matrix height
-///
-/// @param dstStride
-/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param value1
-/// First float32_t value of the Scalar
-///
-/// @param value2
-/// Second float32_t value of the Scalar
-///
-/// @param value3
-/// Third float32_t value of the Scalar
-///
-/// @param mask
-/// Operation mask, 8-bit single channel array; specifies elements of the src
-/// array to be changed
-///
-/// @param maskStride
-/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @return
-/// No return value
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvSetElementsc3f32( float32_t * __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- float32_t value1,
- float32_t value2,
- float32_t value3,
- const uint8_t * __restrict mask,
- uint32_t maskStride
- );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines an enumeration to list threshold types used in fcvAdaptiveThreshold
-//------------------------------------------------------------------------------
-
-typedef enum {
- FCV_THRESH_BINARY = 0, // value = value > threshold ? max_value : 0
- FCV_THRESH_BINARY_INV // value = value > threshold ? 0 : max_value
-} fcvThreshType;
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Binarizes a grayscale image based on an adaptive threshold value calculated from 3x3 Gaussian kernel.
-///
-/// @details
-/// For each pixel, the threshold is computed adaptively based on cross-correlation with a
-/// 3x3 Gaussian kernel minus value (parameter). The standard deviation is used for Gaussian kernel.
-/// For FCV_THRESH_BINARY threshold type, the pixel is set as maxValue if it's value is greater than the threshold;
-/// else, it is set as zero. For FCV_THRESH_BINARY_INV threshold type, the pixel is set as zero if it's value is greater than the threshold;
-/// else, it is set as maxValue.
-///
-/// @param src
-/// Pointer to the 8-bit input image.
-///
-/// @param srcWidth
-/// Width of source images pointed by src.
-///
-/// @param srcHeight
-/// Height of source images pointed by src.
-///
-/// @param srcStride
-/// Stride of source image (i.e., number of bytes between column 0
-/// of row 0 and column 0 of row 1).
-///
-/// @param maxValue
-/// The maximum integer value to be used. 0>1+8) *sizeof(uint32_t)
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param integralCrStride
-/// The stride of integralCr. (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2). If left at 0 integralCrStride is default to (srcWidth>>1+8) *sizeof(uint32_t)
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-/// No return value.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvIntegrateImageYCbCr420PseudoPlanaru8(
- const uint8_t* __restrict srcY,
- const uint8_t* __restrict srcC,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcYStride,
- uint32_t srcCStride,
- uint32_t* __restrict integralY,
- uint32_t* __restrict integralCb,
- uint32_t* __restrict integralCr,
- uint32_t integralYStride,
- uint32_t integralCbStride,
- uint32_t integralCrStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// This function finds the foreground.
-///
-/// @details
-/// This function tries to find a forgound in the current image (represented by: fgIntegralY,
-/// fgIntegralCb, fgIntegralCr) based on the current background model (represented by: bgIntegralY,
-/// bgIntegralCb, bgIntegralCr). For example, the tuple (bgIntegralY, bgIntegralCb, bgIntegralCr) may be
-/// from a picture shooting a wall. Then the tuple (fgIntegralY, fgIntegralCb, fgIntegralCr) may be
-/// the wall with a paint on it. Note that all the first six parameters are indicating integral images
-/// that's computed from a YUV420 image, which maybe computed from the function:
-/// fcvIntegrateImageYCbCr420PseudoPlanaru8. Generally the size of fgIntegralY and bgIntegralY are
-/// (srcWidth+1)*(srcHeight+1). And the size of fgIntegralU, fgIntegralV, bgIntegralU and bgIntegralV
-/// are (srcWidth/2+1)*(srcHeight/2+1). The value of the outputWidth and outputHeight are usually indicating
-/// the desired block size. For example, if the user wants a 20x15 blocks on a 800x480 image. Then
-/// outputWidth=800/20 and outputHeight=480/15. After return, if the value in the outputMask image is
-/// 255, then a moving block is indicated, otherwise a non-moving block is indicated.
-///
-/// @param bgIntegralY
-/// The input image/patch that's indicating the Y channel of the integral image of the background image.
-/// Size of buffer is srcYStride*srcHeight bytes
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param bgIntegralCb
-/// The input image/patch that's indicating the Cb channel of the integral image of the background image.
-/// Size of buffer is srcCbStride*srcHeight/2 bytes
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param bgIntegralCr
-/// The input image/patch that's indicating the Cr channel of the integral image of the background image.
-/// Size of buffer is srcCrStride*srcHeight/2 bytes
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param fgIntegralY
-/// The input image/patch that's indicating the Y channel of the integral image of the image
-/// on which we want to find the foreground.
-/// Size of buffer is srcYStride*srcHeight bytes
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param fgIntegralCb
-/// The input image/patch that's indicating the Cb channel of the integral image of the image
-/// on which we want to find the foreground.
-/// Size of buffer is srcCbStride*srcHeight/2 bytes
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param fgIntegralCr
-/// The input image/patch that's indicating the Cr channel of the integral image of the image
-/// on which we want to find the foreground.
-/// Size of buffer is srcCrStride*srcHeight/2 bytes
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width, the number of pixels in a row. See the details.
-/// \n\b NOTE: must be a multiple of 16.
-///
-/// @param srcHeight
-/// The height of the source image. See the details.
-/// \n\b NOTE: must be a multiple of 2.
-///
-/// @param srcYStride
-/// The stride of the input source image's Y channel. (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2). If left at 0 srcStride is default to (srcWidth+8)*sizeof(uint32_t).
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCbStride
-/// The stride of the input source image's Cb channel. (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2). If left at 0 srcStride is default to (srcWidth>>1+8)*sizeof(uint32_t).
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcCrStride
-/// The stride of the input source image's Cr channel. (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2). If left at 0 srcStride is default to (srcWidth>>1+8)*sizeof(uint32_t).
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param outputMask
-/// The output mask image. Each pixel represent the motion condition for a block in the original image.
-/// Size of buffer is outputMaskStride*outputHeight bytes
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param outputWidth
-/// The width of the output mask image.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param outputHeight
-/// The height of the output mask image.
-///
-/// @param outputMaskStride
-/// The stride of the output mask image. (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2). If left at 0 outputMaskStride is default to outputWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param threshold
-/// The threshold that's used to decide if a block is moving or not. (recommend the value of 20).
-///
-/// @return
-/// No return value.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvFindForegroundIntegrateImageYCbCr420u32(
- const uint32_t * __restrict bgIntegralY,
- const uint32_t * __restrict bgIntegralCb,
- const uint32_t * __restrict bgIntegralCr,
- const uint32_t * __restrict fgIntegralY,
- const uint32_t * __restrict fgIntegralCb,
- const uint32_t * __restrict fgIntegralCr,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcYStride,
- uint32_t srcCbStride,
- uint32_t srcCrStride,
- uint8_t * __restrict outputMask,
- uint32_t outputWidth,
- uint32_t outputHeight,
- uint32_t outputMaskStride,
- float32_t threshold );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// This function calculates the average value of an image.
-///
-/// @details
-/// This function sums all the pixel value in an image and divide the result by the number of pixels in the image.
-///
-/// @param src
-/// The input image/patch. Must be 32 bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width, the number of pixels in a row
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param avgValue
-/// The output average value.
-///
-/// @return
-/// No return value.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvAverages32(
- const int32_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t* __restrict avgValue);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// This function calculates the average value of an image.
-///
-/// @details
-/// This function sums all the pixel value in an image and divide the result by the number of pixels in the image.
-///
-/// @param src
-/// 8-bit image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width, the number of pixels in a row
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param avgValue
-/// The output average value.
-///
-/// @return
-/// No return value.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvAverageu8(
- const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t* __restrict avgValue);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Applies the meanshift procedure and obtains the final converged position
-///
-/// @details
-/// This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position.
-/// The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be 8 bit grayscale image.
-/// Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// The width of the input source image.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// The height of the input source image.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-/// Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-/// The criteria used to finish the MeanShift which consists of two termination criteria:
-/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @return
-/// The actually number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvMeanShiftu8(const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- fcvRectangleInt* window,
- fcvTermCriteria criteria);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Applies the meanshift procedure and obtains the final converged position
-///
-/// @details
-/// This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position.
-/// The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be int 32bit grayscale image.
-/// Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// The width of the input source image.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// The height of the input source image.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-/// Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-/// The criteria used to finish the MeanShift which consists of two termination criteria:
-/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @return
-/// Number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvMeanShifts32(const int32_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- fcvRectangleInt* window,
- fcvTermCriteria criteria);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Applies the meanshift procedure and obtains the final converged position
-///
-/// @details
-/// This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position.
-/// The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be float 32bit grayscale image.
-/// Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// The width of the input source image.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// The height of the input source image.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-/// Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-/// The criteria used to finish the MeanShift which consists of two termination criteria:
-/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @return
-/// Number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvMeanShiftf32(const float32_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- fcvRectangleInt* window,
- fcvTermCriteria criteria);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Applies the ConAdaTrack procedure and find the object center, size and orientation
-///
-/// @details
-/// This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object.
-/// The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be 8bit grayscale image.
-/// Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// The width of the input source image.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// The height of the input source image.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-/// Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-/// The criteria used to finish the object search which consists of two termination criteria:
-/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @param circuBox
-/// The circumscribed box around the object
-///
-/// @return
-/// Number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvConAdaTracku8(const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- fcvRectangleInt* window,
- fcvTermCriteria criteria,
- fcvBox2D* circuBox);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Applies the ConAdaTrack procedure and find the object center, size and orientation
-///
-/// @details
-/// This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object.
-/// The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be int 32bit grayscale image.
-/// Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// The width of the input source image.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// The height of the input source image.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-/// Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-/// The criteria used to finish the object search which consists of two termination criteria:
-/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @param circuBox
-/// The circumscribed box around the object
-///
-/// @return
-/// Number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvConAdaTracks32(const int32_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- fcvRectangleInt* window,
- fcvTermCriteria criteria,
- fcvBox2D* circuBox);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Applies the ConAdaTrack procedure and find the object center, size and orientation
-///
-/// @details
-/// This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object.
-/// The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.
-///
-/// @param src
-/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be float 32bit grayscale image.
-/// Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// The width of the input source image.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// The height of the input source image.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param window
-/// Pointer to the initial search window position which also returns the final converged window position.
-///
-/// @param criteria
-/// The criteria used to finish the object search which consists of two termination criteria:
-/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
-///
-/// @param circuBox
-/// The circumscribed box around the object
-///
-/// @return
-/// Number of iterations
-///
-/// @ingroup Motion_and_Object_Tracking
-//------------------------------------------------------------------------------
-FASTCV_API uint32_t
-fcvConAdaTrackf32(const float32_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- fcvRectangleInt* window,
- fcvTermCriteria criteria,
- fcvBox2D* circuBox);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Compute a singular value decomposition of a matrix of a float type
-/// A = U*diag[w]*Vt;
-/// It is used for solving problems like least-squares, under-determined linear systems, matrix
-/// inversion and so forth. The algorithm used here does not compute the full U and V matrices
-/// however it computes a condensed version of U and V described below which is sufficient to solve
-/// most problems which use SVD.
-///
-/// @details
-///
-///
-/// @param A
-/// The input matrix of dimensions m x n
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param m
-/// The number of rows of matrix A
-///
-/// @param n
-/// The number of columns of matrix A
-///
-/// @param w
-/// The pointer to the buffer that holds n singular values. When m>n it
-/// contains n singular values while when m 0 and less than or equal to 8.
-///
-/// @param dst
-/// Output unsigned 8-bit integer image. Size of buffer is dstStride*srcHeight bytes.
-/// The dimensions of the image are dstWidth = srcWidth - 2*radius,
-/// and dstHeight = srcHeight - 2*radius.
-
-///
-/// @param dstStride
-/// Stride of the output image in bytes.
-/// \n\b NOTE: dstWidth = srcWidth - 2*radius, dstHeight = srcHeight - 2*radius.
-/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvGLBPu8(const uint8_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t radius,
- uint32_t neighbors,
- uint8_t *__restrict dst,
- uint32_t dstStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Refine corner location
-///
-/// @details
-/// Refine the detected corners location into sub-Pixels which is more precise than integer pixels
-///
-/// @param src
-/// Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-///
-/// @param srcHeight
-/// Input image height.
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param blockWidth
-/// Width of the location search window.
-///
-/// @param blockHeight
-/// Height of the location search window.
-///
-/// @param maxIterations
-/// Maximum number of iteration to refine
-///
-/// @param stopCriteria
-/// Improvement threshold, iteration stop if the corner position moves less by this value
-///
-/// @param xyInitial
-/// Pointer to the initial input array containing the interleaved x,y position of the corner
-///
-/// @param nCorners
-/// Number of the corners
-///
-/// @param xyOut
-/// Pointer to the output array containing the refined interleaved x,y position of the corner
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvCornerRefineSubPixu8( const uint8_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t blockWidth,
- uint32_t blockHeight,
- uint32_t maxIterations,
- float32_t stopCriteria,
- const uint32_t*__restrict xyInitial,
- uint32_t nCorners,
- float32_t * __restrict xyOut);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Extract strong corners from image to track
-///
-/// @details
-/// Extract strong corners from image to track based on the according paper "Good Feature to Track" by J.Shi and C.Tomasi
-///
-/// @param src
-/// Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-///
-/// @param srcHeight
-/// Input image height.
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param distanceMin
-/// Minimum Euclidean distance between the found corners
-///
-/// @param border
-/// Number for pixels to ignore from top,bottom
-///
-/// @param barrier
-/// Quality threshold
-///
-/// @param xy
-/// Pointer to the output array containing the interleaved x,y position of the detected features
-///
-/// @maxnumcorners
-/// Maximum number of features to detect
-///
-/// @numcorners
-/// Pointer to integer of actual detected features number
-///
-/// @ingroup feature_detection
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvGoodFeatureToTracku8( const uint8_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t distanceMin,
- uint32_t border,
- float32_t barrier,
- uint32_t * __restrict xy,
- uint32_t maxnumcorners,
- uint32_t * __restrict numcorners);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Find multiple maxima along the normal direction of the line
-///
-/// @param src
-/// 8-bit input image
-///
-/// @param srcWidth
-/// Input image width
-///
-/// @param srcHeight
-/// Input image height
-///
-/// @param srcStride
-/// Input image stride
-///
-/// @param pos
-/// 2D position to start searching maximas in the input image
-///
-/// @param normal
-/// Normalized line normal at pos
-///
-/// @param maxDistance
-/// Search distance along the normal direction; [-normal*maxDistance, normal*maxDistance]
-///
-/// @param maxNumMaxima
-/// Maximum maxima to find, e.g., 5
-///
-/// @param minGradient
-/// Minimum 1D gradient of the pixels on the search line (normal direction)
-///
-/// @param maxAngleDiff
-/// Cosine value threshold to filter the pixels that have large angle difference
-///
-/// @param maxima
-/// List of found maxima 1D positions; Actuall 2D position of maxima = (normal * 1D position) + pos
-///
-/// @param numMaxima
-/// Number of found maxima
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFindMultipleMaximau8(const uint8_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- const float32_t* __restrict pos,
- const float32_t* __restrict normal,
- uint32_t maxDistance,
- uint32_t maxNumMaxima,
- int32_t minGradient,
- float32_t maxAngleDiff,
- float32_t* __restrict maxima,
- uint32_t* __restrict numMaxima);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Extract the straight line segments from the image
-///
-/// @param srcPyr
-/// Pointer to an array of fcvPyramidLevel_v2. Only 2 levels at max will be used
-/// to extract the straight line segments.
-///
-/// @param pyrLevel
-/// Image pyramid level, if it is set to 1, then do not use multi-scale approach.
-/// pyrLevel should be greater than or equal to 1.
-///
-/// @param doBlurImage
-/// Do image-blurring inside the function (if the image is not blurred)
-///
-/// @param maxLineAngle
-/// Cosine threshold to stop following (extending) pixels, e.g., cos(22.5 deg)
-/// maxLineAngle should be between [0.5 - 1.0]
-///
-/// @param minLineLength
-/// Minimum line segment length in pixels
-///
-/// @param minMagnitude
-/// Minimum pixel gradient magnitude, e.g., 10
-///
-/// @param maxLineNum
-/// Maximum line segments from the image
-///
-/// @param indexBuffer
-/// Optionally store the index(:= y * image_width + x) of the pixels consisting of the line segments
-/// into pointsList in fcvLineSegment structure. e.g., One can provide the buffer[maxLineNum*(image width + height)]
-/// Pass NULL if it is not necessary.
-///
-/// @param lineSegments
-/// List of the detected line segments
-///
-/// @param numLineSegments
-/// Number of found line segments
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup feature_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvImageDetectLineSegmentsu8(const fcvPyramidLevel_v2* __restrict srcPyr,
- uint32_t pyrLevel,
- uint32_t doBlurImage,
- float32_t maxLineAngle,
- uint32_t minLineLength,
- uint32_t minMagnitude,
- uint32_t maxLineNum,
- uint32_t* __restrict indexBuffer,
- fcvLineSegment* __restrict lineSegments,
- uint32_t* __restrict numLineSegments);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Sum of squared differences of one L-byte vector against N others.
-///
-/// @details
-/// SSD of one vector (a) against N other L-byte vectors
-/// ( b[0], b[1], ..., b[n-1] )
-/// using their given inverse lengths for normalization.
-/// \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenA
-/// Inverse of vector A = 1/|A|
-///
-/// @param dim
-/// Number of element of vector A
-///
-/// @param bList
-/// Vectors b[0]...b[n-1].
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param invLenB
-/// Inverse of vectors b[0]...b[n-1] = 1/|b[0]|,... 1/|b[n-1]|
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param numB
-/// Number of B vectors.
-///
-/// @param distances
-/// Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }
-/// \n\b WARNING: should be 128-bit aligned.
-///
-///
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfSquaredDiffsu8( const uint8_t* __restrict a,
- float32_t invLenA,
- uint32_t dim,
- const uint8_t* const * __restrict bList,
- const float32_t* __restrict invLenB,
- uint32_t numB,
- float32_t* __restrict distances );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Sum of squared differences of one floating vector of L-elements against N others.
-///
-/// @details
-/// SSD of one vector (a) against N other L-elements vectors
-/// ( b[0], b[1], ..., b[n-1] )
-/// using their given inverse lengths for normalization.
-/// \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenA
-/// Inverse of vector A = 1/|A|
-///
-/// @param dim
-/// Number of element of vector A
-///
-/// @param bList
-/// Vectors b[0]...b[n-1].
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param invLenB
-/// Inverse of vectors b[0]...b[n-1] = 1/|b[0]|,... 1/|b[n-1]|
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param numB
-/// Number of B vectors.
-///
-/// @param distances
-/// Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfSquaredDiffsf32( const float32_t* __restrict a,
- float32_t invLenA,
- uint32_t dim,
- const float32_t* const * __restrict bList,
- const float32_t* __restrict invLenB,
- uint32_t numB,
- float32_t* __restrict distances );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// General function for computing cluster centers and cluster bindings
-/// for a set of points of dimension dim.
-///
-/// @param points
-/// Array of all points. Array size must be greater than
-/// numPoints * pointStride.
-///
-/// @param numPoints
-/// Number of points in points array.
-///
-/// @param dim
-/// dimension, e.g. 36
-///
-/// @param pointStride
-/// Byte distance between adjacent points in array
-///
-/// @param numPointsUsed
-/// Total number of points used for clustering, {0,1,...(numPointsUsed-1)}
-///
-/// @param numClusters
-/// Number of clusters
-///
-/// @param clusterCenters
-/// current cluster centers;
-/// elements are distant by clusterCenterStride
-///
-/// @param clusterCenterStride
-/// byte distance between adjacent cluster centers in array
-///
-/// @param newClusterCenters
-/// array for new cluster centers; should be numClusterCenters long
-///
-/// @param newClusterMemberCounts
-/// Element counts for each cluster; should be numClusterCenters long
-///
-/// @param clusterBindings
-/// Output indices of the clusters to which each vector belongs to, array must
-/// be numPointsUsed long.
-///
-/// @param sumOfClusterDistances
-/// the sum of distances between each cluster center to its belonging points. The
-/// size should be numClusterCenters*sizeof(float_32)
-///
-/// @return
-/// 0 if successfully clustered, otherwise error code
-///
-/// @remark
-/// This is general clusterer. There are no assumptions on points other
-/// than they belong to a vector space
-///
-/// @ingroup clustering_and_search
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvClusterEuclideanu8( const uint8_t* __restrict points,
- int32_t numPoints,
- int32_t dim,
- int32_t pointStride,
- int32_t numPointsUsed,
- int32_t numClusters,
- float32_t* __restrict clusterCenters,
- int32_t clusterCenterStride,
- float32_t* __restrict newClusterCenters,
- uint32_t* __restrict clusterMemberCounts,
- uint32_t* __restrict clusterBindings,
- float32_t* sumOfClusterDistances );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix transpose of one uint8_t type matrix.
-///
-/// @param src
-/// Source matrix.The size of src is srcStride*srcHeight.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-/// Width of the source matrix.
-///
-/// @param srcHeight
-/// Height of the source matrix.
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// Transpose of the source matrix. The size of dst is dstStride*srcWidth.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcHeight.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTransposeu8( const uint8_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t * __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix transpose of one uint16_t type matrix.
-///
-/// @param src
-/// Source matrix. The size of src is srcStride*srcHeight.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-/// Width of the source matrix.
-///
-/// @param srcHeight
-/// Height of the source matrix.
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// Transpose of the source matrix. The size of dst is dstStride*srcWidth.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcHeight*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTransposeu16( const uint16_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint16_t * __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix transpose of one float32_t type matrix.
-///
-/// @param src
-/// Source matrix. The size of src is srcStride*srcHeight.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-/// Width of the source matrix.
-///
-/// @param srcHeight
-/// Height of the source matrix.
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// Transpose of the source matrix. The size of dst is dstStride*srcWidth.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcHeight*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvTransposef32( const float32_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t * __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Flip one uint8_t type matrix. If src and dst point to the same address
-/// and srcStride equals to dstStride, it will do in-place flip.
-///
-/// @param src
-/// Source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-/// Width of the source matrix.
-///
-/// @param srcHeight
-/// Height of the source matrix.
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix. If src equals to dst and srcStride equals to dstStride,
-/// it will do in-place flip.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dir
-/// Flip direction (FASTCV_FLIP_HORIZ, FASTCV_FLIP_VERT or FASTCV_FLIP_BOTH).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFlipu8( const uint8_t * src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t * dst,
- uint32_t dstStride,
- fcvFlipDir dir );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Flip one uint16_t type matrix. If src and dst point to the same address,
-/// and srcStride equals to dstStride, it will do in-place flip.
-///
-/// @param src
-/// Source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-/// Width of the source matrix.
-///
-/// @param srcHeight
-/// Height of the source matrix.
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix. If src equals to dst and srcStride equals to dstStride,
-/// it will do in-place flip.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dir
-/// Flip direction (FASTCV_FLIP_HORIZ, FASTCV_FLIP_VERT or FASTCV_FLIP_BOTH).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFlipu16( const uint16_t * src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint16_t * dst,
- uint32_t dstStride,
- fcvFlipDir dir );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Flips an interleaved RGB image
-///
-/// @details
-/// Flips one uint8_t type interleaved RGB image . If src and dst point to the same address
-/// and srcStride equals to dstStride, it will do in-place flip.
-///
-/// @param src
-/// Input unsigned 8-bit integer image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the image.
-///
-/// @param srcHeight
-/// Height of the source image.
-///
-/// @param srcStride
-/// Stride of the Image in bytes.
-/// \n\b NOTE: if 0, srcStride is set as 3 x srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcWidth if not 0.
-///
-/// @param dst
-/// Output unsigned 8-bit integer image. Size of buffer is dstStride*srcHeight bytes.
-/// If src equals to dst and srcStride equals to dstStride,it will do in-place flip.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of the output image in bytes.
-/// \n\b NOTE: if 0, dstStride is set as 3 x srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcWidth if not 0.
-///
-/// @param dir
-/// Flip direction (FASTCV_FLIP_HORIZ, FASTCV_FLIP_VERT or FASTCV_FLIP_BOTH).
-///
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvFlipRGB888u8(const uint8_t * src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t * dst,
- uint32_t dstStride,
- fcvFlipDir dir);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Rotate one uint8_t type image.
-///
-/// @param src
-/// Source image.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-/// Width of the source image.
-///
-/// @param srcHeight
-/// Height of the source image.
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result image.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth
-/// (FASTCV_ROTATE_180) or srcHeight (FASTCV_ROTATE_90 or FASTCV_ROTATE_270).
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param degree
-/// Rotate degree (FASTCV_ROTATE_90, FASTCV_ROTATE_180 or FASTCV_ROTATE_270).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvRotateImageu8( const uint8_t * src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t * dst,
- uint32_t dstStride,
- fcvRotateDegree degree );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Rotate one interleaved uint8_t type image (e.g. UV channel in NV21).
-///
-/// @param src
-/// Source image.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-/// Number of interleaved pairs in one row.
-/// For example, srcWidth = 4 in UVUVUVUV image row.
-///
-/// @param srcHeight
-/// Height of the source image.
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to 2*srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result image.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to 2*srcWidth
-/// (FASTCV_ROTATE_180) or 2*srcHeight (FASTCV_ROTATE_90 or FASTCV_ROTATE_270).
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param degree
-/// Rotate degree (FASTCV_ROTATE_90, FASTCV_ROTATE_180 or FASTCV_ROTATE_270).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvRotateImageInterleavedu8( const uint8_t * src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t * dst,
- uint32_t dstStride,
- fcvRotateDegree degree );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Element-wise multiplication of two uint8_t type matrices.
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (uint16_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvElementMultiplyu8u16( const uint8_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t * src2,
- uint32_t src2Stride,
- uint16_t * __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Element-wise multiplication of two float32_t type matrices.
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (float32_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvElementMultiplyf32( const float32_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const float32_t * src2,
- uint32_t src2Stride,
- float32_t * __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix multiplication of two int8_t type matrices.
-///
-/// @param src1
-/// First source matrix. The size of src1 is src1Stride*src1Height.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src1Width
-/// Width of the first source matrix.
-/// \n\b NOTE: src1Width should not be larger than 131072
-///
-/// @param src1Height
-/// Height of the first source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix. The size of src2 is src2Stride*src1Width.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Width
-/// Width of the second source matrix.
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (int32_t type). The size of dst is dstStride*src1Height.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to src2Width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvMatrixMultiplys8s32( const int8_t * __restrict src1,
- uint32_t src1Width,
- uint32_t src1Height,
- uint32_t src1Stride,
- const int8_t * __restrict src2,
- uint32_t src2Width,
- uint32_t src2Stride,
- int32_t * __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix multiplication of two float32_t type matrices.
-///
-/// @param src1
-/// First source matrix. The size of src1 is src1Stride*src1Height.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src1Width
-/// Width of the first source matrix.
-///
-/// @param src1Height
-/// Height of the first source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix. The size of src2 is src2Stride*src1Width.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Width
-/// Width of the second source matrix.
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (int32_t type). The size of dst is dstStride*src1Height.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to src2Width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvMatrixMultiplyf32( const float32_t * __restrict src1,
- uint32_t src1Width,
- uint32_t src1Height,
- uint32_t src1Stride,
- const float32_t * __restrict src2,
- uint32_t src2Width,
- uint32_t src2Stride,
- float32_t * __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of two uint8_t type blocks.
-///
-/// @param src1
-/// First source block.
-///
-/// @param blockWidth
-/// Width of the source block.
-///
-/// @param blockHeight
-/// Height of the source block.
-/// \n\b NOTE: blockWidth*blockHeight should not be larger than 65536
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source block.
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// Block dot product (uint32_t).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvBlockDotProductu8( const uint8_t * __restrict src1,
- uint32_t blockWidth,
- uint32_t blockHeight,
- uint32_t src1Stride,
- const uint8_t * __restrict src2,
- uint32_t src2Stride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of two float32_t type blocks.
-///
-/// @param src1
-/// First source block.
-///
-/// @param blockWidth
-/// Width of the source block.
-///
-/// @param blockHeight
-/// Height of the source block.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source block.
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// Block dot product (float32_t).
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API float32_t
-fcvBlockDotProductf32( const float32_t * __restrict src1,
- uint32_t blockWidth,
- uint32_t blockHeight,
- uint32_t src1Stride,
- const float32_t * __restrict src2,
- uint32_t src2Stride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix addition of two uint8_t type matrices.
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (uint16_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAddu8u16( const uint8_t * __restrict src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t * __restrict src2,
- uint32_t src2Stride,
- uint16_t * __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix addition of two int16_t type matrices with saturation.
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (int16_t type). The result will be saturated to
-/// int16_t.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAdds16( const int16_t * __restrict src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const int16_t * __restrict src2,
- uint32_t src2Stride,
- int16_t * __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix addition of two float32_t type matrices.
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (float32_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvAddf32( const float32_t * __restrict src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const float32_t * __restrict src2,
- uint32_t src2Stride,
- float32_t * __restrict dst,
- uint32_t dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Builds an integral image of the incoming 8-bit patch values and their
-/// squares. This function supports bigger size patch with u64 for squared
-/// integral output.
-/// \n\b NOTE: No extra border lines, the integral output buffer size is the same
-/// as input image buffer size.
-///
-/// @details
-/// sum (X,Y) = sum_{x<=X,y<=Y} I(x,y)
-///
-/// @param src
-/// Input image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @param dstIntgrl
-/// Integral image.
-/// \n\b NOTE: Memory must be >= srcWidth*srcHeight*4 bytes
-///
-/// @param dstIntgrlSqrd
-/// Integral image of squared values.
-/// \n\b NOTE: Memory must be >= srcWidth*srcHeight*8 bytes
-///
-/// @param dstIntgrlStride
-/// dstIntgrl Image stride (in bytes).
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth*4.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @param dstIntgrlSqrdStride
-/// dstIntgrlSqrd Image stride (in bytes).
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth*8.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvIntegrateImageu8u64( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t* __restrict dstIntgrl,
- uint64_t* __restrict dstIntgrlSqrd,
- uint32_t dstIntgrlStride,
- uint32_t dstIntgrlSqrdStride);
-
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Normalize the image according to histogram value of the pixel intensity.
-///
-/// @param src
-/// Pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-/// Pointer to output image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-
-FASTCV_API void
-fcvImageHistogramEqualizeu8( const uint8_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t * __restrict dst,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Calculate histogram at image patches.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvImageSpatialHistogramu8_v2(). In the 2.0.0 release,
-/// fcvImageSpatialHistogramu8_v2 will be renamed to fcvImageSpatialHistogramu8
-/// and the signature of fcvImageSpatialHistogramu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// Pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param numPatterns
-/// Number of patterns to be computed in the histogram
-///
-/// @param grid_x
-/// The number of grids along x dimension
-///
-/// @param grid_y
-/// The number of grids along y dimension
-///
-/// @param histogram
-/// Output histogram
-/// \n\b NOTE: Memory must be at least numPatterns*grid_x*grid_y*sizeof(float32_t)
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API void
-fcvImageSpatialHistogramu8(const uint8_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t numPatterns,
- uint32_t grid_x,
- uint32_t grid_y,
- float32_t*__restrict histogram);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data without normalization.
-/// This function computes the gradient of the input image by convolution with the
-/// 3x3 Sobel kernel. The Sobel kernel is not normalized in this function.
-///
-/// NOTE: it will replace the fcvFilterSobel3x3u8 in fastCV 2.0.0.
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient. The number of pixels in a row.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-/// If NULL, the horizontal gradient will not be calculated.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-/// If NULL, the vertical gradient will not be calculated.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dxyStride
-/// Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param borderType
-/// Define the behavior at the border.
-/// See definition of fcvBorderType.
-///
-/// @param borderValue
-/// Specifies the constant value for the borderType FASTCV_BORDER_CONSTANT.
-/// Ignored otherwise.
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterSobel3x3u8s16( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int16_t* __restrict dx,
- int16_t* __restrict dy,
- uint32_t dxyStride,
- fcvBorderType borderType,
- uint8_t borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data without normalization.
-/// This function computes the gradient of the input image by convolution with the
-/// 5x5 Sobel kernel. The Sobel kernel is not normalized in this function.
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient. The number of pixels in a row.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-/// If NULL, the horizontal gradient will not be calculated.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-/// If NULL, the vertical gradient will not be calculated.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dxyStride
-/// Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param borderType
-/// Define the behavior at the border.
-/// See definition of fcvBorderType.
-///
-/// @param borderValue
-/// Specifies the constant value for the borderType FASTCV_BORDER_CONSTANT.
-/// Ignored otherwise.
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterSobel5x5u8s16( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int16_t* __restrict dx,
- int16_t* __restrict dy,
- uint32_t dxyStride,
- fcvBorderType borderType,
- uint8_t borderValue);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Creates a 2D gradient image from source luminance data without normalization.
-/// This function computes the gradient of the input image by convolution with the
-/// 7x7 Sobel kernel. The Sobel kernel is not normalized in this function.
-///
-/// @param src
-/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of src data to create gradient. The number of pixels in a row.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Height of src data to create gradient.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param dx
-/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
-/// If NULL, the horizontal gradient will not be calculated.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dy
-/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
-/// If NULL, the vertical gradient will not be calculated.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dxyStride
-/// Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param borderType
-/// Define the behavior at the border.
-/// See definition of fcvBorderType.
-///
-/// @param borderValue
-/// Specifies the constant value for the borderType FASTCV_BORDER_CONSTANT.
-/// Ignored otherwise.
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterSobel7x7u8s16( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int16_t* __restrict dx,
- int16_t* __restrict dy,
- uint32_t dxyStride,
- fcvBorderType borderType,
- uint8_t borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Canny edge detection with more controls to configurate the algorithm.
-///
-/// @details
-/// Canny edge detector applied to a 8 bit grayscale image.
-/// The results are stored as a binarized image (0x0 - not an edge, 0xFF - edge).
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Stride of the input image in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param kernelSize
-/// The Sobel kernel size for calculating gradient. Supported sizes are 3, 5 and 7.
-///
-/// @param lowThresh
-/// For all the intermediate pixels along the edge, the norm of the
-/// gradient at the pixel locations should be greater than 'lowThresh'.
-///
-/// @param highThresh
-/// For an edge starting point, i.e. either the first or last
-/// pixel of the edge, the norm of the gradient at the pixel should be
-/// greater than 'highThresh'.
-///
-/// @param normType
-/// The norm definition to calculate the gradient magnitude. See fcvNormType.
-///
-/// @param dst
-/// Output 8-bit binarized image containing the edge detection results.
-/// Size of buffer is dstStride*srcHeight bytes.
-/// Edges are marked with pixels of 0xFF. The rest pixels have values of 0.
-///
-/// @param dstStride
-/// Stride of the output image in bytes.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param gx
-/// Buffer to store horizontal gradient. Must be (gradStride)*(srcHeight) bytes in size.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param gy
-/// Buffer to store vertical gradient. Must be (gradStride)*(srcHeight) bytes in size.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param gradStride
-/// Stride (in bytes) of 'gx' and 'gy' gradient arrays,
-/// is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in the gradient arrays dx or dy.
-/// If left at 0 gradStride is default to 2 * srcWidth.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterCannyu8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t kernelSize,
- int32_t lowThresh,
- int32_t highThresh,
- fcvNormType normType,
- uint8_t* __restrict dst,
- uint32_t dstStride,
- int16_t* __restrict gx,
- int16_t* __restrict gy,
- uint32_t gradStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Converts the bit depth of a single-channel uint8 image to int16_t type
-///
-/// @param src
-/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-/// Input image width
-///
-/// @param srcHeight
-/// Input image height
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// if srcStride is equal to 0, it will be set to srcWidth
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @param shift
-/// The number of bits to be right-shifted to adjust the output
-/// \n\b NOTE: range from 0 to 8
-///
-/// @param dst
-/// Output image which has the same dimension as the input image in int16_t type
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// if dstStride is equal to 0, it will be set to srcWidth*2
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvConvertDepthu8s16(const uint8_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t shift,
- int16_t *__restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Converts the bit depth of a single-channel int16_t image to uint8_t type
-///
-/// @param src
-/// Input int16_t image. The size of buffer is srcStride*srcHeight bytes
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-/// Input image width
-///
-/// @param srcHeight
-/// Input image height
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// if srcStride is equal to 0, it will be set to srcWidth*2
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @param shift
-/// The number of bits to be left-shifted to adjust the output
-/// \n\b NOTE: range from 0 to 15
-///
-/// @param policy
-/// Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-/// Output image which has the same dimension as the input image in uint8_t type
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// if dstStride is equal to 0, it will be set to srcWidth
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvConvertDepths16u8(const int16_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t shift,
- fcvConvertPolicy policy,
- uint8_t *__restrict dst,
- uint32_t dstStride );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Recursive Bilateral Filtering
-///
-/// @details
-/// The algorithm is described in paper Recursive Bilateral Filtering, ECCV2012 by Prof Yang Qingxiong
-/// Different from traditional bilateral filtering, the bilateral filtering in this algorithm is actually performed in gradient domain.
-/// The results are ususally better than tradition bilateral filters. Filtering is carried out in a recursive way, and it is efficient.
-///
-/// @param src
-/// Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-///
-/// @param srcHeight
-/// Input image height.
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param dst
-/// Output uint8_t image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param sigmaColor
-/// Filter sigma in the color space. Typical value 0.03f. Increasing this value means increasing the influence of the neighboring
-///pixels of more different Color to the smoothing result.
-///
-/// @param sigmaSpace
-/// Filter sigma in the coordinate space. Typical value 0.1f. Increasing this value means increasing the influence of farther
-/// pixels to the smoothing result.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvBilateralFilterRecursiveu8(const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride,
- float32_t sigmaColor,
- float32_t sigmaSpace );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Grow the seeds within the image to meaningful regions,
-/// depending on the color or gray scale uniformity of the neighborhood pixels from the seeds.
-///
-/// @param src
-/// Pointer to 16-bit color (3-channel) or grayscale (1-channel) image.
-///
-/// @param srcWidth
-/// Width of src image, measured by pixels.
-///
-/// @param srcHeight
-/// Height of src image, measured by pixels.
-///
-/// @param srcStride
-/// Stride of src image, measured by bytes.
-/// WARNING: should be multiple of 8, and at least as much as srcWidth*numChannel if not 0.
-///
-/// @param numChannel
-/// Number of channels of src image. 1 for gray scale and 3 for color image.
-///
-/// @param threshGrow
-/// Threshold to grow the seed into a region. Higher value: larger uniform region grown.
-/// Range of 3-channel image segmentation: 10~150.
-/// Range of 1-channel image segmentation: 3~25.
-///
-/// @param pointVector
-/// A 2D point vector of seeds (provided by user) within the image. For N seeds, it is saved as [x0,y0,x1,y1,...,xN-1,yN-1].
-///
-/// @param numSeed
-/// Number of seed points, equal to N used in pointVector.
-///
-/// @param mode
-/// Mode of seed grow. 0: distance measured with neighborhood pixel. 1: distance measured with seed pixel only.
-///
-/// @param segLabel
-/// Segmented labels. 1 channel with same size of src. Pixel belonging to the same region is uniformly labeled by a non-zero number. Pixels not grown from any seeds are labeled 0.
-///
-/// @param segLabelStride
-/// Stride of segmented labels, measured by bytes.
-/// WARNING: should be multiple of 8, and at least as much as srcWidth*4 if not 0.
-///
-/// @return
-/// 0 if successful.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvImageSegmentationSeedRegionGrows16( const int16_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t numChannel,
- uint32_t threshGrow,
- const uint32_t* __restrict pointVector,
- uint32_t numSeed,
- uint8_t mode,
- uint32_t* __restrict segLabel,
- uint32_t segLabelStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Calculate the local subtractive and contrastive normalization of the image.
-/// For each pixel of the image, the mean and optionally standard deviation
-/// is calculated for the patch centered around the pixel. Then the pixel is
-/// normalized by the local mean and optionally standard deviation.
-///
-/// @param src
-/// The input image. Must be 8 bit grayscale image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE:should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width, the number of pixels in a row
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Stride of src image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory.
-/// \n\b NOTE: should be a multiple of 8. If left at 0 srcStride is default to srcWidth.
-///
-/// @param patchWidth
-/// Width in pixels of the patch to calculate local mean and standard deviation.
-///
-/// @param patchHeight
-/// Height in pixels of the patch to calculate local mean and standard deviation.
-///
-/// @param useStdDev (0 or 1)
-/// if 1, the dst will be normalized with standard deviation.
-///
-/// @param dst
-/// The output image.
-/// Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE:should be 128-bit aligned.
-///
-/// @param dstStride
-/// The stride of the output image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: should be a multiple of 8. If left at 0 dstStride is default to srcWidth.
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvNormalizeLocalBoxu8( const uint8_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t patchWidth,
- uint32_t patchHeight,
- uint32_t useStdDev,
- int8_t * __restrict dst,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Calculate the local subtractive and contrastive normalization of the image.
-/// For each pixel of the image, the mean and optionally standard deviation
-/// is calculated for the patch centered around the pixel. Then the pixel is
-/// normalized by the local mean and optionally standard deviation.
-///
-/// @param src
-/// The input image. Must be 32-bit float image. Size of buffer is
-/// srcStride*srcHeight*sizeof(float32_t) bytes.
-/// \n\b NOTE:should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width, the number of pixels in a row
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Stride of src image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory.
-/// \n\b NOTE: should be a multiple of 8. If left at 0 srcStride is default to srcWidth*sizeof(float32_t).
-///
-/// @param patchWidth
-/// Width in pixels of the patch to calculate local mean and standard deviation.
-///
-/// @param patchHeight
-/// Height in pixels of the patch to calculate local mean and standard deviation.
-///
-/// @param useStdDev (0 or 1)
-/// if 1, the dst will be normalized with standard deviation.
-///
-/// @param dst
-/// The output image.
-/// Size of buffer is dstStride*srcHeight*sizeof(float32_t) bytes.
-/// \n\b NOTE:should be 128-bit aligned.
-///
-/// @param dstStride
-/// The stride of the output image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: should be a multiple of 8. If left at 0 dstStride is default to srcWidth*sizeof(float32_t).
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvNormalizeLocalBoxf32( const float32_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t patchWidth,
- uint32_t patchHeight,
- uint32_t useStdDev,
- float32_t * __restrict dst,
- uint32_t dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Combine two channels in an interleaved fashion
-///
-/// @details
-/// Interleave data from src1 and src2 to dst.
-/// Data in src1 [d0 d1 d2 d3...]
-/// Data in src2 [t0 t1 t2 t3...]
-/// Results in dst [d0 t0 d1 t1 d2 t2 d3 t3...]
-/// \n\b NOTE: Perform the same functionality as fcvInterleaveu8.
-///
-/// @param src1
-/// One of the input images ( For example, Cb or Cr component)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source image.
-///
-/// @param height
-/// Height of the source image.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// One of the input images ( For example, Cb or Cr component)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// The result image (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvChannelCombine2Planesu8( const uint8_t *__restrict src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t *__restrict src2,
- uint32_t src2Stride,
- uint8_t *__restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Combine three channels in an interleaved fashion
-///
-/// @details
-/// Interleave data from src1, src2 and src3 to dst.
-/// Data in src1 [d0 d1 d2 d3...]
-/// Data in src2 [t0 t1 t2 t3...]
-/// Data in src3 [s0 s1 s2 s3...]
-/// Results in dst [d0 t0 s0 d1 t1 s1 d2 t2 s2 d3 t3 s3...]
-///
-/// @param src1
-/// One of the input images ( For example, R or G or B component)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source image.
-///
-/// @param height
-/// Height of the source image.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// One of the input images ( For example, R or G or B component)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src3
-/// One of the input images ( For example, R or G or B component)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src3Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src3Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// The result image (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*3.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvChannelCombine3Planesu8(const uint8_t *__restrict src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t *__restrict src2,
- uint32_t src2Stride,
- const uint8_t *__restrict src3,
- uint32_t src3Stride,
- uint8_t *__restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Combine four channels in an interleaved fashion
-///
-/// @details
-/// Interleave data from src1, src2, src3 and src4 to dst.
-/// Data in src1 [d0 d1 d2 d3...]
-/// Data in src2 [t0 t1 t2 t3...]
-/// Data in src3 [s0 s1 s2 s3...]
-/// Data in src3 [r0 r1 r2 r3...]
-/// Results in dst [d0 t0 s0 r0 d1 t1 s1 r1 d2 t2 s2 r2 d3 t3 s3 r3...]
-///
-/// @param src1
-/// One of the input images ( For example, R or G or B or A component)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source image.
-///
-/// @param height
-/// Height of the source image.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// One of the input images ( For example, R or G or B or A component)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src3
-/// One of the input images ( For example, R or G or B or A component)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src3Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src3Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src4
-/// One of the input images ( For example, R or G or B or A component)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src4Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src4Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// The result image (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*4.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvChannelCombine4Planesu8(const uint8_t *__restrict src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t *__restrict src2,
- uint32_t src2Stride,
- const uint8_t *__restrict src3,
- uint32_t src3Stride,
- const uint8_t *__restrict src4,
- uint32_t src4Stride,
- uint8_t *__restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Extract channel as a single uint8_t type plane from an interleaved or multi-planar image format
-///
-/// @details
-///
-///
-/// @param src1
-/// The first plane in source image. For example, an intervealved RGB/RGBA plane or the Y plane.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source image.
-///
-/// @param height
-/// Height of the source image.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-/// If left at 0 src1Stride is default to the size required by corresponding image format.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// The second plane in souce image if available; otherwise, left at 0.
-/// For example, the intervealved CbCr plane in FASTCV_NV12/FASTCV_NV21; or the Cb plane in FASTCV_IYUV/FASTCV_YUV4.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-/// If left at 0, src2Stride is default to width for FASTCV_NV12/FASTCV_NV21/FASTCV_YUV4 and width/2 for FASTCV_IYUV.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src3
-/// The third plane in souce image if available; otherwise, left at 0.
-/// For example, the Cr plane in FASTCV_IYUV/FASTCV_YUV4.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src3Stride
-/// Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-/// If left at 0 src3Stride is default to width for FASTCV_YUV4, and width/2 for FASTCV_IYUV.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param srcChannel
-/// The index of the image channel to be extracted. Refer to fcvChannelType for details.
-///
-/// @param srcFormat
-/// The format of the source image. Different image formats require different src
-/// and dst size. Refer to fcvImageFormat for details.
-///
-/// @param dst
-/// The result image (a uint8_t type plane).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-/// If left at 0, dstStride is default to the size required by corresponding image format.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvChannelExtractu8( const uint8_t *__restrict src1,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t src1Stride,
- const uint8_t *__restrict src2,
- uint32_t src2Stride,
- const uint8_t *__restrict src3,
- uint32_t src3Stride,
- fcvChannelType srcChannel,
- fcvImageFormat srcFormat,
- uint8_t *__restrict dst,
- uint32_t dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with MxN median filter (M,N have to be odd numbers)
-///
-/// @details
-/// Borders of m pixels in horizontal direction and n in vertical direction
-/// are replaced with the source pixels, where m = (M-1)/2, n = (N-1)/2
-/// The NxN median filter applies on the image area
-/// | a(n,m) , a(n,m+1), ..., a(n,srcWidth-m-1) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-n-1,m), ..., ..., a(srcHeight-n-1,srcWidth-m-1) |\n
-///
-/// @param src
-/// Input 16-bit signed image. Size of buffer is srcStride*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth * 2.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
-///
-/// @param M
-/// Filter kernel width
-/// \n\b NOTE: kernel width should be an odd number
-///
-/// @param N
-/// Filter kernel height
-/// \n\b NOTE: kernel height should be an odd number
-///
-/// @param dst
-/// Output 16-bit image. Size of buffer is dstStride*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth * 2
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterMedianMxNs16( const int16_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t M,
- uint32_t N,
- int16_t* __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Computes the convolution of an image with an M x N Kernel
-///
-/// @details
-/// The function computes the convolution of an unsigned char input image
-/// with an M x N kernel of type short. The output is of type short
-/// and is of the same size as the input image. The convolution is computed
-/// based on the type of Border handling selected.
-///
-///
-/// @param kernel
-/// Input M x N short kernel matrix. The size of buffer is M*N*sizeof(int16_t) bytes
-/// The kernel can be normalized before passing in by making use of the shift parameter.
-///
-///
-/// @param M
-/// Width of the kernel
-///
-/// @param N
-/// Height of the kernel
-///
-/// @param shift
-/// This parameter can be used to normalize the input kernel by converting the data into
-/// fixed point values. Shift can be considered as Q factor of kernel.
-///
-/// @param src
-/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-/// Input image width
-///
-/// @param srcHeight
-/// Input image height
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element
-/// of a row and that of the successive row. If srcStride is equal to 0,
-/// it will be set to srcWidth.
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @param dst
-/// Output image which has the same dimensions as the input matrix.
-/// The output is of type short, and must be allocated as dstStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-/// Output image stride, i.e. the gap (in terms of bytes) between the first element
-/// of a row and that of the successive row. If dstStride is equal to 0,
-/// it will be set to srcWidth * sizeof(int16_t).
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @param borderType
-/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-/// border values will be set to 0.
-///
-/// @param borderValue
-/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-/// set this value as 0. Can take values between 0 to 255.
-///
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterConvolveMxNu8s16( const int16_t* __restrict kernel,
- uint32_t M,
- uint32_t N,
- int8_t shift,
- const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int16_t* __restrict dst,
- uint32_t dstStride,
- fcvBorderType borderType,
- uint8_t borderValue );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Computes the convolution of a image with an M x N Kernel
-///
-/// @details
-/// The function computes the convolution of an unsigned char input image
-/// with an M x N kernel of type short. The output is of type unsigned char
-/// and is of the same size as the input image. The convolution is computed
-/// based on the type of Border handling selected.
-///
-///
-/// @param kernel
-/// Input M x N short kernel matrix. The size of buffer is M*N*sizeof(int16_t) bytes
-/// The kernel can be normalized before passing in by making use of the shift parameter.
-///
-///
-/// @param M
-/// Width of the kernel
-///
-/// @param N
-/// Height of the kernel
-///
-/// @param shift
-/// This parameter can be used to normalize the input kernel by converting the data into
-/// fixed point values. Shift can be considered as Q factor of kernel.
-///
-/// @param src
-/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-/// Input image width
-///
-/// @param srcHeight
-/// Input image height
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element
-/// of a row and that of the successive row. If srcStride is equal to 0,
-/// it will be set to srcWidth.
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @param dst
-/// Output image which has the same dimensions as the input matrix.
-/// The output is of type unsigned char, and must be allocated as dstStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-/// Output image stride, i.e. the gap (in terms of bytes) between the first element
-/// of a row and that of the successive row. If dstStride is equal to 0,
-/// it will be set to srcWidth.
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @param borderType
-/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-/// border values will be set to 0.
-///
-/// @param borderValue
-/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-/// set this value as 0. Can take values between 0 and 255.
-///
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterConvolveMxNu8(const int16_t* __restrict kernel,
- uint32_t M,
- uint32_t N,
- int8_t shift,
- const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride,
- fcvBorderType borderType,
- uint8_t borderValue);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Smooth a uint8_t image with a 3x3 box filter with border handling scheme specified by user
-///
-/// @details
-/// smooth with 3x3 box kernel and normalize:
-/// \n[ 1 1 1
-/// \n 1 1 1
-/// \n 1 1 1 ]/9
-///
-/// @param src
-/// Input uint8_t image.
-///
-/// @param srcWidth
-/// Input image width.
-///
-/// @param srcHeight
-/// Input image height.
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param dst
-/// Output image which has the same type, and size as the input image.
-///
-/// @param dstStride
-/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-///
-/// @param borderType
-/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-/// border values will be set to 0.
-///
-/// @param borderValue
-/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-/// set this value as 0. Can take values between 0 and 255.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvBoxFilter3x3u8_v2( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride,
- fcvBorderType borderType,
- uint8_t borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Erode a grayscale image by taking the local minima of 3x3 nbhd window
-/// with border handling scheme specified by user
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterErode3x3u8_v2() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterErode3x3u8,
-/// \a fcvFilterErode3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterErode3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterErode3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit eroded image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param borderType
-/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-/// border values will be set to 255.
-///
-/// @param borderValue
-/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-/// set this value as 0. Can take values between 0 and 255.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterErode3x3u8_v3( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride,
- fcvBorderType borderType,
- uint8_t borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Erode a grayscale image by taking the local minima of NxN neighborhood window.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param N
-/// Dimension of the neighborhood window.
-/// \n\b WARNING: must be an odd number
-///
-/// @param dst
-/// Output 8-bit eroded image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterErodeNxNu8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t N,
- uint8_t* __restrict dst,
- uint32_t dstStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dilate a grayscale image by taking the local maxima of 3x3 neighborhood window
-/// with border handling scheme specified by user
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterDilate3x3u8_v2() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterDilate3x3u8,
-/// \a fcvFilterDilate3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterDilate3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterDilate3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit dilated image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param borderType
-/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-/// border values will be set to 0.
-///
-/// @param borderValue
-/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-/// set this value as 0. Can take values between 0 and 255.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterDilate3x3u8_v3( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride,
- fcvBorderType borderType,
- uint8_t borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dilate a grayscale image by taking the local maxima of NxN neighborhood window.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param N
-/// Dimension of the neighborhood window.
-/// \n\b WARNING: must be an odd number
-///
-/// @param dst
-/// Output 8-bit dilated image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output image.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param tmp
-/// Temporary image scratch space used internally.
-/// \n\b NOTE: Size = width * height
-/// \n\b NOTE: data should be 128-bit aligned
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterDilateNxNu8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t N,
- uint8_t* __restrict dst,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 3x3 Gaussian filter
-/// with border handling scheme specified by user
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterGaussian3x3u8_v2() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterGaussian3x3u8,
-/// \a fcvFilterGaussian3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterGaussian3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterGaussian3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Convolution with 3x3 Gaussian kernel:
-/// \n 1 2 1
-/// \n 2 4 2
-/// \n 1 2 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
-///
-/// @param borderType
-/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-/// border is blurred by 0-padding adjacent values.
-///
-/// @param borderValue
-/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-/// set this value as 0. Can take values between 0 and 255.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterGaussian3x3u8_v3( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride,
- fcvBorderType borderType,
- uint8_t borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 3x3 median filter
-/// with border handling scheme specified by user
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvFilterMedian3x3u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterMedian3x3u8,
-/// \a fcvFilterMedian3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterMedian3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterMedian3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Border values are extrapolated according to borderType.
-/// The 3x3 mask convolves with the whole image area.
-///
-/// @param srcImg
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dstImg
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param borderType
-/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
-/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
-/// border values are ignored. The 3x3 mask convolves with the following image area
-/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param borderValue
-/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
-/// set this value as 0. Can take values between 0 and 255.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFilterMedian3x3u8_v3( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride,
- fcvBorderType borderType,
- uint8_t borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Calculate histogram at image patches.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvImageSpatialHistogramu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvImageSpatialHistogramu8,
-/// \a fcvImageSpatialHistogramu8_v2 will be removed, and the current signature
-/// for \a fcvImageSpatialHistogramu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvImageSpatialHistogramu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// Pointer to grayscale image with one byte per pixel
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width
-///
-/// @param srcHeight
-/// Image height
-///
-/// @param srcStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param numPatterns
-/// Number of patterns to be computed in the histogram
-///
-/// @param grid_x
-/// The number of grids along x dimension
-///
-/// @param grid_y
-/// The number of grids along y dimension
-///
-/// @param histogram
-/// Output histogram
-/// \n\b NOTE: Memory must be at least numPatterns*grid_x*grid_y*sizeof(float32_t)
-///
-/// @param normalize_factor
-/// Scale factor with float32_t type to normalize result. When set to 0, the result is
-/// normalized by (srcWidth/grid_x) * (srcHeight/grid_y)
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvImageSpatialHistogramu8_v2( const uint8_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t numPatterns,
- uint32_t grid_x,
- uint32_t grid_y,
- float32_t*__restrict histogram,
- float32_t normalize_factor);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Image downscaling using bilinear method
-///
-/// @param src
-/// Input image
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width
-///
-/// @param srcHeight
-/// Input image height
-///
-/// @param srcStride
-/// Stride of input image (i.e., number of bytes between column 0
-/// of row 0 and column 0 of row 1).
-/// If left at 0, srcStride is default to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-/// Output image
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Output image width
-///
-/// @param dstHeight
-/// Output image height
-///
-/// @param dstStride
-/// Stride of image (i.e., number of bytes between column 0
-/// of row 0 and column 0 of row 1).
-/// If left at 0, dstStride is default to dstWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @return
-/// No return value.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvScaleDownBLu8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Applies a Table Look-up transformation to a single-channel uint8 image
-///
-/// @details
-/// Each pixel in the input image is used to index into a look-up table and the indexed look-up table
-/// value is then put into the output image
-///
-/// @param src
-/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-/// Input image width
-///
-/// @param srcHeight
-/// Input image height
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// if srcStride is equal to 0, it will be set to srcWidth
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @param lut
-/// The Look-up Table given as a 256-element array of type uint8_t
-///
-/// @param dst
-/// Output image which has the same dimension as the input image in uint8_t type
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// if dstStride is equal to 0, it will be set to srcWidth
-/// \n\b NOTE: should be a multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvTableLookupu8( const uint8_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- const uint8_t *__restrict lut,
- uint8_t *__restrict dst,
- uint32_t dstStride );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Warps a grayscale image using the a perspective projection transformation
-/// matrix (also known as a homography). This type of transformation is an
-/// invertible transformation which maps straight lines to straight lines.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvWarpPerspectiveu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvWarpPerspectiveu8,
-/// \a fcvWarpPerspectiveu8_v3 will be removed, and the current signature
-/// for \a fcvWarpPerspectiveu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Warps an image taking into consideration the perspective scaling.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Input image height.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcStride
-/// Input image stride (in bytes).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Warped output image. Size of buffer is dstStride*dstHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Dst image width.
-/// \n\b NOTE: data should be multiple of 8.
-///
-/// @param dstHeight
-/// Dst image height.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param dstStride
-/// Output image stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
-///
-/// @param projectionMatrix
-/// 3x3 perspective transformation matrix (generally a homography). The
-/// matrix stored in homography is row major ordering: \n
-/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-/// | a11, a12, a13 |\n
-/// | a21, a22, a23 |\n
-/// | a31, a32, a33 |\n
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// Note:
-/// The projection matrix follows the so-called inverse mapping convention.
-/// It is applied to the dst coordinates to produce the corresponding
-/// src coordinates. In other 3rd party tools, the so-called forward mapping
-/// convention may be used, where the projection matrix refers to the one
-/// applied to the src coordinates to produce the dst coordinates.
-/// When comparing with 3rd party results, please make sure
-/// the same convention of projection matrices are assumed. If not,
-/// please transform the projection matrix into an equivalent form under
-/// the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @interpolation
-/// Specifies the interpolation method to be used.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvWarpPerspectiveu8_v3( const uint8_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t *__restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- float *__restrict projectionMatrix,
- fcvInterpolationType interpolation );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Warps a grayscale image using the a perspective projection transformation
-/// matrix (also known as a homography). This type of transformation is an
-/// invertible transformation which maps straight lines to straight lines.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvWarpPerspectiveu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvWarpPerspectiveu8,
-/// \a fcvWarpPerspectiveu8_v4 will be removed, and the current signature
-/// for \a fcvWarpPerspectiveu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Warps an image taking into consideration the perspective scaling.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Input image height.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcStride
-/// Input image stride (in bytes).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Warped output image. Size of buffer is dstStride*dstHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Dst image width.
-/// \n\b NOTE: data should be multiple of 8.
-///
-/// @param dstHeight
-/// Dst image height.
-/// \n\b NOTE: should be multiple of 8
-///
-/// @param dstStride
-/// Output image stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
-///
-/// @param projectionMatrix
-/// 3x3 perspective transformation matrix (generally a homography). The
-/// matrix stored in homography is row major ordering: \n
-/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
-/// | a11, a12, a13 |\n
-/// | a21, a22, a23 |\n
-/// | a31, a32, a33 |\n
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// Note:
-/// The projection matrix follows the so-called inverse mapping convention.
-/// It is applied to the dst coordinates to produce the corresponding
-/// src coordinates. In other 3rd party tools, the so-called forward mapping
-/// convention may be used, where the projection matrix refers to the one
-/// applied to the src coordinates to produce the dst coordinates.
-/// When comparing with 3rd party results, please make sure
-/// the same convention of projection matrices are assumed. If not,
-/// please transform the projection matrix into an equivalent form under
-/// the forward mapping convention before feeding it into 3rd party tools.
-///
-/// @interpolation
-/// Specifies the interpolation method to be used.
-///
-/// @param borderType
-/// The border mode for dst pixels not mapped to the src image.
-/// Supported modes are FASTCV_BORDER_UNDEFINED and FASTCV_BORDER_CONSTANT.
-///
-/// @param borderValue
-/// The user-specified constant pixel value,
-/// in case FASTCV_BORDER_CONSTANT is chosen for borderType.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvWarpPerspectiveu8_v4( const uint8_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t *__restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- float *__restrict projectionMatrix,
- fcvInterpolationType interpolation,
- fcvBorderType borderType,
- uint8_t borderValue
-);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Applies a generic geometrical transformation to a greyscale uint8 image.
-/// The interpolation method is specified through a parameter.
-///
-/// @details
-/// The greyscale of each pixel in the destination image is obtained from a location of the source image
-/// through a per-element mapping as defined in the mapping matrices. The mapping has subpixel precision,
-/// thus interpolations are involved.
-///
-/// @param src
-/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Input image height.
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// if srcStride is equal to 0, it will be set to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-/// Output image which has the same type, and size as the input image. The size of buffer is dstStride*dstHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Output image width.
-///
-/// @param dstHeight
-/// Output image height.
-///
-/// @param dstStride
-/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// if dstStride is equal to 0, it will be set to dstWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param mapX
-/// a floating point matrix, each element is the column coordinate of the mapped location in the src image. E.g. if dst(i,j) is
-/// mapped to src(ii,jj), then mapX(i,j) =jj.
-/// the matrix has the same width, height as the dst image. The size of buffer is mapStride*dstHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapY
-/// a floating point matrix, each element is the row coordinate of the mapped location in the src image.E.g. if dst(i,j) is
-/// mapped to src(ii,jj), then mapY(i,j) =ii.
-/// the matrix has the same width, height as the dst image. The size of buffer is mapStride*dstHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapStride
-/// the stride of the mapX and mapY
-/// if mapStride is equal to 0, it will be set to dstWidth*sizeof(float32_t).
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param interpolation
-/// the interpolation method to derive the dst pixel value.
-/// supported methods are nearest neighbor, bilinear and area.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvRemapu8(const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- const float32_t* __restrict mapX,
- const float32_t* __restrict mapY,
- uint32_t mapStride,
- fcvInterpolationType interpolation
-);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Applies a generic geometrical transformation to a greyscale uint8 image.
-/// The interpolation method is specified through a parameter.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvRemapu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvRemapu8,
-/// \a fcvRemapu8_v2 will be removed, and the current signature
-/// for \a fcvRemapu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvRemapu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// The greyscale of each pixel in the destination image is obtained from a location of the source image
-/// through a per-element mapping as defined in the mapping matrices. The mapping has subpixel precision,
-/// thus interpolations are involved.
-///
-/// @param src
-/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Input image width.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param srcHeight
-/// Input image height.
-///
-/// @param srcStride
-/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// if srcStride is equal to 0, it will be set to srcWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-/// Output image which has the same type, and size as the input image. The size of buffer is dstStride*dstHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Output image width.
-///
-/// @param dstHeight
-/// Output image height.
-///
-/// @param dstStride
-/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
-/// if dstStride is equal to 0, it will be set to dstWidth.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param mapX
-/// a floating point matrix, each element is the column coordinate of the mapped location in the src image. E.g. if dst(i,j) is
-/// mapped to src(ii,jj), then mapX(i,j) =jj.
-/// the matrix has the same width, height as the dst image. The size of buffer is mapStride*dstHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapY
-/// a floating point matrix, each element is the row coordinate of the mapped location in the src image.E.g. if dst(i,j) is
-/// mapped to src(ii,jj), then mapY(i,j) =ii.
-/// the matrix has the same width, height as the dst image. The size of buffer is mapStride*dstHeight bytes.
-/// \n\b NOTE: should be 128-bit aligned.
-///
-/// @param mapStride
-/// the stride of the mapX and mapY
-/// if mapStride is equal to 0, it will be set to dstWidth*sizeof(float32_t).
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param interpolation
-/// the interpolation method to derive the dst pixel value.
-/// supported methods are nearest neighbor, bilinear and area.
-///
-/// @param borderType
-/// The border mode for dst pixels not mapped to the src image.
-/// Supported modes are FASTCV_BORDER_UNDEFINED and FASTCV_BORDER_CONSTANT.
-///
-/// @param borderValue
-/// The user-specified constant pixel value,
-/// in case FASTCV_BORDER_CONSTANT is chosen for borderType.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvRemapu8_v2(const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- const float32_t* __restrict mapX,
- const float32_t* __restrict mapY,
- uint32_t mapStride,
- fcvInterpolationType interpolation,
- fcvBorderType borderType,
- uint8_t borderValue
-);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Gradient Magnitude Computation from two int16_t type matrices.
-///
-/// @details
-/// The function takes two gradient matrices in int16_t and computes the
-/// magnitude in int16_t.
-/// \n\b NOTE: Saturation is used when computed magnitude value is larger than max limit of int16_t.
-///
-/// @param src1
-/// The gradient matrix in X direction.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// The gradient matrix in Y direction.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (int16_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMagnitudes16( const int16_t *__restrict src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const int16_t *__restrict src2,
- uint32_t src2Stride,
- int16_t *__restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Gradient Phase Computation from two int16_t type matrices.
-///
-/// @details
-/// The function takes two gradient matrices in int16_t and computes the
-/// phase for each pixel, storing results in a uint8_t matrix. The phase angle is translated
-/// to [0, 2*PI) and then mapped to range [0, 255).
-///
-/// @param src1
-/// The gradient matrix in X direction.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// The gradient matrix in Y direction.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvPhases16 ( const int16_t *__restrict src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const int16_t *__restrict src2,
- uint32_t src2Stride,
- uint8_t *__restrict dst,
- uint32_t dstStride );
-
-
-//--------------------------------------------------------------------------------
-/// Computes the 1D or 2D Fast Fourier Transform of a matrix.
-///
-/// @details
-/// Computes the 1D or 2D Fast Fourier Transform of a real valued matrix. For the
-/// 2D case, The width and height of the input and output matrix must be powers of 2.
-/// For the 1D case, the height of the matrices must be 1, while the width must be a power of 2.
-///
-/// @param src
-/// An 8 bit unsigned real valued input matrix. The dimensions of the matrix must be powers
-/// of 2 for the 2D case, and in the 1D case, the height must be 1, while the width must be
-/// a power of 2.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-/// Width of the source matrix.
-/// \n\b NOTE: Must be a power of 2
-///
-/// @param srcHeight
-/// Height of the source matrix.
-/// \n\b NOTE: Must be a power of 2 for the 2D case, and must be set to 1 for the 1D case
-///
-/// @param srcStride
-/// Stride of the input matrix. Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is set to srcWidth.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// The computed FFT matrix. The FFT coefficients are stored in interleaved fashion, i.e.,
-/// Re1 Im1 Re2 Im2 and so on. Hence the dimensions of the dst are (2 x srcWidth, srcHeight)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride of the output matrix. Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0, dstStride is set to 2 x srcWidth x sizeof(float32_t).
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvFFTu8(const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t* __restrict dst,
- uint32_t dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Computes the 1D or 2D Inverse Fast Fourier Transform of a matrix.
-///
-/// @details
-/// Computes the 1D or 2D Inverse Fast Fourier Transform of a complex valued matrix. For the
-/// 2D case, The width and height of the input and output matrix must be powers of 2.
-/// For the 1D case, the height of the matrices must be 1, while the width must be a power of 2.
-///
-/// @param src
-/// An 32 bit floating point complex valued input matrix. The data in the matrix must be stored
-/// in an interleaved fashion, i.e., Re1 Im1 Re2 Im2 and so on. The dimensions of the matrix must
-/// be powers of 2 for the 2D case, and in the 1D case, the height must be 1, while the width must be
-/// a power of 2.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param srcWidth
-/// Width of the source matrix. The width here is the number of floating point units in the matrix. Since
-/// the data is interleaved fashion, i.e., Re1 Im1 Re2 Im2 and so on, the width is the total number of real
-/// and complex units in the matrix. For example, if the Matrix has data values Re1 Im1 Re2 Im2 Re3 Im3 Re4 Im4,
-/// then the width here is 8 units.
-/// \n\b NOTE: Must be a power of 2
-///
-/// @param srcHeight
-/// Height of the source matrix.
-/// \n\b NOTE: Must be a power of 2 for the 2D case, and must be set to 1 for the 1D case
-///
-/// @param srcStride
-/// Stride of the input matrix. Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is set to srcWidth x sizeof(float32_t).
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// The computed IFFT matrix. The matrix is real valued and has no imaginary components.
-/// Hence the dimensions of the dst are (srcWidth / 2 , srcHeight)
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride of the output matrix. Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0, dstStride is set to (srcWidth / 2).
-/// \n\b WARNING: should be multiple of 8
-///
-/// @ingroup image_transform
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvIFFTf32( const float32_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Scale an image Horizontaly and/or Vertically by arbitrary ratio.
-/// The scaling ratios are automatically determined from the specified
-/// source image size and destination image size.
-///
-/// @details
-/// Scale up or down the source image of size srcWidth-by-srcHeight
-/// to the destination image of size dstWidth-by-dstHeight.
-/// NOTE: dstWidth > 0 && dstHeight > 0.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Source Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Source Image height.
-///
-/// @param srcStride
-/// Stride of source image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// If set to 0, srcStride=srcWidth as default
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*dstHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Destination Image width.
-///
-/// @param dstHeight
-/// Destination Image height.
-///
-/// @param dstStride
-/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// If set to 0, dstStride=dstWidth as default
-///
-/// @param interpolation
-/// The interpolation method used for scaling. Please see fcvInterpolationType.
-/// FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR:
-/// Nearest neighbor interpolation.
-/// FASTCV_INTERPOLATION_TYPE_BILINEAR:
-/// Bilinear interpolation.
-/// FASTCV_INTERPOLATION_TYPE_AREA:
-/// Interpolation by area. Output values are determined by weighted averages of
-/// the source pixels covered by the destination pixel. The averaging weight
-/// for each source pixel is proportional to its area overlapping with
-/// the destination pixel. Interpolation by area may produce more precise
-/// images for scale down operations.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other values otherwise.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvScaleu8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- fcvInterpolationType interpolation);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Scale an image Horizontaly and/or Vertically by arbitrary ratio.
-/// The scaling ratios are automatically determined from the specified
-/// source image size and destination image size.
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvScaleu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvScaleu8,
-/// \a fcvScaleu8_v2 will be removed, and the current signature
-/// for \a fcvScaleu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Scale up or down the source image of size srcWidth-by-srcHeight
-/// to the destination image of size dstWidth-by-dstHeight.
-/// NOTE: dstWidth > 0 && dstHeight > 0.
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Source Image width.
-/// \n\b WARNING: should be multiple of 8.
-///
-/// @param srcHeight
-/// Source Image height.
-///
-/// @param srcStride
-/// Stride of source image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// If set to 0, srcStride=srcWidth as default
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*dstHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstWidth
-/// Destination Image width.
-///
-/// @param dstHeight
-/// Destination Image height.
-///
-/// @param dstStride
-/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// If set to 0, dstStride=dstWidth as default
-///
-/// @param interpolation
-/// The interpolation method used for scaling. Please see fcvInterpolationType.
-/// FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR:
-/// Nearest neighbor interpolation.
-/// FASTCV_INTERPOLATION_TYPE_BILINEAR:
-/// Bilinear interpolation.
-/// FASTCV_INTERPOLATION_TYPE_AREA:
-/// Interpolation by area. Output values are determined by weighted averages of
-/// the source pixels covered by the destination pixel. The averaging weight
-/// for each source pixel is proportional to its area overlapping with
-/// the destination pixel. Interpolation by area may produce more precise
-/// images for scale down operations.
-///
-/// @param borderType
-/// The border mode for dst pixels not mapped to the src image.
-/// Supported modes are FASTCV_BORDER_UNDEFINED, FASTCV_BORDER_CONSTANT
-/// and FASTCV_BORDER_REPLICATE.
-///
-/// @param borderValue
-/// The user-specified constant pixel value,
-/// in case FASTCV_BORDER_CONSTANT is chosen for borderType.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other values otherwise.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvScaleu8_v2( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dstStride,
- fcvInterpolationType interpolation,
- fcvBorderType borderType,
- uint8_t borderValue);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Perspective warp two images using the same transformation.
-/// Bi-linear interpolation is used where applicable.
-///
-/// @details
-/// Perspective warp two images (or buffer) using the same transformation in one function
-/// call. This can be used, for example, to warp a grayscale image and an alpha image at
-/// the same time, or warp two color channels (for example u and v de-interleaved for YUV).
-///
-/// @param src1
-/// First input 8-bit image. Size of buffer is src1Stride*srcHeight bytes.
-///
-/// @param src2
-/// Second input 8-bit image. Size of buffer is src2Stride*srcHeight bytes.
-///
-/// @param srcWidth
-/// Input image width.
-///
-/// @param srcHeight
-/// Input image height.
-///
-/// @param src1Stride
-/// Input image 1 stride, i.e. the gap (in terms of bytes) between the first element
-/// of a row and that of the successive row. If srcStride is equal to 0,
-/// it will be set to srcWidth.
-///
-/// @param src2Stride
-/// Input image 2 stride, i.e. the gap (in terms of bytes) between the first element
-/// of a row and that of the successive row. If srcStride is equal to 0,
-/// it will be set to srcWidth.
-///
-/// @param dst1
-/// First warped output image (correspond to src1). Size of buffer is dst1Stride*dstHeight bytes.
-///
-/// @param dst2
-/// Second warped output image (correspond to src2). Size of buffer is dst2Stride*dstHeight bytes.
-///
-/// @param dstWidth
-/// Dst image width.
-///
-/// @param dstHeight
-/// Dst image height.
-///
-/// @param dst1Stride
-/// Output image 1 stride, i.e. the gap (in terms of bytes) between the first element
-/// of a row and that of the successive row. If srcStride is equal to 0,
-/// it will be set to dstWidth.
-///
-/// @param dst2Stride
-/// Output image 2 stride, i.e. the gap (in terms of bytes) between the first element
-/// of a row and that of the successive row. If srcStride is equal to 0,
-/// it will be set to dstWidth.
-///
-/// @param warpmatrix
-/// 3x3 perspective transformation matrix (generally a homography).
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcv2PlaneWarpPerspectiveu8( const uint8_t* __restrict src1,
- const uint8_t* __restrict src2,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t src1Stride,
- uint32_t src2Stride,
- uint8_t* __restrict dst1,
- uint8_t* __restrict dst2,
- uint32_t dstWidth,
- uint32_t dstHeight,
- uint32_t dst1Stride,
- uint32_t dst2Stride,
- float32_t* __restrict warpmatrix );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Downscale a grayscale image by a factor of two using a 3x3 Gaussian filter kernel
-///
-/// @details
-/// This function first blurs the input image using a 3x3 Gaussian kernel, and then downsamples
-/// the image by selecting every other row and column. The dimensions of the destination image are
-/// computed as follows : dstWidth = (srcWidth + 1)/2 , dstHeight = (srcHeight + 1)/2
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-/// Width of the input image.
-///
-/// @param srcHeight
-/// Height of the input image
-///
-/// @param srcStride
-/// Image stride (in bytes).
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit downscale image of size (srcWidth + 1) / 2 x (srcHeight + 1) / 2.
-/// \n\b NOTE: border values have been taken care of w.r.t. the pixel coordinate.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b NOTE: if 0, dstStride is set as (srcWidth+1)/2.
-/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as (srcWidth+1)/2 if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup image_transform
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvScaleDownBy2Gaussian3x3u8(const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride);
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Sum of squared differences of one L-byte vector against N others.
-///
-/// @details
-/// SSD of one vector (a) against N other L-byte vectors
-/// ( b[0], b[1], ..., b[n-1] )
-/// using their given inverse lengths for normalization.
-/// \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
-///
-/// @param a
-/// Vector.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param invLenA
-/// Inverse of vector A = 1/|A|
-///
-/// @param dim
-/// Number of element of vector A
-///
-/// @param bList
-/// Vectors b[0]...b[n-1].
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param invLenB
-/// Inverse of vectors b[0]...b[n-1] = 1/|b[0]|,... 1/|b[n-1]|
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param numB
-/// Number of B vectors.
-///
-/// @param distances
-/// Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvSumOfSquaredDiffss8( const int8_t* __restrict a,
- float32_t invLenA,
- uint32_t dim,
- const int8_t* const * __restrict bList,
- const float32_t* __restrict invLenB,
- uint32_t numB,
- float32_t* __restrict distances );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Adds a scalar value to every element of a Matrix.
-///
-/// @details
-/// Adds a floating point scalar value to each element of the source Matrix
-/// and stores the result of the addition in the corresponding element
-/// of the destination matrix.
-///
-/// @param src
-/// Input floating point matrix. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param scalar
-/// The floating point scalar to be added to the source matrix.
-///
-/// @param dst
-/// Output 32-bit floating point matrix. Size of buffer is dstStride*srcHeight bytes.
-///
-/// @param dstStride
-/// Stride of the output matrix in bytes.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddScalarf32(const float32_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t scalar,
- float32_t * __restrict dst,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Adds a scalar value to every element of a Matrix.
-///
-/// @details
-/// Adds a signed 16-bit integer scalar value to each element of the source Matrix
-/// and stores the result of the addition in the corresponding element
-/// of the destination matrix.
-/// \n\b NOTE : If the sum of the scalar and matrix element exceeds the maximum value
-/// of a signed 16-bit integer, the result is clipped to this maximum value, while
-/// if the sum goes below the minimum value of a signed 16-bit integer, it is clipped
-/// to this minimum value.
-///
-/// @param src
-/// Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param scalar
-/// The signed 16-bit integer scalar to be added to the source matrix.
-///
-/// @param dst
-/// Output 16-bit signed integer matrix. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of the output matrix in bytes.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddScalars16(const int16_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int16_t scalar,
- int16_t * __restrict dst,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Multiplies a scalar value to every element of a Matrix.
-///
-/// @details
-/// Multiplies a floating point scalar value to each element of the source Matrix
-/// and stores the result of the multiplication in the corresponding element
-/// of the destination matrix.
-///
-/// @param src
-/// Input floating point matrix. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param scalar
-/// The floating point scalar to be multiplied to the source matrix.
-///
-/// @param dst
-/// Output 32-bit floating point matrix. Size of buffer is dstStride*srcHeight bytes.
-///
-/// @param dstStride
-/// Stride of the output matrix in bytes.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMultiplyScalarf32(const float32_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t scalar,
- float32_t * __restrict dst,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Multiplies a scalar value to every element of a Matrix.
-///
-/// @details
-/// Multiplies a signed 16-bit scalar value to each element of the source Matrix
-/// and stores the result of the multiplication in the corresponding element
-/// of the destination matrix.
-/// \n\b NOTE : If the product of the scalar and matrix element exceeds the maximum value
-/// of a signed 16-bit integer, the result is clipped to this maximum value, while
-/// if the product goes below the minimum value of a signed 16-bit integer, it is clipped
-/// to this minimum value. The API can also handle fractional scalars. Use fixed point conversion
-/// and use the shift parameter to decide the number of bits by which the result is shifted by. This
-/// affects the precision of the result. If you wish to perform pure integer multiplication, set the
-/// shift parameter to 0.
-///
-/// @param src
-/// Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param scalar
-/// The signed 8-bit integer scalar to be multiplied to the source matrix.
-///
-/// @param shift
-/// The number of bits that the result has to be shifted by. Used to handle fractional scalar multiplication.
-/// If your input scalar is a pure integer, set shift to 0.
-///
-/// @param dst
-/// Output signed 16-bit integer matrix. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of the output matrix in bytes.
-/// \n\b NOTE: if 0, dstStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMultiplyScalars16( const int16_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int8_t scalar,
- int8_t shift,
- int16_t * __restrict dst,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their location in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocu8_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocu8_v2 will be renamed to fcvMinMaxLocu8
-/// and the signature of fcvMinMaxLocu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found.
-///
-/// @param src
-/// Input unsigned 8-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-/// The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-/// The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-/// The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocu8(const uint8_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t *__restrict minVal,
- uint8_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their location in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocu16_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocu16_v2 will be renamed to fcvMinMaxLocu16
-/// and the signature of fcvMinMaxLocu16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found.
-///
-/// @param src
-/// Input unsigned 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-/// The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-/// The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-/// The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocu16(const uint16_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint16_t *__restrict minVal,
- uint16_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their location in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocs16_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocs16_v2 will be renamed to fcvMinMaxLocs16
-/// and the signature of fcvMinMaxLocs16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found.
-///
-/// @param src
-/// Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-/// The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-/// The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-/// The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocs16(const int16_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int16_t *__restrict minVal,
- int16_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their location in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocu32_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocu32_v2 will be renamed to fcvMinMaxLocu32
-/// and the signature of fcvMinMaxLocu32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found.
-///
-/// @param src
-/// Input unsigned 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-/// The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-/// The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-/// The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocu32(const uint32_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t *__restrict minVal,
- uint32_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their location in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocs32_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocs32_v2 will be renamed to fcvMinMaxLocs32
-/// and the signature of fcvMinMaxLocs32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found.
-///
-/// @param src
-/// Input signed 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-/// The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-/// The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-/// The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocs32(const int32_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int32_t *__restrict minVal,
- int32_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their location in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocf32_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocf32_v2 will be renamed to fcvMinMaxLocf32
-/// and the signature of fcvMinMaxLocf32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found.
-///
-/// @param src
-/// Input unsigned 32-bit floating point matrix. Size of buffer is srcStride*srcHeight bytes.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// The X coordinate of the minimum value's location returned by the function
-///
-/// @param minLocY
-/// The Y coordinate of the minimum value's location returned by the function
-///
-/// @param maxLocX
-/// The X coordinate of the maximum value's location returned by the function
-///
-/// @param maxLocY
-/// The Y coordinate of the maximum value's location returned by the function
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocf32(const float32_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t *__restrict minVal,
- float32_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their locations in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocf32_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocf32_v2 will be renamed to fcvMinMaxLocf32
-/// and the signature of fcvMinMaxLocf32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found. If there are multiple minima/maxima, the function returns them all. If the
-/// the number of minima and maxima are greater than the capacity of the minLoc and
-/// maxLoc arrays, then the function returns as many locations as the capacity of these
-/// arrays.
-///
-/// @param src
-/// Input 32-bit floating point matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(float32_t) if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// An array of X coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-/// An array of Y coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-/// An array of X coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-/// An array of Y coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-/// The number of minima found by the function
-///
-/// @param maxCount
-/// The number of maxima found by the function
-///
-/// @param nMinLocSize
-/// The maximum number of minima requested by the user to be found in the input image src.
-/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-/// The maximum number of maxima requested by the user to be found in the input image src.
-/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvMinMaxLocf32_v2(const float32_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- float32_t *__restrict minVal,
- float32_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY,
- uint32_t *__restrict minCount,
- uint32_t *__restrict maxCount,
- uint32_t nMinLocSize,
- uint32_t nMaxLocSize);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their locations in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocu8_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocu8_v2 will be renamed to fcvMinMaxLocu8
-/// and the signature of fcvMinMaxLocu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found. If there are multiple minima/maxima, the function returns them all. If the
-/// the number of minima and maxima are greater than the capacity of the minLoc and
-/// maxLoc arrays, then the function returns as many locations as the capacity of these
-/// arrays.
-///
-/// @param src
-/// Input unsigned 8-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(uint8_t) if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// An array of X coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-/// An array of Y coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-/// An array of X coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-/// An array of Y coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-/// The number of minima found by the function
-///
-/// @param maxCount
-/// The number of maxima found by the function
-///
-/// @param nMinLocSize
-/// The maximum number of minima requested by the user to be found in the input image src.
-/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-/// The maximum number of maxima requested by the user to be found in the input image src.
-/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvMinMaxLocu8_v2(const uint8_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t *__restrict minVal,
- uint8_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY,
- uint32_t *__restrict minCount,
- uint32_t *__restrict maxCount,
- uint32_t nMinLocSize,
- uint32_t nMaxLocSize);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their locations in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocu16_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocu16_v2 will be renamed to fcvMinMaxLocu16
-/// and the signature of fcvMinMaxLocu16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found. If there are multiple minima/maxima, the function returns them all. If the
-/// the number of minima and maxima are greater than the capacity of the minLoc and
-/// maxLoc arrays, then the function returns as many locations as the capacity of these
-/// arrays.
-///
-/// @param src
-/// Input unsigned 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(uint16_t) if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// An array of X coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-/// An array of Y coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-/// An array of X coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-/// An array of Y coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-/// The number of minima found by the function
-///
-/// @param maxCount
-/// The number of maxima found by the function
-///
-/// @param nMinLocSize
-/// The maximum number of minima requested by the user to be found in the input image src.
-/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-/// The maximum number of maxima requested by the user to be found in the input image src.
-/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvMinMaxLocu16_v2(const uint16_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint16_t *__restrict minVal,
- uint16_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY,
- uint32_t *__restrict minCount,
- uint32_t *__restrict maxCount,
- uint32_t nMinLocSize,
- uint32_t nMaxLocSize);
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their locations in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocs16_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocs16_v2 will be renamed to fcvMinMaxLocs16
-/// and the signature of fcvMinMaxLocs16 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found. If there are multiple minima/maxima, the function returns them all. If the
-/// the number of minima and maxima are greater than the capacity of the minLoc and
-/// maxLoc arrays, then the function returns as many locations as the capacity of these
-/// arrays.
-///
-/// @param src
-/// Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(int16_t) if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// An array of X coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-/// An array of Y coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-/// An array of X coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-/// An array of Y coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-/// The number of minima found by the function
-///
-/// @param maxCount
-/// The number of maxima found by the function
-///
-/// @param nMinLocSize
-/// The maximum number of minima requested by the user to be found in the input image src.
-/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-/// The maximum number of maxima requested by the user to be found in the input image src.
-/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvMinMaxLocs16_v2(const int16_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int16_t *__restrict minVal,
- int16_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY,
- uint32_t *__restrict minCount,
- uint32_t *__restrict maxCount,
- uint32_t nMinLocSize,
- uint32_t nMaxLocSize);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their locations in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocu32_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocu32_v2 will be renamed to fcvMinMaxLocu32
-/// and the signature of fcvMinMaxLocu32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found. If there are multiple minima/maxima, the function returns them all. If the
-/// the number of minima and maxima are greater than the capacity of the minLoc and
-/// maxLoc arrays, then the function returns as many locations as the capacity of these
-/// arrays.
-///
-/// @param src
-/// Input unsigned 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(uint32_t) if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// An array of X coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-/// An array of Y coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-/// An array of X coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-/// An array of Y coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-/// The number of minima found by the function
-///
-/// @param maxCount
-/// The number of maxima found by the function
-///
-/// @param nMinLocSize
-/// The maximum number of minima requested by the user to be found in the input image src.
-/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-/// The maximum number of maxima requested by the user to be found in the input image src.
-/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvMinMaxLocu32_v2(const uint32_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint32_t *__restrict minVal,
- uint32_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY,
- uint32_t *__restrict minCount,
- uint32_t *__restrict maxCount,
- uint32_t nMinLocSize,
- uint32_t nMaxLocSize);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Finds the minimum and maximum values, and their locations in a matrix
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvMinMaxLocs32_v2(). In the 2.0.0 release,
-/// fcvMinMaxLocs32_v2 will be renamed to fcvMinMaxLocs32
-/// and the signature of fcvMinMaxLocs32 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Finds the minimum and maximum values in a matrix, and returns them. In addition
-/// to this, it also returns the location (x,y) of the minimum and maximum values thus
-/// found. If there are multiple minima/maxima, the function returns them all. If the
-/// the number of minima and maxima are greater than the capacity of the minLoc and
-/// maxLoc arrays, then the function returns as many locations as the capacity of these
-/// arrays.
-///
-/// @param src
-/// Input signed 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Matrix.
-///
-/// @param srcHeight
-/// Height of the Matrix.
-///
-/// @param srcStride
-/// Stride of the Matrix in bytes.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(int32_t) if not 0.
-///
-/// @param minVal
-/// This variable stores the minimum value of the src matrix found by the function
-///
-/// @param maxVal
-/// This variable stores the maximum value of the src matrix found by the function
-///
-/// @param minLocX
-/// An array of X coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param minLocY
-/// An array of Y coordinates of the minimum value's location returned by the function
-/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
-///
-/// @param maxLocX
-/// An array of X coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param maxLocY
-/// An array of Y coordinates of the maximum value's location returned by the function
-/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
-///
-/// @param minCount
-/// The number of minima found by the function
-///
-/// @param maxCount
-/// The number of maxima found by the function
-///
-/// @param nMinLocSize
-/// The maximum number of minima requested by the user to be found in the input image src.
-/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
-///
-/// @param nMaxLocSize
-/// The maximum number of maxima requested by the user to be found in the input image src.
-/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvMinMaxLocs32_v2(const int32_t *__restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- int32_t *__restrict minVal,
- int32_t *__restrict maxVal,
- uint32_t *__restrict minLocX,
- uint32_t *__restrict minLocY,
- uint32_t *__restrict maxLocX,
- uint32_t *__restrict maxLocY,
- uint32_t *__restrict minCount,
- uint32_t *__restrict maxCount,
- uint32_t nMinLocSize,
- uint32_t nMaxLocSize);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Transposes an interleaved RGB image
-///
-/// @details
-/// Computes the transpose of an interleaved RGB image src, and stores the result in
-/// dst
-///
-/// @param src
-/// Input unsigned 8-bit integer image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Width of the Image.
-///
-/// @param srcHeight
-/// Height of the Image.
-///
-/// @param srcStride
-/// Stride of the Image in bytes.
-/// \n\b NOTE: if 0, srcStride is set as 3 x srcWidth.
-/// \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcWidth if not 0.
-///
-/// @param dst
-/// Output unsigned 8-bit integer image. Size of buffer is dstStride*srcWidth bytes.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of the output image in bytes.
-/// \n\b NOTE: if 0, srcStride is set as 3 x srcHeight.
-/// \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcHeight if not 0.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvTransposeRGB888u8(const uint8_t * __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t * __restrict dst,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Computes the cross-product of N pairs of 3x1 vectors
-///
-/// @details
-/// Computes the cross-product of N pairs of 3x1 vectors. For each pair of 3x1 vectors,
-/// ai and bi, the output vector ci is given by ci = ai x bi
-///
-/// @param a
-/// Input buffer containing "N" 3x1 Vectors. Must be of length N * 3. The layout of the array is
-/// as follows x0 y0 z0 x1 y1 z1 .......
-///
-/// @param b
-/// Input buffer containing "N" 3x1 Vectors. Must be of length N * 3. The layout of the array is
-/// as follows x0 y0 z0 x1 y1 z1 .......
-///
-/// @param c
-/// Output buffer containing the resultant "N" 3x1 Vectors. Each 3 x 1 Vector in c is computed from the corresponding
-/// 3 x 1 pairs in a & b. Must be of length N * 3.
-///
-/// @param N
-/// Number of vector pairs. For example if N = 10, then a, b and c will have to be 10 x 3 in length
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvCrossProduct3x1f32(const float32_t * __restrict a,
- const float32_t * __restrict b,
- float32_t * __restrict c,
- uint32_t N);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Solves a Linear System of Equations using LU-Decomposition
-///
-/// @details
-/// Solves a Linear System of Equations using LU Decomposition. Given
-/// a system defined by A x = b, the function decomposes A into a lower
-/// triangular matrix L and an upper triangular matrix U. It then computes x
-/// by first solving L y = B by forward substitution for y, and then solving
-/// the system of linear equations U x = y by backward substitution for x.
-/// \n\b NOTE : Pivoting is used here to ensure that any non singular matrix
-/// can be solved. This is because not all Matrices have a LU decomposition.
-/// Pivoting helps to overcome this issue.
-///
-/// @param A
-/// Input coefficient matrix of the linear system of dimension N x N
-/// \n\b WARNING: must be square.
-///
-/// @param b
-/// Component vector of the linear system of dimension N x 1
-///
-/// @param N
-/// Dimension of the input Matrix A and component vector b
-///
-/// @param pivot
-/// An N x 1 pivot array which is populated as follows : For each k = 0, 1,...., N-1
-/// The ith element of pivot contains the row interchanged with row i when k = i.
-/// Pivoting is used both for numerical stability and also ensuring that an LU factorization
-/// exists for the input matrix A.
-///
-/// @param x
-/// The solution of the linear system, an N x 1 Vector.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvSolveLUf32(float32_t* __restrict A,
- float32_t* __restrict b,
- uint32_t N,
- uint8_t* __restrict pivot,
- float32_t* __restrict x);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Bitwise AND operation for each element of two uint8_t matrices
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvBitwiseAndu8(const uint8_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t *__restrict src2,
- uint32_t src2Stride,
- uint8_t * dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Bitwise Exclusive Or operation for each element of two uint8_t matrices
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvBitwiseXoru8( const uint8_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t *__restrict src2,
- uint32_t src2Stride,
- uint8_t * dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Bitwise Not operation for each element of two uint8_t matrices
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvBitwiseNotu8(const uint8_t * src,
- uint32_t width,
- uint32_t height,
- uint32_t srcStride,
- uint8_t * dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix addition of two uint8_t type matrices to one uint8_t matrix
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param policy
-/// Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-/// the result matrix (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddu8(const uint8_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t * __restrict src2,
- uint32_t src2Stride,
- fcvConvertPolicy policy,
- uint8_t * dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix addition of two int16_t type matrices which allows in-place operation
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param policy
-/// Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-/// the result matrix (int16_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAdds16_v2( const int16_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const int16_t * __restrict src2,
- uint32_t src2Stride,
- fcvConvertPolicy policy,
- int16_t * dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix addition of one uint16_t type matrix and one uint8_t matrix
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param policy
-/// Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-/// the result matrix (uint16_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddu16u8u16 (const uint16_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t * __restrict src2,
- uint32_t src2Stride,
- fcvConvertPolicy policy,
- uint16_t * dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix substration of two uint8_t type matrices
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param policy
-/// Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-/// the result matrix (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvSubtractu8 ( const uint8_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t * __restrict src2,
- uint32_t src2Stride,
- fcvConvertPolicy policy,
- uint8_t * dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix substration of two uint16_t type matrices
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param policy
-/// Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-/// the result matrix (int16_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvSubtracts16 (const int16_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const int16_t * __restrict src2,
- uint32_t src2Stride,
- fcvConvertPolicy policy,
- int16_t * dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Matrix substration of two uint8_t type matrices
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param dst
-/// the result matrix (int16_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvSubtractu8s16 ( const uint8_t * __restrict src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t * __restrict src2,
- uint32_t src2Stride,
- int16_t * __restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Element-wise multiplication of two int16_t type matrices
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param scaleFactor
-/// The number of bits to be shifted to scale the result. When scaleFactor > 0, results
-/// are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
-/// of scaleFactor
-///
-/// @param policy
-/// Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-/// the result matrix (int16_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvElementMultiplys16( const int16_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const int16_t * src2,
- uint32_t src2Stride,
- int8_t scaleFactor,
- fcvConvertPolicy policy,
- int16_t *__restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Element-wise multiplication of two uint8_t type matrices
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param scaleFactor
-/// The number of bits to be shifted to scale the result. When scaleFactor > 0, results
-/// are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
-/// of scaleFactor
-///
-/// @param policy
-/// Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-/// the result matrix (int16_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvElementMultiplyu8s16( const uint8_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t * src2,
- uint32_t src2Stride,
- int8_t scaleFactor,
- fcvConvertPolicy policy,
- int16_t *__restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Element-wise multiplication of two uint8_t type matrices
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param scaleFactor
-/// The number of bits to be shifted to scale the result. When scaleFactor > 0, results
-/// are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
-/// of scaleFactor
-///
-/// @param policy
-/// Conversion policy that decides how data overflow should be handled
-///
-/// @param dst
-/// the result matrix (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvElementMultiplyu8( const uint8_t * src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint8_t * src2,
- uint32_t src2Stride,
- int8_t scaleFactor,
- fcvConvertPolicy policy,
- uint8_t *__restrict dst,
- uint32_t dstStride );
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Calculate the weighted sum of two uint8_t type matrices
-///
-/// @details
-/// Specifically, when 0 <= alpha <= 1 and beta = 1-alpha, the function accumulates a weighted value from
-/// an input image to an output image
-/// \n\b NOTE: alpha and beta should be within the range of (-128.0, 127.996) and have up to three digits decimal precision
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param alpha
-/// The weight value applied to src1 matrix, provided by float32_t type
-///
-/// @param beta
-/// The weight value applied to src2 matrix, provided by float32_t type
-///
-/// @param dst
-/// the result matrix (uint8_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success,
-/// other values upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddWeightedu8(const uint8_t * src1,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t src1Stride,
- const uint8_t *__restrict src2,
- uint32_t src2Stride,
- float32_t alpha,
- float32_t beta,
- uint8_t * dst,
- uint32_t dstStride);
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Add a squared value of one type uint8 matrix to the other type uint16 type matrix
-///
-/// @param src1
-/// First source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param width
-/// Width of the source matrix.
-///
-/// @param height
-/// Height of the source matrix.
-///
-/// @param src1Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param src2
-/// Second source matrix.
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param src2Stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param scaleFactor
-/// The number of bits to be shifted to scale the result. When scaleFactor > 0, results
-/// are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
-/// of scaleFactor
-///
-/// @param dst
-/// the result matrix (uint16_t type).
-/// \n\b NOTE: array should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
-/// \n\b WARNING: should be multiple of 8
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvAddSquaredu8u16(const uint8_t *__restrict src1,
- uint32_t width,
- uint32_t height,
- uint32_t src1Stride,
- const uint16_t * src2,
- uint32_t src2Stride,
- int8_t scaleFactor,
- uint16_t * dst,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Swap Chroma component order.
-///
-/// @details
-/// This function swaps the interleaved Chroma component order from CbCr to
-/// CrCb or from CrCb to CbCr.
-///
-/// @param src
-/// Pointer to the input image
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param srcWidth
-/// Input image width in the number of CbCr or CrCb pairs.
-///
-/// @param srcHeight
-/// The Chroma component height.
-///
-/// @param srcStride
-/// Stride of input image in bytes (i.e., number of bytes between column 0 of row 0
-/// and column 0 of row 1). If left at 0, srcStride is default to srcWidth * 2.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @param dst
-/// Pointer to the output image
-/// \n\b WARNING: size must match input image.
-/// \n\b NOTE: should be 128-bit aligned
-///
-/// @param dstStride
-/// Stride of output image in bytes (i.e., number of bytes between column 0 of
-/// row 0 and column 0 of row 1). If left at 0, dstStride is default to
-/// srcWidth * 2.
-/// \n\b NOTE: should be a multiple of 8.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorCbCrSwapu8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Converts an image from RGB space to HSV space.
-///
-/// @details
-///
-/// @param src
-/// Source 24-bit image, RGB888 format (R is MSB byte for the pixel)
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Source image width.
-///
-/// @param srcHeight
-/// Source image height.
-///
-/// @param srcStride
-/// Stride of source image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// If set to 0, srcStride=srcWidth*3 as default
-///
-/// @param dst
-/// Destination 24-bit image. HSV888 format (H is MSB byte for the pixel)
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// If set to 0, dstStride=srcWidth*3 as default
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvColorRGB888ToHSV888u8( const uint8_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- uint8_t* __restrict dst,
- uint32_t dstStride);
-
-
-//------------------------------------------------------------------------------/
-/// @brief
-/// SVM prediction for two classes
-///
-/// @details
-/// The function returns the confidence scores for test vectors using the equation:
-/// confidence(i) = sum_j( svCoef[j] * Kernel(vec_i, sv_j) - rho;
-/// The SVM model(svCoef, sv, rho) can be obtained using the training function of libSVM or openCV.
-///
-/// @param kernelType
-/// kernelType options: 'FASTCV_SVM_LINEAR','FASTCV_SVM_POLY','FASTCV_SVM_RBF','FASTCV_SVM_SIGMOID'.
-/// FASTCV_SVM_LINEAR: Kernel(xi, xj) = xi'*xj
-/// FASTCV_SVM_POLY: Kernel(xi, xi) = (gamma * xi' * xj + coef0)^degree, (gamma>0 , degree is positive integer).
-/// FASTCV_SVM_RBF: Kernel(xi,xj) = exp(-gamma*||xi-xj||^2), (gamma>0).
-/// FASTCV_SVM_SIGMOID: Kernel(xi, xj) = tanh(gamma * xi' * xj + coef0)
-///
-/// @param degree
-/// Parameter degree of a kernel function (FASTCV_SVM_POLY).
-/// \n\b NOTE: Degree should be positive integer.
-///
-/// @param gamma
-/// Parameter of a kernel function (FASTCV_SVM_POLY / FASTCV_SVM_RBF / FASTCV_SVM_SIGMOID).
-/// \n\b NOTE: gamma > 0 for FASTCV_SVM_Ploy and FASTCV_SVM_RBF
-///
-/// @param coef0
-/// Parameter coef0 of a kernel function (FASTCV_SVM_LINEAR / FASTCV_SVM_POLY / FASTCV_SVM_SIGMOID).
-///
-/// @param sv
-/// Support vectors.
-///
-/// @param svLen
-/// Feature length, (support vector length = feature length).
-///
-/// @param svNum
-/// Number of support vectors.
-///
-/// @param svStride
-/// support vector stride.
-/// Stride of support vector 2D matrix (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, svStride is set as svLen*sizeof(float32_t).
-/// \n\b WARNING: should be multiple of 8, and at least as much as svLen if not 0.
-///
-/// @param svCoef
-/// Coefficent of support vectors, length equals to the Number of SV.
-///
-/// @param rho
-/// SVM bias.
-///
-/// @param vec
-/// Test vectors, it has same width as sv.
-///
-/// @param vecNum
-/// Number of test vectors.
-///
-/// @param vecStride
-/// Stride of test vectors.
-/// Stride of test vector 2D matrix (i.e., how many bytes between column 0 of row 1 and
-/// column 0 of row 2).
-/// \n\b NOTE: if 0, vecStride is set as svLen*sizeof(float32_t).
-/// \n\b WARNING: should be multiple of 8, and at least as much as svLen if not 0.
-///
-/// @param confidence
-/// Output, store confidence value of each test vector. The length is vecNum.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup machine_learning
-//------------------------------------------------------------------------------/
-
-FASTCV_API fcvStatus
-fcvSVMPredict2Classf32( fcvSVMKernelType kernelType,
- uint32_t degree,
- float32_t gamma,
- float32_t coef0,
- const float32_t* __restrict sv,
- uint32_t svLen,
- uint32_t svNum,
- uint32_t svStride,
- const float32_t* __restrict svCoef,
- float32_t rho,
- const float32_t* __restrict vec,
- uint32_t vecNum,
- uint32_t vecStride,
- float32_t* __restrict confidence );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Optical flow (with stride so ROI can be supported)
-///
-/// \n\b ATTENTION: This function is a duplication of
-/// fcvTrackLKOpticalFlowu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvTrackLKOpticalFlowu8,
-/// \a fcvTrackLKOpticalFlowu8_v3 will be removed, and the current signature
-/// for \a fcvTrackLKOpticalFlowu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvTrackLKOpticalFlowu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src1
-/// Input image from frame #1.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param src2
-/// Input image from frame #2.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param width
-/// Input image width.
-///
-/// @param height
-/// Input image height.
-///
-/// @param stride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to width.
-/// NOTE: should be a multiple of 8.
-///
-/// @param src1Pyr
-/// Image Pyramid of src1 (with stride)
-/// \n\b WARNING: obtained by calling fcvPyramidCreateu8_v3
-///
-/// @param src2Pyr
-/// Image Pyradmid of src2 (with stride)
-/// \n\b WARNING: obtained by calling fcvPyramidCreateu8_v3
-///
-/// @param featureXY
-/// Pointer to X,Y floating point, sub-pixel coordinates for features to
-/// track. Stored as X,Y tuples. featureXY array storage must
-/// be >= featureLen*2.
-///
-/// @param featureXY_out
-/// Pointer to X,Y floating point, sub-pixel coordinates for tracked features
-/// Stored as X,Y tuples. featureXY array storage must
-/// be >= featureLen*2.
-///
-/// @param featureXY_estimate
-/// Pointer to X,Y floating point, sub-pixel coordinates for estimated features
-/// on the new frame stored as X,Y tuples. featureXY array storage must
-/// has the same length as featureXY
-///
-/// @param featureStatus
-/// Pointer to integer array for status of each feature defined in
-/// featureXY. featureStatus array storage must
-/// be >= featureLen.
-///
-/// @param featureLen
-/// Number of features in featuresXY and featureStatus array.
-///
-/// @param windowWidth
-/// Width of window for optical flow searching. Must be odd number.
-/// \n\b NOTE: suggested value 5, 7 or 9
-///
-/// @param windowHeight
-/// Height of window for optical flow searching. Must be odd number.
-/// \n\b NOTE:: suggested value 5, 7 or 9
-///
-/// @param nPyramidLevels
-/// Number of pyramid levels.
-/// \n\b NOTE: suggested value 3 or 4 depending on size of image
-///
-/// @param termCriteria
-/// The enum parameter to specify termination criteria. See fcvTerminationCriteria for details
-///
-/// @param maxIterations
-/// Maximum number of LK iterations to perform per pyramid level if
-/// FASTCV_TERM_CRITERIA_ITERATIONS is set as the termCriteria
-/// \n\b NOTE: will be saturated to range [1, 100]; suggested value 5 or 7
-///
-/// @param maxEpsilon
-/// Epsilon value in float32_t for error measure to determine the iteration
-/// \n\b NOTE: the value should be within [0, 10]; suggested value 0.03*0.03
-///
-/// @param use_initial_estimate
-/// The flag indicatiing if to use initial estimations stored in featureXY_estimate
-/// to start the search.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvTrackLKOpticalFlowu8_v3 ( const uint8_t *__restrict src1,
- const uint8_t *__restrict src2,
- uint32_t width,
- uint32_t height,
- uint32_t stride,
- const fcvPyramidLevel_v2 * __restrict src1Pyr,
- const fcvPyramidLevel_v2 * __restrict src2Pyr,
- const float32_t * __restrict featureXY,
- const float32_t * __restrict featureXY_estimate,
- float32_t * __restrict featureXY_out,
- int32_t * __restrict featureStatus,
- int32_t featureLen,
- int32_t windowWidth,
- int32_t windowHeight,
- int32_t nPyramidLevels,
- fcvTerminationCriteria termCriteria,
- int32_t maxIterations,
- float32_t maxEpsilon,
- int32_t use_initial_estimate);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Undistort a disparity image and optionally convert the undistorted disparity image into a
-/// depth image.
-///
-/// @param src
-/// Pointer to the disparity input image
-///
-/// @param srcWidth
-/// Width of the disparity input image in pixel. The number of pixels in a row.
-///
-/// @param srcHeight
-/// Height of the disparity input image in pixel.
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t)
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param mask
-/// Pointer to the returned foreground mask image.
-/// It's a 1-channel image, same width and height as src.
-/// If an entry set to 1, there will be a valid undistorted dispartity or depth value.
-/// If an entry set to 0, there will be no valid undistorted dispartity or depth value.
-///
-/// @param maskStride
-/// Stride of the foreground mask image. It's the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 MaskStride is default to srcWidth.
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param pixelDistortion
-/// Pointer to the pixel distortion value for each pixel in the image. It has the same dimensions
-/// as the input image src.
-///
-/// @param pixelDistortionStride
-/// Stride of pixel distortion value for each pixel in the image.
-/// It's the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
-/// If left at 0 pixelDistortionStride is default to srcWidth*sizeof(float32_t).
-/// \n\b WARNING: should be multiple of 8
-///
-/// @param convertDepth
-/// This parameter is a flag to enable or disable the conversion of disparity to depth.
-/// If set to 1, then the undistorted disparity values will be converted to depth
-/// and returned in the dst buffer.
-/// If set to 0, then the undistorted disparity will be returned in the dst buffer.
-///
-/// @param imageDistortion
-/// ImageDistortion contains two elements. The First part contains the spatial distortion pattern,
-/// and the second part contains the decay of the distortion effect.
-///
-/// @param depthParam
-/// Parameters used to transform disparity to depth values.
-/// The equation is
-/// undistortedDepthValue = 1 / (undistortedDisparityValue * depthParam[0] + depthParam[1])
-///
-/// @param dst
-/// Output matrix which has the same width, length and channel number as src.
-/// The buffer contains undistorted disparity values if convertDepth is set to 0 and
-/// contains the undistorted depth values if convertDepth is set to 1
-///
-/// @param dstStride
-/// Stride for output image, i.e. the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t)
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvUndistortDisparityConvertDepthf32(const float32_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- const uint8_t* __restrict mask,
- uint32_t maskStride,
- const float32_t* __restrict pixelDistortion,
- uint32_t pixelDistortionStride,
- uint32_t convertDepth,
- const float32_t* __restrict imageDistortion,
- const float32_t* __restrict depthParam,
- float32_t* __restrict dst,
- uint32_t dstStride);
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Registers an input Depth Image with an input Color Image
-///
-/// @param src
-/// Pointer to the input depth image
-///
-/// @param srcWidth
-/// The width of the input depth image.
-///
-/// @param srcHeight
-/// The height of the input depth image
-///
-/// @param srcStride
-/// Stride of image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t).
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param Kdinv
-/// Kdinv is an array of 9 elements representing the inverse of the 3x3 depth camera matrix
-/// arranged row wise.
-///
-/// @param Kc
-/// Kc is an array of 9 elements which represents the 3x3 color camera intrinsic parameters
-/// arranged row wise
-///
-/// @param Rd2c
-/// Rd2c is an array of 9 element which represents the 3D Rotation (3x3) matrix from the Depth
-/// Camera to the Color Camera arranged row wise
-///
-/// @param Td2c
-/// Td2c is an array of 3 element which represents the transform parameter from the Depth
-/// Camera to the Color Camera.
-///
-/// @param dst
-/// Output matrix which has the same width, length and channel number as src
-///
-/// @param dstStride
-/// Stride for output image, i.e. the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t)
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvRegisterDepthImagef32(const float32_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- const float32_t* __restrict Kdinv,
- const float32_t* __restrict Kc,
- const float32_t* __restrict Rd2c,
- const float32_t* __restrict Td2c,
- float32_t* __restrict dst,
- uint32_t dstStride);
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Convert depth image into 3D point Cloud
-///
-/// @param src
-/// Pointer to the depth image
-///
-/// @param srcWidth
-/// Width of the depth image in pixel. The number of pixels in a row.
-///
-/// @param srcHeight
-/// Height of the depth image in pixel
-///
-/// @param srcStride
-/// Stride of depth image is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t).
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @param Kdinv
-/// Kdinv is an array of 9 elements representing the inverse of the 3x3 depth camera matrix
-/// arranged row wise.
-//
-/// @param dst
-/// Pointer to the 3D point cloud in an interleaved fashion x0,y0,z0,x1,y1,z1.
-/// It has a width of 3*srcWidth and has the same height as the src buffer.
-///
-/// @param dstStride
-/// Stride for output image, i.e. the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 srcStride is default to 3*srcWidth*sizeof(float32_t)
-/// \n\b NOTE: should be multiple of 8.
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup 3D_reconstruction
-//------------------------------------------------------------------------------
-FASTCV_API fcvStatus
-fcvConvertDepthImageToPointCloudf32(const float32_t* __restrict src,
- uint32_t srcWidth,
- uint32_t srcHeight,
- uint32_t srcStride,
- const float32_t* __restrict Kdinv,
- float32_t* __restrict dst,
- uint32_t dstStride);
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Extract Histogram of Oriented Gradients (HOG) descriptor given an image's gradient strength
-/// and orientation
-///
-/// @param strength
-/// The gradient strength at each pixel.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param width
-/// Input window width.
-///
-/// @param height
-/// Input window height.
-///
-/// @param strengthStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 strengthStride is default to width*2.
-/// NOTE: should be a multiple of 8.
-///
-/// @param orientation
-/// Gradient orientation at each pixel. When normMethod is FASTCV_HOG_NORM_REGULAR or
-/// FASTCV_HOG_NORM_RENORMALIZATION, orientation should be within range of [0, 179]; while
-/// FASTCV_HOG_NORM_FHOG is used, orientation should be within [0, 359] to meet its contrast-
-/// sensitive requirements.
-/// \n\b WARNING: should be 128-bit aligned.
-///
-/// @param orientationStride
-/// Stride is the number of bytes between column 0 of row 1 and
-/// column 0 of row 2 in data memory. If left at 0 orientationStride is default to width*2.
-/// NOTE: should be a multiple of 8.
-///
-/// @param cellSize
-/// The size of one cell in pixels. The typical cell size is 4.
-///
-/// @param blockSize
-/// Block size in pixels. It must be a multiple of cellSize.
-/// \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockSize is by default equal to cellSize
-///
-/// @param blockStep
-/// Block step in pixels when sliding the block over the image. If the blockStep
-/// is a multiple of cellSize, faster approach would be taken when normMethod
-/// is FASTCV_HOG_NORM_REGULAR or FASTCV_HOG_NORM_RENORMALIZATION.
-/// \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockStep is by default equal to cellSize
-///
-/// @param binSize
-/// Number of bins in the gradient histogram. Typical binSize is 9.
-///
-/// @param normMethod
-/// The enum parameter to specify the normalization method for HOG descriptor construction. See
-/// fcvHOGNormMethod for details.
-///
-/// @param hogVector
-/// The output descriptor vector in uint16_t. The length of the vector is obtained by fcvGetHOGVectorLengthu32
-///
-/// @return
-/// FASTCV_SUCCESS upon success.
-/// Other status codes upon failure.
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvExtractHOGu16(const uint16_t* __restrict strength,
- uint32_t width,
- uint32_t height,
- uint32_t strengthStride,
- const uint16_t* __restrict orientation,
- uint32_t orientationStride,
- uint32_t cellSize,
- uint32_t blockSize,
- uint32_t blockStep,
- uint32_t binSize,
- fcvHOGNormMethod normMethod,
- uint16_t* __restrict hogVector,
- uint32_t flen,
- void* handle);
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Calculate the length of the output vector for HOG extraction
-///
-/// @param width
-/// Input window width.
-///
-/// @param height
-/// Input window height.
-///
-/// @param cellSize
-/// The size of one cell in pixels. The typical cell size is 4.
-///
-/// @param blockSize
-/// Block size in pixels. It must be a multiple of cellSize.
-/// \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockStep is by default equal to cellSize
-///
-/// @param blockStep
-/// Block step in pixels when sliding the block over the image. If the blockStep
-/// is a multiple of cellSize, faster approach would be taken when normMethod
-/// is FASTCV_HOG_NORM_REGULAR or FASTCV_HOG_NORM_RENORMALIZATION.
-/// \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockStep is by default equal to cellSize
-///
-/// @param binSize
-/// Number of bins in the gradient histogram. Typical binSize is 9.
-///
-/// @param normMethod
-/// The enum parameter to specify the normalization method for HOG descriptor construction. See
-/// fcvHOGNormMethod for details.
-///
-/// @param
-/// The length of HOG vector in uint32_t
-///
-/// @param hogHandle
-/// Output. the hogHandle to be used in subsequent calls.
-///
-/// @ingroup object_detection
-// -----------------------------------------------------------------------------
-
-FASTCV_API fcvStatus
-fcvHOGInit(uint32_t width,
- uint32_t height,
- uint32_t cellSize,
- uint32_t blockSize,
- uint32_t blockStep,
- uint32_t binSize,
- fcvHOGNormMethod normMethod,
- uint32_t *vecLength,
- void **hogHandle
- );
-//------------------------------------------------------------------------------
-/// @brief Function to release HOG resources.
-/// @param hogHandle
-/// Handle to be used to free up HOG resources.
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API void fcvHOGDeInit(void* hogHandle);
-
-
-
-#ifdef __cplusplus
-}//extern "C"
-#endif
-
-#endif
+#ifndef FASTCV_H
+#define FASTCV_H
+
+/**=============================================================================
+
+@file
+ fastcv.h
+
+@brief
+ Public API
+
+
+Copyright (c) 2011-2015 Qualcomm Technologies, Inc.
+All Rights Reserved.
+Confidential and Proprietary - Qualcomm Technologies, Inc.
+
+=============================================================================**/
+
+/**=============================================================================
+@mainpage FastCV Public API Documentation
+
+@version 1.7.1
+
+@section Overview Overview
+
+FastCV provides two main features to computer vision application developers:
+ - First, it provides a library of frequently used computer vision (CV)
+ functions, optimized to run efficiently on mobile devices.
+ - Second, it provides a clean processor-agnostic hardware acceleration API,
+ under which chipset vendors can hardware accelerate FastCV functions on
+ their hardware.
+
+FastCV 1.7.1 supports Android and Windows mobile developers.
+FastCV 1.7.1 is available for download for free from developer.qualcomm.com.
+
+FastCV 1.7.1 is released as a unified binary, a single binary containing two
+implementations of the library.
+ - The first implementation runs on ARM processor, and is referred to as
+ the "FastCV for ARM."
+ - The second implementation runs only on Qualcomm Snapdragon
+ chipsets, and is called "FastCV for Snapdragon."
+
+Releases are generally motivated for the following reasons:
+ - Changes to previously released APIs
+ - Addition of new functions
+ - Performance improvements and/or bug fixes - also known as implementation
+ modifications
+
+ Each motivation has a varying degree of impact on the user of the library.
+ The general release numbering scheme captures this variety of motivations.
+
+ Given release ID: A.B.C
+
+ An increase in "A" indicates that a previously released API has changed,
+ so a developer may encounter compilation issues which require modification
+ of their code in order to adhear to the modified API. Qualcomm will make
+ every effort to minimize these changes. Additionally, new functions and
+ implementation modifications may be present.
+
+ An increase in "B" indicates that new functions have been added to the
+ library, so additional functionality is available, however existing APIs
+ have not changed. Additionally, implementation modifications may be
+ present.
+
+ An increase in "C" indicates that implementation modifications only have
+ been made.
+
+@defgroup math_vector Math / Vector Operations
+@details Commonly used vector & math functions
+
+@defgroup image_processing Image processing
+@details Image filtering, convolution and scaling operations
+
+@defgroup image_transform Image transformation
+@details Warp perspective, affine transformations
+
+@defgroup feature_detection Feature detection
+@details Fast corner detection, harris corner detection, canny edge detection, etc.
+
+@defgroup object_detection Object detection
+@details Object detection functions such as NCC template match, etc.
+
+@defgroup 3D_reconstruction 3D reconstruction
+@details Homography, pose evaluation functions
+
+@defgroup color_conversion Color conversion
+@details Commonly used formats supported: e.g., YUV, RGB, YCrCb, etc.
+
+@defgroup clustering_and_search Clustering and search
+@details K clusters best fitting of a set of input points
+
+@defgroup Motion_and_Object_Tracking Motion and object tracking
+@details Supports and tracking functions
+
+@defgroup Structural_Analysis_and_Drawing Shape and drawing
+@details Contour and polygon drawing functions
+
+@defgroup mem_management Memory Management
+@details Functions to allocate and deallocate memory for use with fastCV.
+
+@defgroup misc Miscellaneous
+@details Support functions
+
+@defgroup machine_learning Machine Learning
+@details Machine learning functions such as SVM prediction, etc.
+
+**/
+
+//==============================================================================
+// Defines
+//==============================================================================
+
+#ifdef __GNUC__
+ /// Macro to align memory at 4-bytes (32-bits) for GNU-based compilers.
+ #define FASTCV_ALIGN32( VAR ) (VAR) __attribute__ ((aligned(4)))
+ /// Macro to align memory at 8-bytes (64-bits) for GNU-based compilers.
+ #define FASTCV_ALIGN64( VAR ) (VAR) __attribute__ ((aligned(8)))
+ /// Macro to align memory at 16-bytes (128-bits) for GNU-based compilers.
+ #define FASTCV_ALIGN128( VAR ) (VAR) __attribute__ ((aligned(16)))
+ #ifdef BUILDING_SO
+ /// MACRO enables function to be visible in shared-library case.
+ #define FASTCV_API __attribute__ ((visibility ("default")))
+ #else
+ /// MACRO empty for non-shared-library case.
+ #define FASTCV_API
+ #endif
+#else
+ /// Macro to align memory at 4-bytes (32-bits) for MSVC compiler.
+ #define FASTCV_ALIGN32( VAR ) __declspec(align(4)) (VAR)
+ /// Macro to align memory at 8-bytes (64-bits) for MSVC compiler.
+ #define FASTCV_ALIGN64( VAR ) __declspec(align(8)) (VAR)
+ /// Macro to align memory at 16-bytes (128-bits) for MSVC compiler.
+ #define FASTCV_ALIGN128( VAR ) __declspec(align(16)) (VAR)
+ #ifdef BUILDING_DLL
+ /// MACRO enables function to be visible in shared-library case.
+ #define FASTCV_API __declspec(dllexport)
+ #else
+ /// MACRO empty for non-shared-library case.
+ #define FASTCV_API
+ #endif
+#endif
+
+//==============================================================================
+// Included modules
+//==============================================================================
+
+#include
+#include
+typedef float float32_t;
+typedef double float64_t;
+
+//==============================================================================
+// Declarations
+//==============================================================================
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines operational mode of interface to allow the end developer to
+/// dictate how the target optimized implementation should behave.
+//------------------------------------------------------------------------------
+typedef enum
+{
+ /// Target-optimized implementation uses lowest power consuming
+ /// implementation.
+ FASTCV_OP_LOW_POWER = 0,
+
+ /// Target-optimized implementation uses highest performance implementation.
+ FASTCV_OP_PERFORMANCE = 1,
+
+ /// Target-optimized implementation offloads as much of the CPU as possible.
+ FASTCV_OP_CPU_OFFLOAD = 2,
+
+ /// Target-optimized implementation uses CPU highest performance implementation.
+ FASTCV_OP_CPU_PERFORMANCE = 3,
+
+ /// Values >= 0x80000000 are reserved
+ FASTCV_OP_RESERVED = 0x80000000
+
+} fcvOperationMode;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the flip directions for matrix flip functions.
+//------------------------------------------------------------------------------
+typedef enum
+{
+ /// Flip horizontally.
+ FASTCV_FLIP_HORIZ = 1,
+
+ /// Flip vertically.
+ FASTCV_FLIP_VERT = 2,
+
+ /// Flip horizontally and vertically.
+ FASTCV_FLIP_BOTH = 3
+
+} fcvFlipDir;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the clockwise rotation degrees for image rotation functions.
+//------------------------------------------------------------------------------
+typedef enum
+{
+ /// Rotate 90 degrees clockwise.
+ FASTCV_ROTATE_90 = 1,
+
+ /// Rotate 180 degrees clockwise.
+ FASTCV_ROTATE_180 = 2,
+
+ /// Rotate 270 degrees clockwise.
+ FASTCV_ROTATE_270 = 3
+
+} fcvRotateDegree;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the interpolation types.
+//------------------------------------------------------------------------------
+
+typedef enum
+{
+ /// Nearest neighbor interpolation
+ FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR = 0,
+
+ /// Bilinear interpolation
+ FASTCV_INTERPOLATION_TYPE_BILINEAR,
+
+ /// Interpolation by area
+ FASTCV_INTERPOLATION_TYPE_AREA
+
+} fcvInterpolationType;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the policy to handle integer overflow.
+//------------------------------------------------------------------------------
+
+typedef enum
+{
+ /// Do nothing to the overflow.
+ /// Let the overflowed number wrap around.
+ /// May save runtime if overflow unlikely to occur,
+ /// or users do not care about overflow.
+ FASTCV_CONVERT_POLICY_WRAP = 0,
+
+ /// Clamped to the maximum interger if overflow,
+ /// clamped to the minimum integer if underflow.
+ /// May require more runtime than FASTCV_CONVERT_POLICY_WRAP.
+ FASTCV_CONVERT_POLICY_SATURATE
+
+} fcvConvertPolicy;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the border types.
+//------------------------------------------------------------------------------
+
+typedef enum
+{
+ /// Border behavior undefined, left to the implementation.
+ FASTCV_BORDER_UNDEFINED = 0,
+
+ /// For out-of-bound pixels, apply a user-specified constant value.
+ FASTCV_BORDER_CONSTANT,
+
+ /// For out-of-bound pixels, apply values from the nearest edge pixels.
+ FASTCV_BORDER_REPLICATE
+
+} fcvBorderType;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the norm for a vector.
+//------------------------------------------------------------------------------
+
+typedef enum
+{
+ /// L1 norm. The norm is the sum of absolute values of every component in a vector.
+ FASTCV_NORM_L1,
+
+ /// L2 norm, i.e., the Euclidean norm of a vector.
+ FASTCV_NORM_L2
+
+} fcvNormType;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines all supported channel indices
+//------------------------------------------------------------------------------
+
+typedef enum
+{
+ /// The first channel of the image.
+ FASTCV_CHANNEL_0,
+
+ /// The second channel of the image.
+ FASTCV_CHANNEL_1,
+
+ /// The third channel of the image.
+ FASTCV_CHANNEL_2,
+
+ /// The fourth channel of the image.
+ FASTCV_CHANNEL_3,
+
+ /// The RED channel of the image.
+ FASTCV_CHANNEL_R,
+
+ /// The GREEN channel of the image.
+ FASTCV_CHANNEL_G,
+
+ /// The BLUE channel of the image.
+ FASTCV_CHANNEL_B,
+
+ /// The ALPHA channel of the image.
+ FASTCV_CHANNEL_A,
+
+ /// The LUMA channel of the image.
+ FASTCV_CHANNEL_Y,
+
+ /// The Cb/U channel of the image.
+ FASTCV_CHANNEL_U,
+
+ /// The Cr/V/Value channel of the image.
+ FASTCV_CHANNEL_V
+
+} fcvChannelType;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines all supported image formats based on the FOURCC definition
+//------------------------------------------------------------------------------
+
+typedef enum
+{
+ /// A single plane of 24 bit pixel as 3 interleaved 8 bit units of R then G then B data.
+ FASTCV_RGB,
+
+ /// A single plane of 32 bit pixel as 4 interleaved 8 bit units of R then G then B data, then a ”don’t care?byte.
+ FASTCV_RGBX,
+
+ /// A 2 plane YUV format of Luma (Y) and interleaved UV data at 4:2:0 sampling.
+ /// For a frame of width W and height H, Y plane has the size of W * H, while the UV plane has the size of W * H/2.
+ /// The extracted U or V plane is then expected to be W/2 * H/2.
+ FASTCV_NV12,
+
+ /// A 2 plane YUV format of Luma (Y) and interleaved VU data at 4:2:0 sampling.
+ /// For a frame of width W and height H, Y plane has the size of W * H, while the VU plane has the size of W * H/2.
+ /// The extracted U or V plane is then expected to be W/2 * H/2.
+ FASTCV_NV21,
+
+ /// A single plane of 32 bit macro pixel of U0, Y0, V0, Y1 bytes.
+ /// For a frame of width W and height H, its buffer size is at least 2*W * H.
+ /// The extracted Y plane is expected to be W * H while the U or V plane is expected to be W/2 * H.
+ FASTCV_UYVY,
+
+ /// A single plane of 32 bit macro pixel of Y0, U0, Y1, V0 bytes.
+ /// For a frame of width W and height H, its buffer size is at least 2*W * H.
+ /// The extracted Y plane is expected to be W * H while the U or V plane is expected to be W/2 * H.
+ FASTCV_YUYV,
+
+ /// A 3 plane of 8 bit 4:2:0 sampled Y, U, V planes.
+ /// For a frame of width W and height H, Y plane has the size of W * H, while the U or I plane each has a size of W/2 * H/2.
+ FASTCV_IYUV,
+
+ /// A 3 plane of 8 bit 4:4:4 sampled Y, U, V planes.
+ /// For a frame of width W and height H, Y or U or V plane each has the size of W * H.
+ FASTCV_YUV4
+
+} fcvImageFormat;
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the status returned by a function.
+//------------------------------------------------------------------------------
+typedef enum
+{
+ //// Success
+ FASTCV_SUCCESS = 0,
+
+ /// General failure
+ FASTCV_EFAIL,
+
+ /// Unaligned pointer parameter
+ FASTCV_EUNALIGNPARAM,
+
+ /// Bad parameters
+ FASTCV_EBADPARAM,
+
+ /// Called at invalid state
+ FASTCV_EINVALSTATE,
+
+ /// Insufficient resources, memory, thread...
+ FASTCV_ENORES,
+
+ /// Unsupported feature
+ FASTCV_EUNSUPPORTED,
+
+ /// Hardware QDSP failed to respond
+ FASTCV_EHWQDSP,
+
+ /// Hardware GPU failed to respond
+ FASTCV_EHWGPU
+
+} fcvStatus;
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the kernel functions of SVM prediction.
+//------------------------------------------------------------------------------
+typedef enum
+{
+ FASTCV_SVM_LINEAR,
+ FASTCV_SVM_POLY,
+ FASTCV_SVM_RBF,
+ FASTCV_SVM_SIGMOID
+} fcvSVMKernelType;
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the different scaling options for the pyramid
+//------------------------------------------------------------------------------
+typedef enum
+{
+ FASTCV_PYRAMID_SCALE_HALF,
+ FASTCV_PYRAMID_SCALE_ORB
+} fcvPyramidScale;
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the termination criteria list.
+//------------------------------------------------------------------------------
+typedef enum
+{
+ /// Indicates a termination after a set number of iterations
+ FASTCV_TERM_CRITERIA_ITERATIONS,
+
+ /// Indicates a termination after matching against the value of eplison provided to the function
+ FASTCV_TERM_CRITERIA_EPSILON,
+
+ /// Indicates that both an iterations and eplison method are employed. Whichever one matches first causes the termination.
+ FASTCV_TERM_CRITERIA_BOTH,
+} fcvTerminationCriteria;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the normalization method in the HOG extraction process
+//------------------------------------------------------------------------------
+typedef enum
+{
+ /// Do the regular normalization method
+ FASTCV_HOG_NORM_REGULAR = 0,
+
+ /// Do re-normalization
+ FASTCV_HOG_NORM_RENORMALIZATION = 1,
+
+ /// Use F-HOG method
+ FASTCV_HOG_NORM_FHOG = 2,
+
+} fcvHOGNormMethod;
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines the vaiance estimator type
+//------------------------------------------------------------------------------
+typedef enum
+{
+ /// Sums the squared deviation and devides by (n-1)
+ /// As known as sample variance
+ FASTCV_UNBIASED_VARIANCE_ESTIMATOR = 0,
+
+ /// Sums the squared deviation and devides by n
+ /// As known as population variance
+ FASTCV_BIASED_VARIANCE_ESTIMATOR = 1,
+
+} fcvVarianceEstimator;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines a structure to contain points correspondence data.
+//------------------------------------------------------------------------------
+typedef struct
+{
+ /// Tuples of 3 values: xFrom,yFrom,zFrom. Float array which this points to
+ /// must be greater than or equal to 3 * numCorrespondences.
+ const float32_t* from;
+ /*~ FIELD fcvCorrespondences.from
+ VARRAY LENGTH ( fcvCorrespondences.numCorrespondences * \
+ (fcvCorrespondences.fromStride ? fcvCorrespondences.fromStride : 3) ) */
+
+ /// Tuples of 2 values: xTo,yTo. Float array which this points to
+ /// must be greater than or equal to 2 * numCorrespondences.
+ const float32_t* to;
+ /*~ FIELD fcvCorrespondences.to
+ VARRAY LENGTH ( fcvCorrespondences.numCorrespondences * \
+ (fcvCorrespondences.toStride ? fcvCorrespondences.toStride : 2) ) */
+
+ /// Distance in bytes between two coordinates in the from array.
+ /// If this parameter is set to 2 or 3, a dense array is assume (stride will
+ /// be sizeof(float) times 2 or 3). The minimum value of fromStride
+ /// should be 2.
+ uint32_t fromStride;
+
+ /// Distance in bytes between two coordinates in the to array.
+ /// If this parameter is set to 2, a dense array is assume (stride will
+ /// be 2 * sizeof(float)). The minimum value of toStride
+ /// should be 2.
+ uint32_t toStride;
+
+ /// Number of points in points correspondences.
+ uint32_t numCorrespondences;
+
+ /// Array of inlier indices for corrs array. Processing will only occur on
+ /// the indices supplied in this array. Array which this points to must be
+ /// at least numIndices long.
+ const uint16_t* indices;
+ /*~ FIELD fcvCorrespondences.indices VARRAY LENGTH (fcvCorrespondences.numIndices) */
+
+ /// Length of indices array.
+ uint32_t numIndices;
+} fcvCorrespondences;
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Structure representing an image pyramid level
+//------------------------------------------------------------------------------
+
+typedef struct
+{
+ const void* ptr;
+ unsigned int width;
+ unsigned int height;
+} fcvPyramidLevel ;
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Structure representing an image pyramid level (version2 with stride)
+//------------------------------------------------------------------------------
+
+typedef struct
+{
+ const void* ptr;
+ unsigned int width;
+ unsigned int height;
+ unsigned int stride;
+} fcvPyramidLevel_v2 ;
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Structure describing node of a tree;
+/// Assumption is that nodes of all trees are stored in in a single array
+/// and all indices refer to this array
+/// @remark
+/// if indices of both children are negative the node is a leaf
+// ----------------------------------------------------------------------------
+typedef struct fcvKDTreeNodef32
+{
+ /// the split value at the node
+ float32_t divVal;
+
+ /// dimension at which the split is made;
+ /// if this is a leaf (both children equal to -1) then this is
+ /// the index of the dataset vector
+ int32_t divFeat;
+
+ /// index of the child node with dataset items to the left
+ /// of the split value
+ int32_t childLeft;
+
+ /// index of the child node with dataset items to the right
+ /// of the split value
+ int32_t childRight;
+
+} fcvKDTreeNodef32;
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// structure describing a branch (subtree)
+/// @remark
+/// branches are stored on the priority queue (heap) for backtracking
+// -----------------------------------------------------------------------------
+typedef struct fcvKDTreeBranchf32
+{
+ /// square of minimal distance from query for all nodes below
+ float32_t minDistSq;
+
+ /// index of the top node of the branch
+ int32_t topNode;
+
+} fcvKDTreeBranchf32;
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Structure with KDTrees data
+// -----------------------------------------------------------------------------
+typedef struct fcvKDTreeDatas8f32
+{
+ // info about the dataset for which KDTrees are constructed
+ /// the dataset of vectors
+ const int8_t *dataset;
+
+ /// array with inverse lengths of dataset vectors
+ const float32_t* invLen;
+
+ /// number of vectors in the dataset
+ int32_t numVectors;
+
+ // info about trees
+ /// indice of root nodes of trees
+ int32_t* trees;
+
+ /// array of nodes of all trees
+ fcvKDTreeNodef32* nodes;
+
+ /// number of all nodes
+ int32_t numNodes;
+
+ /// capacity of node array
+ int32_t maxNumNodes;
+
+ // info used during lookups
+ /// priority queue
+ fcvKDTreeBranchf32* heap;
+
+ /// number of branches on the priority queue
+ int32_t numBranches;
+
+ /// capactiy of the priority queue
+ int32_t maxNumBranches;
+
+ /// array of indices to vectors in the dataset;
+ /// during searches used to mark checkID;
+ /// should have numVectors capacity
+ int32_t* vind;
+
+ /// unique ID for each lookup
+ int32_t checkID;
+
+ /// number of nearest neighbors to find
+ int32_t numNNs;
+
+} fcvKDTreeDatas8f32;
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// fixed point kdtrees
+/// Structure describing node of tree;
+/// Assumption is that nodes of all trees are stored in in a single array
+/// and all indices refer to this array
+/// @remark
+/// if indices of both children are negative the node is a leaf
+// ----------------------------------------------------------------------------
+typedef struct fcvKDTreeNodes32
+{
+ /// the split value at the node
+ int32_t divVal;
+
+ /// dimension at which the split is made;
+ /// if this is a leaf (both children equal to -1) then this is
+ /// the index of the dataset vector
+ int32_t divFeat;
+
+ /// index of the child node with dataset items to the left
+ /// of the split value
+ int32_t childLeft;
+
+ /// index of the child node with dataset items to the right
+ /// of the split value
+ int32_t childRight;
+
+} fcvKDTreeNodes32;
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// fixed point kdtrees
+/// structure describing a branch (subtree)
+/// @remark
+/// branches are stored on the priority queue (heap) for backtracking
+// -----------------------------------------------------------------------------
+typedef struct fcvKDTreeBranchs32
+{
+ /// square of minimal distance from query for all nodes below
+ int32_t minDistSq;
+
+ /// index of the top node of the branch
+ int32_t topNode;
+
+} fcvKDTreeBranchs32;
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// fixed point kdtrees
+/// Structure with KDTrees data
+// -----------------------------------------------------------------------------
+typedef struct fcvKDTreeDatas8s32
+{
+ // info about the dataset for which KDTrees are constructed
+ /// the dataset of vectors
+ const int8_t *dataset;
+
+ /// array with inverse lengths of dataset vectors
+ const int32_t* invLen;
+
+ /// number of vectors in the dataset
+ int32_t numVectors;
+
+ // info about trees
+ /// indices of root nodes of all trees
+ int32_t* trees;
+
+ /// number of trees used
+ int32_t numTrees;
+
+ /// array of nodes of all trees
+ fcvKDTreeNodes32* nodes;
+
+ /// number of all nodes
+ int32_t numNodes;
+
+ /// capacity of node array
+ int32_t maxNumNodes;
+
+ // info used during lookups
+ /// priority queue
+ fcvKDTreeBranchs32* heap;
+
+ /// number of branches on the priority queue
+ int32_t numBranches;
+
+ /// capactiy of the priority queue
+ int32_t maxNumBranches;
+
+ /// array of indices to vectors in the dataset;
+ /// during searches used to mark checkID;
+ /// should have numVectors capacity
+ int32_t* vind;
+
+ /// unique ID for each lookup
+ int32_t checkID;
+
+ /// number of nearest neighbors to find
+ int32_t numNNs;
+
+} fcvKDTreeDatas8s32;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines a struct of rectangle
+//------------------------------------------------------------------------------
+typedef struct
+{
+ ///x-coordinate of the top-left corner
+ int32_t x;
+ ///y-coordinate of the top-left corner
+ int32_t y;
+ ///width of the rectangle
+ uint32_t width;
+ ///height of the rectangle
+ uint32_t height;
+} fcvRectangleInt;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines a struct of termination criteria
+//------------------------------------------------------------------------------
+typedef struct
+{
+ /// Maxmimum number of iteration
+ int32_t max_iter;
+ ///
+ float32_t epsilon;
+}fcvTermCriteria;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines a struct of 2D box used for tracking
+//------------------------------------------------------------------------------
+typedef struct
+{
+ // Center of the box
+ ///x-coordinate of the 2D point
+ int32_t x;
+ ///y-coordinate of the 2D point
+ int32_t y;
+ // The box size
+ int32_t columns;
+ int32_t rows;
+ // The orientation of the principal axis
+ int32_t orientation;
+}fcvBox2D;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines a struct of image moments
+//------------------------------------------------------------------------------
+typedef struct {
+ // spatial moments
+ float32_t m00, m10, m01, m20, m11, m02, m30, m21, m12, m03;
+ // central moments
+ float32_t mu20, mu11, mu02, mu30, mu21, mu12, mu03;
+ // m00 != 0 ? 1/sqrt(m00) : 0
+ float32_t inv_sqrt_m00;
+} fcvMoments;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines a struct of code word
+//------------------------------------------------------------------------------
+typedef struct fcvBGCodeWord
+{
+ /// Pointer to next codebook element
+ struct fcvBGCodeWord* next;
+
+ /// Last update time
+ int32_t tLastUpdate;
+
+ /// Longest period of inactivity
+ int32_t stale;
+ /// Min value of pixel for each channel
+ uint8_t min0, min1, min2;
+
+ /// Max value of pixel for each channel
+ uint8_t max0, max1, max2;
+
+ /// Min value of learning boundary for each channel
+ uint8_t learnLow0, learnLow1, learnLow2;
+
+ /// Max value of learning boundary for each channel
+ uint8_t learnHigh0, learnHigh1, learnHigh2;
+} fcvBGCodeWord;
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines a struct for circle
+//------------------------------------------------------------------------------
+typedef struct fcvCircle
+{
+ int32_t x;
+ int32_t y;
+ int32_t radius;
+} fcvCircle;
+
+
+typedef struct fcvPoint2D
+{
+ float x;
+ float y;
+} fcvPoint2D;
+
+typedef struct fcvLine
+{
+ fcvPoint2D start;
+ fcvPoint2D end;
+} fcvLine;
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines a struct for parameters for line segment detection
+//------------------------------------------------------------------------------
+typedef struct fcvLineSegment {
+ fcvPoint2D start, end; ///< Two ending points
+ float32_t normal[2]; ///< Orientation, average of the gradient direction
+ uint32_t nPoints; ///< (Optional) Number of pixels in pointsList
+ int32_t pointsStartIndex; ///< (Optional) Starting index of the pixel positions contributed to line segment fitting stored in indexBuffer
+ uint32_t sumMag; ///< Sum of all pixels gradient magnitude
+} fcvLineSegment;
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Parameters for fusing a depth map into a cuboid fusion block
+///
+/// @details
+/// This structure describes a single cuboid block that shall be fused
+/// with data from a depth map. All coordinates must be pre-transformed
+/// into the coordinate frame of the depth frame.
+///
+//------------------------------------------------------------------------------
+typedef struct fcvDepthFusionBlockConfig {
+ uint32_t flags; ///< Option specified as a bit field - 0x0000:N/A, 0x0001:run clipping
+ float32_t ramp; ///< Fusion ramp: maximum allowed distance between volume sample position and depth map sample position
+ float32_t p0[3], ///< Location of the 1st sample in the volume
+ dX[3], ///< One sample step in X-direction in the volume
+ dY[3], ///< One sample step in Y-direction in the volume
+ dZ[3]; ///< One sample step in Z-direction in the volume
+ uint32_t volumeIndex; ///< Index of the volume to be updated
+} fcvDepthFusionBlockConfig;
+
+//==============================================================================
+// UTILITY FUNCTIONS
+//==============================================================================
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Retrieves version of FastCV library.
+///
+/// @param version
+/// Pointer to location to put string.
+///
+/// @param versionLength
+/// Length of storage for version string.
+///
+/// @ingroup misc
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvGetVersion( char* version,
+ unsigned int versionLength );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Selects HW units for all routines at run-time.
+/// \n\b WARNING: Should be called once at the very beginning to update mode
+///
+/// @param mode
+/// See enum for details.
+///
+/// @return
+/// 0 if successful.
+/// 999 if minmum HW requirement not met.
+/// other #'s if unsuccessful.
+///
+/// @ingroup misc
+//---------------------------------------------------------------------------
+
+FASTCV_API int
+fcvSetOperationMode( fcvOperationMode mode );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Clean up FastCV resources. Must be called before the program exits.
+///
+/// @ingroup misc
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCleanUp( void );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Allocates memory for Pyramid
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvPyramidAllocate_v2(). In the 2.0.0 release,
+/// fcvPyramidAllocate_v2 will be renamed to fcvPyramidAllocate
+/// and the signature of fcvPyramidAllocate as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param pyr
+/// Pointer to an array of fcvPyramidLevel
+///
+/// @param baseWidth
+/// Width of the base level: the value assigned to pyr[0].width
+///
+/// @param baseHeight
+/// Height of the base level: the value assigned to pyr[0].height
+///
+/// @param bytesPerPixel
+/// Number of bytes per pixel:
+/// \n e.g for uint8_t pyramid, bytesPerPixel = 1
+/// \n for int32_t pyramid, bytesPerPixel = 4
+///
+/// @param numLevels
+/// number of levels in the pyramid
+///
+/// @param allocateBase
+/// \n if set to 1, memory will be allocated for the base level
+/// \n if set to 0, memory for the base level is allocated by the callee
+/// \n\b WARNING: How this parameter is set will impact how the memory is freed.
+/// Please refer to fcvPyramidDelete for details.
+///
+/// @ingroup mem_management
+//----------------------------------------------------------------------------
+
+FASTCV_API int
+fcvPyramidAllocate( fcvPyramidLevel* pyr,
+ unsigned int baseWidth,
+ unsigned int baseHeight,
+ unsigned int bytesPerPixel,
+ unsigned int numLevels,
+ int allocateBase );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Allocates memory for Pyramid
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvPyramidAllocate() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvPyramidAllocate,
+/// \a fcvPyramidAllocate_v2 will be removed, and the current signature
+/// for \a fcvPyramidAllocate will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvPyramidAllocate when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param pyr
+/// Pointer to an array of fcvPyramidLevel_v2
+///
+/// @param baseWidth
+/// Width of the base level: the value assigned to pyr[0].width
+///
+/// @param baseHeight
+/// Height of the base level: the value assigned to pyr[0].height
+///
+/// @param baseStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory.
+/// Stride of the base level: the value assigned to pyr[0].stride
+/// \n \b NOTE: stride of non-base pyramid image is the same as
+/// width*bytesPerPixel of the non-base pyramid image
+///
+/// @param bytesPerPixel
+/// Number of bytes per pixel:
+/// \n e.g for uint8_t pyramid, bytesPerPixel = 1
+/// \n for int32_t pyramid, bytesPerPixel = 4
+///
+/// @param numLevels
+/// number of levels in the pyramid
+///
+/// @param allocateBase
+/// \n if set to 1, memory will be allocated for the base level
+/// \n if set to 0, memory for the base level is allocated by the callee
+/// \n\b WARNING: How this parameter is set will impact how the memory is freed.
+/// Please refer to fcvPyramidDelete for details.
+///
+/// @ingroup mem_management
+//----------------------------------------------------------------------------
+
+FASTCV_API int
+fcvPyramidAllocate_v2( fcvPyramidLevel_v2* pyr,
+ uint32_t baseWidth,
+ uint32_t baseHeight,
+ uint32_t baseStride,
+ uint32_t bytesPerPixel,
+ uint32_t numLevels,
+ int32_t allocateBase );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Allocates memory for Pyramid
+/// DO NOT USE THIS API unless for testing purposes.
+/// This API can be removed without notice.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvPyramidAllocate_v2() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvPyramidAllocate,
+/// \a fcvPyramidAllocate_v3 will be removed, and the current signature
+/// for \a fcvPyramidAllocate will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvPyramidAllocate when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param pyr
+/// Pointer to an array of fcvPyramidLevel_v2
+///
+/// @param baseWidth
+/// Width of the base level: the value assigned to pyr[0].width
+///
+/// @param baseHeight
+/// Height of the base level: the value assigned to pyr[0].height
+///
+/// @param baseStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory.
+/// Stride of the base level: the value assigned to pyr[0].stride
+/// \n \b NOTE: stride of non-base pyramid image is the same as
+/// width*bytesPerPixel of the non-base pyramid image
+///
+/// @param bytesPerPixel
+/// Number of bytes per pixel:
+/// \n e.g for uint8_t pyramid, bytesPerPixel = 1
+/// \n for int32_t pyramid, bytesPerPixel = 4
+///
+/// @param alignment
+/// Used to specify the alignment of each pyramid level other than the base. Must be a multiple
+/// of 8. If set to 0, the alignment will be set as 8 bits.
+///
+/// @param numLevels
+/// number of levels in the pyramid
+///
+/// @param scale
+/// Defines the type of scaling used for each pyramid level.
+/// FASTCV_PYRAMID_SCALE_HALF downscales each level of the pyramid by a factor of 2.
+/// FASTCV_PYRAMID_SCALE_ORB downscales each level of the pyramid by a factor of 1/(2)^(1/4),
+/// which is approximated as 0.8408964f
+///
+/// @param allocateBase
+/// \n if set to 1, memory will be allocated for the base level
+/// \n if set to 0, memory for the base level is allocated by the callee
+/// \n\b WARNING: How this parameter is set will impact how the memory is freed.
+/// Please refer to fcvPyramidDelete_v2 for details.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup mem_management
+//----------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvPyramidAllocate_v3(fcvPyramidLevel_v2* __restrict pyr,
+ uint32_t baseWidth,
+ uint32_t baseHeight,
+ uint32_t baseStride,
+ uint32_t bytesPerPixel,
+ uint32_t alignment,
+ uint32_t numLevels,
+ fcvPyramidScale scale,
+ int32_t allocateBase);
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Deallocates an array of fcvPyramidLevel. Can be used for any
+/// type(f32/s8/u8).
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvPyramidDelete_v2(). In the 2.0.0 release,
+/// fcvPyramidDelete_v2 will be renamed to fcvPyramidDelete
+/// and the signature of fcvPyramidDelete as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param pyr
+/// pyramid to deallocate
+///
+/// @param numLevels
+/// Number of levels in the pyramid
+///
+/// @param startLevel
+/// Start level of the pyramid
+/// \n\b WARNING: if pyr was allocated with allocateBase=0 which means baselevel memory
+/// was allocated outside of fcvPyramidAllocate, then startLevel
+/// for fcvPyramidDelete has to be set to 1 (or higher).
+///
+/// @ingroup mem_management
+//----------------------------------------------------------------------------
+
+FASTCV_API void
+fcvPyramidDelete( fcvPyramidLevel* pyr,
+ unsigned int numLevels,
+ unsigned int startLevel );
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Deallocates an array of fcvPyramidLevel. Can be used for any
+/// type(f32/s8/u8).
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvPyramidDelete() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvPyramidDelete,
+/// \a fcvPyramidDelete_v2 will be removed, and the current signature
+/// for \a fcvPyramidDelete will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvPyramidDelete when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param pyr
+/// pyramid to deallocate
+///
+/// @param numLevels
+/// Number of levels in the pyramid
+///
+/// @param startLevel
+/// Start level of the pyramid
+/// \n\b WARNING: if pyr was allocated with allocateBase=0 which means baselevel memory
+/// was allocated outside of fcvPyramidAllocate, then startLevel
+/// for fcvPyramidDelete_v2 has to be set to 1 (or higher).
+///
+/// @ingroup mem_management
+//----------------------------------------------------------------------------
+
+FASTCV_API void
+fcvPyramidDelete_v2( fcvPyramidLevel_v2* pyr,
+ uint32_t numLevels,
+ uint32_t startLevel );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Allocates aligned memory.
+///
+/// @param nBytes
+/// Number of bytes.
+///
+/// @param byteAlignment
+/// Alignment specified in bytes (e.g., 16 = 128-bit alignment).
+/// \n\b WARNING: must be < 255 bytes
+///
+/// @return
+/// SUCCESS: pointer to aligned memory
+/// FAILURE: 0
+///
+/// @ingroup mem_management
+//------------------------------------------------------------------------------
+
+FASTCV_API void*
+fcvMemAlloc( unsigned int nBytes,
+ unsigned int byteAlignment );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Frees memory allocated by fcvMemAlloc().
+///
+/// @param ptr
+/// Pointer to memory.
+///
+/// @ingroup mem_management
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvMemFree( void* ptr );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Initialize the Memory sub-system in FastCV. The sub-system handles
+/// temporary/scratch memory requirements from several FastCV functions
+/// that do not have parameters to have this supplied by the users of those
+/// functions.
+///
+/// \b Important:
+/// \n 1. Every call to this function should be followed by a call to
+/// fcvMemDeInit().
+/// \n 2. This function (and the fcvMemDeInit) only needs to called once per
+/// process.
+/// \n 3. Any call to FastCV functions that uses internal temporary memory
+/// outside of fcvMemInit and fcvMemDeInit pair will use non-optimum memory
+/// allocation.
+/// \n 4. A call to this function without a corresponding call to fcvMemDeInit
+/// can result in memory leak.
+///
+/// @ingroup mem_management
+// -----------------------------------------------------------------------------
+FASTCV_API void
+fcvMemInit(void);
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Initialize the Memory sub-system in FastCV with pre-allocated buffer.
+/// The sub-system handles temporary/scratch memory requirements from several
+/// FastCV functions that do not have parameters to have this supplied by the
+/// users of those functions.
+///
+/// \b Important:
+/// \n 1. Every call to this function should be followed by a call to
+/// fcvMemDeInit().
+/// \n 2. This function (and the fcvMemDeInit) only needs to called once per
+/// process.
+/// \n 3. Any call to FastCV functions that uses internal temporary memory
+/// outside of fcvMemInit and fcvMemDeInit pair will use non-optimum memory
+/// allocation.
+/// \n 4. A call to this function without a corresponding call to fcvMemDeInit
+/// can result in memory leak.
+///
+/// @param preAllocBytes
+/// Number of bytes for the pre-allocated buffer.
+///
+/// @ingroup mem_management
+// -----------------------------------------------------------------------------
+FASTCV_API void
+fcvMemInitPreAlloc( uint32_t preAllocBytes );
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// De-Initialize the Memory sub-system initialized by fcvMemInit() function.
+///
+/// \b Important:
+/// \n 1. Call to this function without a corresponding call to fcvMemInit will
+/// result in no-op.
+///
+/// @ingroup mem_management
+// -----------------------------------------------------------------------------
+FASTCV_API void
+fcvMemDeInit(void);
+
+//End - Utility functions
+
+
+//==============================================================================
+// FUNCTIONS
+//==============================================================================
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with 3x3 median filter
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterMedian3x3u8_v2(). In the 2.0.0 release,
+/// fcvFilterMedian3x3u8_v2 will be renamed to fcvFilterMedian3x3u8
+/// and the signature of fcvFilterMedian3x3u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Border values are ignored. The 3x3 mask convolves with the image area
+/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
+/// | ... , ..., ..., ... |\n
+/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
+///
+/// @param srcImg
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight byte.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dstImg
+/// Output 8-bit image. Size of buffer is srcWidth*srcHeight byte.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterMedian3x3u8( const uint8_t* __restrict srcImg,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dstImg );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with 3x3 median filter
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterMedian3x3u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterMedian3x3u8,
+/// \a fcvFilterMedian3x3u8_v2 will be removed, and the current signature
+/// for \a fcvFilterMedian3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterMedian3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Border values are ignored. The 3x3 mask convolves with the image area
+/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
+/// | ... , ..., ..., ... |\n
+/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
+///
+/// @param srcImg
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight byte.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dstImg
+/// Output 8-bit image. Size of buffer is dstStride*srcHeight byte.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride.
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterMedian3x3u8_v2( const uint8_t* __restrict srcImg,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dstImg,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with 3x3 Gaussian filter
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterGaussian3x3u8_v2(). In the 2.0.0 release,
+/// fcvFilterGaussian3x3u8_v2 will be renamed to fcvFilterGaussian3x3u8
+/// and the signature of fcvFilterGaussian3x3u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Gaussian kernel:
+/// \n 1 2 1
+/// \n 2 4 2
+/// \n 1 2 1
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight byte.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output 8-bit image. Destination buffer size is srcWidth*srcHeight.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param blurBorder
+/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
+/// borders up to half-kernel width are ignored (e.g. 1 pixel in the 3x3
+/// case).
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterGaussian3x3u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst,
+ int blurBorder );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with 3x3 Gaussian filter
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterGaussian3x3u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterGaussian3x3u8,
+/// \a fcvFilterGaussian3x3u8_v2 will be removed, and the current signature
+/// for \a fcvFilterGaussian3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterGaussian3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Convolution with 3x3 Gaussian kernel:
+/// \n 1 2 1
+/// \n 2 4 2
+/// \n 1 2 1
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride.
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
+///
+/// @param blurBorder
+/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
+/// borders up to half-kernel width are ignored (e.g. 1 pixel in the 3x3
+/// case).
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterGaussian3x3u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride,
+ int blurBorder );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with 5x5 Gaussian filter
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterGaussian5x5u8_v2(). In the 2.0.0 release,
+/// fcvFilterGaussian5x5u8_v2 will be renamed to fcvFilterGaussian5x5u8
+/// and the signature of fcvFilterGaussian5x5u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Convolution with 5x5 Gaussian kernel:
+/// \n 1 4 6 4 1
+/// \n 4 16 24 16 4
+/// \n 6 24 36 24 6
+/// \n 4 16 24 16 4
+/// \n 1 4 6 4 1
+///
+/// @param src
+/// Input int data (can be sq. of gradient, etc). Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param blurBorder
+/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
+/// borders up to half-kernel width are ignored (e.g. 2 pixel in the 5x5
+/// case).
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterGaussian5x5u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst,
+ int blurBorder );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with 5x5 Gaussian filter
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterGaussian5x5u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterGaussian5x5u8,
+/// \a fcvFilterGaussian5x5u8_v2 will be removed, and the current signature
+/// for \a fcvFilterGaussian5x5u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterGaussian5x5u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Convolution with 5x5 Gaussian kernel:
+/// \n 1 4 6 4 1
+/// \n 4 16 24 16 4
+/// \n 6 24 36 24 6
+/// \n 4 16 24 16 4
+/// \n 1 4 6 4 1
+///
+/// @param src
+/// Input int data (can be sq. of gradient, etc). Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride.
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
+///
+/// @param blurBorder
+/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
+/// borders up to half-kernel width are ignored (e.g. 2 pixel in the 5x5
+/// case).
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterGaussian5x5u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride,
+ int blurBorder );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with 11x11 Gaussian filter
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterGaussian11x11u8_v2(). In the 2.0.0 release,
+/// fcvFilterGaussian11x11u8_v2 will be renamed to fcvFilterGaussian11x11u8
+/// and the signature of fcvFilterGaussian11x11u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Convolution with 11x11 Gaussian kernel:
+/// \n 1 10 45 120 210 252 210 120 45 10 1
+/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
+/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
+/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
+/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
+/// \n 252 2520 11340 30240 52920 63504 52920 30240 11340 2520 252
+/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
+/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
+/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
+/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
+/// \n 1 10 45 120 210 252 210 120 45 10 , 1
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param blurBorder
+/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
+/// borders up to half-kernel width are ignored (e.g. 5 pixel in the 11x11
+/// case).
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterGaussian11x11u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst,
+ int blurBorder );
+
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with 11x11 Gaussian filter
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterGaussian11x11u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterGaussian11x11u8,
+/// \a fcvFilterGaussian11x11u8_v2 will be removed, and the current signature
+/// for \a fcvFilterGaussian11x11u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterGaussian11x11u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Convolution with 11x11 Gaussian kernel:
+/// \n 1 10 45 120 210 252 210 120 45 10 1
+/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
+/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
+/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
+/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
+/// \n 252 2520 11340 30240 52920 63504 52920 30240 11340 2520 252
+/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
+/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
+/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
+/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
+/// \n 1 10 45 120 210 252 210 120 45 10 , 1
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride.
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param blurBorder
+/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
+/// borders up to half-kernel width are ignored (e.g. 5 pixel in the 11x11
+/// case).
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterGaussian11x11u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride,
+ int blurBorder );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Color conversion from YUV (YCrCb) 4:2:0 PesudoPlanar (Interleaved) to RGB 8888.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvColorYCrCb420PseudoPlanarToRGB8888u8. In the 2.0.0 release,
+/// the signature of fcvColorYUV420toRGB8888u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// 8-bit image of input YUV 4:2:0 values.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// The input are one Y plane followed by one interleaved and 2D (both
+/// horizontally and vertically) sub-sampled CrCb plane:
+/// Y plane : Y00 Y01 Y02 Y03 ...
+/// Y10 Y11 Y12 Y13 ...
+/// Interleaved and 2D sub-sampled plane: Cr0 Cb0 Cr1 Cb1 ...
+///
+/// @param dst
+/// 32-bit image of output RGB 8888 values. R is at LSB.
+/// \n\b WARNING: size must match input yuv420.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+///
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvColorYUV420toRGB8888u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint32_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Color conversion from YUV (YCrCb) 4:2:0 PesudoPlanar (Interleaved CrCb) to RGB 888.
+///
+/// \n\b ATTENTION: The name of this function will be changed when the 2.0.0 release
+/// of this library is made.
+/// Until 2.0.0, the developer should use this implementation with the expectation of
+/// moving to a different name when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// 8-bit image of input YUV picture.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// The input are one Y plane followed by one interleaved and 2D (both
+/// horizontally and vertically) sub-sampled CrCb plane:
+/// Y plane : Y00 Y01 Y02 Y03 ...
+/// Y10 Y11 Y12 Y13 ...
+/// Interleaved and 2D sub-sampled plane: Cr0 Cb0 Cr1 Cb1 ...
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcYStride
+/// Stride (in bytes) of input image Y component (i.e., number of bytes between
+/// column 0 of row 1 and column 0 of row 2).
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
+///
+/// @param srcCStride
+/// Stride (in bytes) of input image Chroma component (i.e., number of bytes between
+/// column 0 of row 1 and column 0 of row 2)
+/// \n\b WARNING: should be multiple of 4 (4 * 1-byte values).
+///
+/// @param dst
+/// 32-bit image of output RGB 8888 values. R in LSB.
+/// \n\b WARNING: size must match input yuv420.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output RGB image (i.e., number of bytes between column 0 of
+/// row 1 and column 0 of row 2)
+/// \n\b WARNING: should be multiple of 32 (8 * 4-byte values).
+///
+///
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvColorYCrCb420PseudoPlanarToRGB8888u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcYStride,
+ unsigned int srcCStride,
+ uint32_t* __restrict dst,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Color conversion from YUV (YCbCr) 4:2:0 PesudoPlanar (Interleaved CbCr) to RGB 565.
+///
+/// \n\b ATTENTION: The name of this function will be changed when the 2.0.0 release
+/// of this library is made.
+/// Until 2.0.0, the developer should use this implementation with the expectation of
+/// moving to a different name when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// 8-bit image of input YUV 4:2:0 values.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// The input are one Y plane followed by one interleaved and 2D (both
+/// horizontally and vertically) sub-sampled CbCr plane:
+/// Y plane : Y00 Y01 Y02 Y03 ...
+/// Y10 Y11 Y12 Y13 ...
+/// Interleaved and 2D sub-sampled plane: Cb0 Cr0 Cb1 Cr1 ...
+///
+/// @param dst
+/// 16-bit image of output RGB 565 values. R in LSBs.
+/// 2 pixels are packed into one 32-bit output
+/// \n\b WARNING: size must match input yuv420.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 4
+///
+/// @param srcHeight
+/// Image height.
+///
+///
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvColorYUV420toRGB565u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint32_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Color conversion from YCbCr H1V1 to RGB 888.
+///
+/// @details
+/// Color conversion from YCbCr H1V1 (YCbCr 4:4:4 planar) to RGB 888.
+/// \n R = Y + 1.40200*(Cr-128)
+/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
+/// \n B = Y + 1.77200*(CB-128)
+///
+/// @param src
+/// 8-bit image of input values. Stored as YCbCr H1V1 planar format in 8x8 blocks for Y,Cb,Cr.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// 8-bit image of output RGB 888 values. R in LSB.
+/// \n\b WARNING: size must match input crcb.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvColorYCrCbH1V1toRGB888u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Color conversion from YCbCr H2V2 to RGB 888.
+///
+/// @details
+/// Color conversion from YCbCr H2V2 (YCbCr 4:2:0 planar) to RGB 888.
+/// \n R = Y + 1.40200*(Cr-128)
+/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
+/// \n B = Y + 1.77200*(CB-128)
+///
+/// @param ysrc
+/// 8-bit input values. Stored as YCbCr H2V2 planar format in 16x16 blocks for Y, 8x8 blocks for Cb, Cr.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// 8-bit image of output RGB 888 values. R in LSB.
+/// \n\b WARNING: size must match input crcb.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvColorYCrCbH2V2toRGB888u8( const uint8_t* __restrict ysrc,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Color conversion from YCbCr H2V1 to RGB 888.
+///
+/// @details
+/// Color conversion from YCbCr H2V1 (YCbCr 4:2:2) to RGB 888.
+/// \n R = Y + 1.40200*(Cr-128)
+/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
+/// \n B = Y + 1.77200*(CB-128)
+///
+/// @param src
+/// 8-bit input values. Stored as YCbCr H2V1 planar format in 16x8 blocks for Y, 8x8 blocks for Cb, Cr.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// 8-bit image of output RGB 888 values. R in LSB.
+/// \n\b WARNING: size must match input crcb.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvColorYCrCbH2V1toRGB888u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Color conversion from YCbCr H1V2 to RGB 888.
+///
+/// @details
+/// Color conversion from YCbCr H1V2 (YCbCr 4:2:2) to RGB 888.
+/// \n R = Y + 1.40200*(Cr-128)
+/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
+/// \n B = Y + 1.77200*(CB-128)
+///
+/// @param ysrc
+/// 8-bit input values. Stored as YCbCr H1V2 planar format in 8x16 blocks for Y, 8x8 blocks for Cb, Cr.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// 8-bit image of output RGB 888 values. R in LSB.
+/// \n\b WARNING: size must match input crcb.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvColorYCrCbH1V2toRGB888u8( const uint8_t* __restrict ysrc,
+
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Color conversion from RGB 888 to YCrCb.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvColorRGB888toYCrCbu8_v2(). In the 2.0.0 release,
+/// fcvColorRGB888toYCrCbu8_v2 will be renamed to fcvColorRGB888toYCrCbu8
+/// and the signature of fcvColorRGB888toYCrCbu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Color conversion from RGB 888 to YCrCb 4:4:4 interleaved.
+///
+/// @param src
+/// 8-bit input values.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// 8-bit output values. Stored as Y, Cr, Cb interleaved format.
+/// \n\b WARNING: size must match input crcb.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvColorRGB888toYCrCbu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Color conversion from RGB 888 to YCrCb 4:4:4 (Full interleaved, similar to
+/// 3-channel RGB).
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvColorRGB888toYCrCbu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvColorRGB888toYCrCbu8,
+/// \a fcvColorRGB888toYCrCbu8_v2 will be removed, and the current signature
+/// for \a fcvColorRGB888toYCrCbu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvColorRGB888toYCrCbu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Color conversion from RGB 888 to YCrCb 4:4:4 interleaved.
+///
+/// @param src
+/// 8-bit input values.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride (in bytes).
+/// \n\b WARNING: Must be at least 3*srcWidth.
+///
+/// @param dst
+/// 8-bit output values. Stored as Y, Cr, Cb interleaved format.
+/// \n\b WARNING: size must match input crcb.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b WARNING: Must be at least 3*srcWidth.
+///
+///
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvColorRGB888toYCrCbu8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Create a 36-dimension gradient based descriptor on 17x17 patch.
+///
+/// @details
+///
+/// @param patch
+/// Input luminance data for 17x17 patch to describe.
+///
+/// @param descriptorChar
+/// Output descriptor vector. 36 x 8-bit vector. Normalized and quantized to range [-127, 127]
+///
+/// @param descriptorNormSq
+/// Output squared norm (L2 norm) of the descriptor vector.
+///
+///
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvDescriptor17x17u8To36s8( const uint8_t* __restrict patch,
+ int8_t* __restrict descriptorChar,
+ int32_t* __restrict descriptorNormSq );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Dot product of two 8-bit vectors.
+///
+/// @param a
+/// Vector.
+///
+/// @param b
+/// Vector.
+///
+/// @param abSize
+/// Number of elements in A and B.
+///
+/// @return
+/// Dot product .
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API int32_t
+fcvDotProducts8( const int8_t* __restrict a,
+ const int8_t* __restrict b,
+ unsigned int abSize );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dot product of two 8-bit vectors.
+///
+/// @param a
+/// Vector A.
+///
+/// @param b
+/// Vector B.
+///
+/// @param abSize
+/// Number of elements in A and B.
+///
+/// @return
+/// Dot product .
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvDotProductu8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b,
+ unsigned int abSize );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Dot product of two 36-byte vectors.
+///
+/// @param a
+/// Vector.
+///
+/// @param b
+/// Vector.
+///
+/// @return
+/// Dot product .
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API int32_t
+fcvDotProduct36x1s8( const int8_t* __restrict a,
+ const int8_t* __restrict b );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Dot product of one 36-byte vector against 4 others.
+///
+/// @details
+/// Dot product of 36-byte vector (a) against 4 others (b,c,d,e):\n
+/// , , ,
+///
+/// @param a
+/// Vector.
+///
+/// @param b
+/// Vector.
+///
+/// @param c
+/// Vector.
+///
+/// @param d
+/// Vector.
+///
+/// @param e
+/// Vector.
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProduct36x4s8( const int8_t* __restrict a,
+ const int8_t* __restrict b,
+ const int8_t* __restrict c,
+ const int8_t* __restrict d,
+ const int8_t* __restrict e,
+ int32_t* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Normalized dot product of one 36-byte vector against 4 others.
+///
+/// @details
+/// Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
+/// , , ,
+/// using their given inverse lengths for normalization.
+///
+/// @param a
+/// Vector.
+///
+/// @param invLengthA
+/// Inverse of vector A.
+///
+/// @param b0
+/// Vector.
+///
+/// @param b1
+/// Vector.
+///
+/// @param b2
+/// Vector.
+///
+/// @param b3
+/// Vector.
+///
+/// @param invLengthsB
+/// Pointer to an array of the inverse values of each B vector.
+/// The pointer must point to 4 floating point values.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProductNorm36x4s8( const int8_t* __restrict a,
+ float invLengthA,
+ const int8_t* __restrict b0,
+ const int8_t* __restrict b1,
+ const int8_t* __restrict b2,
+ const int8_t* __restrict b3,
+ float* __restrict invLengthsB,
+ float* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dot product of two 36-byte vectors.
+///
+/// @param a
+/// Vector.
+///
+/// @param b
+/// Vector.
+///
+/// @return
+/// Dot product .
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvDotProduct36x1u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dot product of one 36-byte vector against 4 others.
+///
+/// @details
+/// Dot product of 36-byte vector (a) against 4 others (b,c,d,e):\n
+/// , , ,
+///
+/// @param a
+/// Vector.
+///
+/// @param b
+/// Vector.
+///
+/// @param c
+/// Vector.
+///
+/// @param d
+/// Vector.
+///
+/// @param e
+/// Vector.
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProduct36x4u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b,
+ const uint8_t* __restrict c,
+ const uint8_t* __restrict d,
+ const uint8_t* __restrict e,
+ uint32_t* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Normalized dot product of one 36-byte vector against 4 others.
+///
+/// @details
+/// Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
+/// , , ,
+/// using their given inverse lengths for normalization.
+///
+/// @param a
+/// Vector.
+///
+/// @param invLengthA
+/// Inverse of vector A.
+///
+/// @param b0
+/// Vector.
+///
+/// @param b1
+/// Vector.
+///
+/// @param b2
+/// Vector.
+///
+/// @param b3
+/// Vector.
+///
+/// @param invLengthsB
+/// Pointer to an array of the inverse values of each B vector.
+/// The pointer must point to 4 floating point values.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProductNorm36x4u8( const uint8_t* __restrict a,
+ float invLengthA,
+ const uint8_t* __restrict b0,
+ const uint8_t* __restrict b1,
+ const uint8_t* __restrict b2,
+ const uint8_t* __restrict b3,
+ float* __restrict invLengthsB,
+ float* __restrict dotProducts );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Dot product of two 64-byte vectors.
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @return
+/// Dot product .
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API int32_t
+fcvDotProduct64x1s8( const int8_t* __restrict a,
+ const int8_t* __restrict b );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Dot product of one 64-byte vector against 4 others.
+///
+/// @details
+/// Dot product of vector (a) against 4 others (b,c,d,e):\n
+/// , , ,
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param c
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param d
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param e
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProduct64x4s8( const int8_t* __restrict a,
+ const int8_t* __restrict b,
+ const int8_t* __restrict c,
+ const int8_t* __restrict d,
+ const int8_t* __restrict e,
+ int32_t* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Normalized dot product of one 64-byte vector against 4 others.
+///
+/// @details
+/// Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
+/// , , ,
+/// using their given inverse lengths for normalization.
+///
+/// @param a
+/// Vector.
+///
+/// @param invLengthA
+/// Inverse of vector A.
+///
+/// @param b0
+/// Vector.
+///
+/// @param b1
+/// Vector.
+///
+/// @param b2
+/// Vector.
+///
+/// @param b3
+/// Vector.
+///
+/// @param invLengthsB
+/// Pointer to an array of the inverse values of each B vector.
+/// The pointer must point to 4 floating point values.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProductNorm64x4s8( const int8_t* __restrict a,
+ float invLengthA,
+ const int8_t* __restrict b0,
+ const int8_t* __restrict b1,
+ const int8_t* __restrict b2,
+ const int8_t* __restrict b3,
+ float* __restrict invLengthsB,
+ float* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dot product of two 64-byte vectors.
+///
+/// @param a
+/// Vector.
+///
+/// @param b
+/// Vector.
+///
+/// @return
+/// Dot product .
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvDotProduct64x1u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dot product of one 64-byte vector against 4 others.
+///
+/// @details
+/// Dot product of 36-byte vector (a) against 4 others (b,c,d,e):\n
+/// , , ,
+///
+/// @param a
+/// Vector.
+///
+/// @param b
+/// Vector.
+///
+/// @param c
+/// Vector.
+///
+/// @param d
+/// Vector.
+///
+/// @param e
+/// Vector.
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProduct64x4u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b,
+ const uint8_t* __restrict c,
+ const uint8_t* __restrict d,
+ const uint8_t* __restrict e,
+ uint32_t* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Normalized dot product of one 64-byte vector against 4 others.
+///
+/// @details
+/// Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
+/// , , ,
+/// using their given inverse lengths for normalization.
+///
+/// @param a
+/// Vector.
+///
+/// @param invLengthA
+/// Inverse of vector A.
+///
+/// @param b0
+/// Vector.
+///
+/// @param b1
+/// Vector.
+///
+/// @param b2
+/// Vector.
+///
+/// @param b3
+/// Vector.
+///
+/// @param invLengthsB
+/// Pointer to an array of the inverse values of each B vector.
+/// The pointer must point to 4 floating point values.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProductNorm64x4u8( const uint8_t* __restrict a,
+ float invLengthA,
+ const uint8_t* __restrict b0,
+ const uint8_t* __restrict b1,
+ const uint8_t* __restrict b2,
+ const uint8_t* __restrict b3,
+ float* __restrict invLengthsB,
+ float* __restrict dotProducts );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Dot product of two 128-byte vectors.
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @return
+/// Dot product .
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API int32_t
+fcvDotProduct128x1s8( const int8_t* __restrict a,
+ const int8_t* __restrict b );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Dot product of one 128-byte vector against 4 others.
+///
+/// @details
+/// Dot product of vector (a) against 4 others (b,c,d,e):\n
+/// , , ,
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param c
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param d
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param e
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProduct128x4s8( const int8_t* __restrict a,
+ const int8_t* __restrict b,
+ const int8_t* __restrict c,
+ const int8_t* __restrict d,
+ const int8_t* __restrict e,
+ int32_t* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Normalized dot product of one 128-byte vector against 4 others.
+///
+/// @details
+/// Dot product of vector (a) against 4 others (b0,b1,b2,b3):\n
+/// , , ,
+/// using their given inverse lengths for normalization.
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param invLengthA
+/// Inverse of vector A.
+///
+/// @param b0
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b1
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b2
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b3
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param invLengthsB
+/// Pointer to an array of the inverse values of each B vector.
+/// The pointer must point to 4 floating point values.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProductNorm128x4s8( const int8_t* __restrict a,
+ float invLengthA,
+ const int8_t* __restrict b0,
+ const int8_t* __restrict b1,
+ const int8_t* __restrict b2,
+ const int8_t* __restrict b3,
+ float* __restrict invLengthsB,
+ float* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dot product of two 128-byte vectors.
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @return
+/// Dot product .
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvDotProduct128x1u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dot product of one 128-byte vector against 4 others.
+///
+/// @details
+/// Dot product of vector (a) against 4 others (b,c,d,e):\n
+/// , , ,
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param c
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param d
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param e
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProduct128x4u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b,
+ const uint8_t* __restrict c,
+ const uint8_t* __restrict d,
+ const uint8_t* __restrict e,
+ uint32_t* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Normalized dot product of one 128-byte vector against 4 others.
+///
+/// @details
+/// Dot product of vector (a) against 4 others (b0,b1,b2,b3):\n
+/// , , ,
+/// using their given inverse lengths for normalization.
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param invLengthA
+/// Inverse of vector A.
+///
+/// @param b0
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b1
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b2
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b3
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param invLengthsB
+/// Pointer to an array of the inverse values of each B vector.
+/// The pointer must point to 4 floating point values.
+///
+/// @param dotProducts
+/// Output of the 4 results { , , , }.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProductNorm128x4u8( const uint8_t* __restrict a,
+ float invLengthA,
+ const uint8_t* __restrict b0,
+ const uint8_t* __restrict b1,
+ const uint8_t* __restrict b2,
+ const uint8_t* __restrict b3,
+ float* __restrict invLengthsB,
+ float* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dot product of 1 patch (8x8 byte square) with several (n) 8x8 squares
+/// along a line of pixels in an image.
+///
+/// @param patchPixels
+/// Pointer to 8-bit patch pixel values linearly laid out in memory.
+///
+/// @param imagePixels
+/// Pointer to 8-bit image pixel values linearly laid out in memory.
+///
+/// @param imgW
+/// Width in pixels of the source image.
+///
+/// @param imgH
+/// Height in pixels of the source image.
+///
+/// @param nX
+/// X location on image of starting search pixel.
+///
+/// @param nY
+/// Y location on image of starting search pixel.
+///
+/// @param nNum
+/// Number of pixels (in X direction) on image to sweep.
+///
+/// @param dotProducts
+/// Output dot product values of nNum pixels.
+/// \n\b WARNING: array size must be a multiple of 4 (e.g., 4, 8, 12, ...)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProduct8x8u8( const uint8_t* __restrict patchPixels,
+ const uint8_t* __restrict imagePixels,
+ unsigned short imgW,
+ unsigned short imgH,
+ int nX,
+ int nY,
+ unsigned int nNum,
+ int32_t* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dot product of 1 patch (8x8 byte square) with 8x8 squares in 11x12
+/// rectangle around the center search pixel (iX,iY).
+///
+/// @param patchPixels
+/// Pointer to 8-bit patch pixel values linearly laid out in memory.
+///
+/// @param imagePixels
+/// Pointer to 8-bit image pixel values linearly laid out in memory.
+///
+/// @param imgW
+/// Width in pixels of the image.
+///
+/// @param imgH
+/// Height in pixels of the image.
+///
+/// @param iX
+/// X location on image of the center of the search window.
+///
+/// @param iY
+/// Y location on image of the center of the search window.
+///
+/// @param dotProducts
+/// Output 11x12 dot product values.
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvDotProduct11x12u8( const uint8_t* __restrict patchPixels,
+ const uint8_t* __restrict imagePixels,
+ unsigned short imgW,
+ unsigned short imgH,
+ int iX,
+ int iY,
+ int32_t* __restrict dotProducts );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// 3x3 Sobel edge filter
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterSobel3x3u8_v2(). In the 2.0.0 release,
+/// fcvFilterSobel3x3u8_v2 will be renamed to fcvFilterSobel3x3u8
+/// and the signature of fcvFilterSobel3x3u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// This function calculates an image derivative by convolving the image with an appropriate 3x3 kernel.
+/// Border values are ignored. The 3x3 mask convolves with the image area
+/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
+/// | ... , ..., ..., ... |\n
+/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output 8-bit image of |dx|+|dy|. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: dst is saturated to 255
+/// \n\b WARNING: data should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterSobel3x3u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// 3x3 Sobel edge filter
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterSobel3x3u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterSobel3x3u8,
+/// \a fcvFilterSobel3x3u8_v2 will be removed, and the current signature
+/// for \a fcvFilterSobel3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterSobel3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// This function calculates an image derivative by convolving the image with an appropriate 3x3 kernel.
+/// Border values are ignored. The 3x3 mask convolves with the image area
+/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
+/// | ... , ..., ..., ... |\n
+/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit image of |dx|+|dy|. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b NOTE: dst is saturated to 255
+/// \n\b WARNING: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride.
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterSobel3x3u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Canny edge filter
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterCanny3x3u8_v2(). In the 2.0.0 release,
+/// fcvFilterCanny3x3u8_v2 will be renamed to fcvFilterCanny3x3u8
+/// and the signature of fcvFilterCanny3x3u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Canny edge detector applied to a 8 bit grayscale image. The min threshold
+/// is set to 0 and the max threshold is set to 15. The aperture size used
+/// is set to 3. This function will output the edge, since its working with a
+/// 3x3 window, it leaves one row/col of pixels at the corners
+/// map stored as a binarized image (0x0 - not an edge, 0xFF - edge).
+/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
+/// | ... , ..., ..., ... |\n
+/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output 8-bit image containing the edge detection results.
+/// Size of buffer is srcWidth*srcHeight bytes.
+///
+/// @param lowThresh
+/// For all the intermediate pixels along the edge, the magnitude of the
+/// gradient at the pixel locations should be greater than 'low'
+/// (sqrt(gx^2 + gy^2) > low, where gx and gy are X and Y gradient)
+///
+/// @param highThresh
+/// For an edge starting point, i.e. either the first or last
+/// pixel of the edge, the magnitude of the gradient at the pixel should be
+/// greater than 'high' (sqrt(gx^2 + gy^2) > high, where gx and gy are X and
+/// Y gradient).
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterCanny3x3u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst,
+ int lowThresh,
+ int highThresh );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Canny edge filter
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterCanny3x3u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterCanny3x3u8,
+/// \a fcvFilterCanny3x3u8_v2 will be removed, and the current signature
+/// for \a fcvFilterCanny3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterCanny3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Canny edge detector applied to a 8 bit grayscale image. The Canny edge
+/// detector uses min/max threshold to classify an edge. The min threshold
+/// is set to 0 and the max threshold is set to 15. The aperture size used
+/// in the Canny edge detector will be same as the filter footprint in the
+/// Sobel edge detector and is set to 3. This function will output the edge
+/// map stored as a binarized image (0x0 - not an edge, 0xFF - edge), since
+/// it works with 3x3 windows, it leaves 1 row/col of pixels at the corners.
+/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
+/// | ... , ..., ..., ... |\n
+/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit image containing the edge detection results.
+/// Size of buffer is dstStride*srcHeight bytes.
+///
+/// @param dstStride
+/// Output stride.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param lowThresh
+/// For all the intermediate pixels along the edge, the magnitude of the
+/// gradient at the pixel locations should be greater than 'low'
+/// (sqrt(gx^2 + gy^2) > low, where gx and gy are X and Y gradient)
+///
+/// @param highThresh
+/// For an edge starting point, i.e. either the first or last
+/// pixel of the edge, the magnitude of the gradient at the pixel should be
+/// greater than 'high' (sqrt(gx^2 + gy^2) > high, where gx and gy are X and
+/// Y gradient).
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterCanny3x3u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride,
+ int lowThresh,
+ int highThresh );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Canny edge filter
+///
+/// \n\b ATTENTION: This function is in the extension lib.
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterCanny3x3u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterCanny3x3u8,
+/// \a fcvFilterCanny3x3u8_v3 will be removed, and the current signature
+/// for \a fcvFilterCanny3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterCanny3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Canny edge detector applied to a 8 bit grayscale image. The Canny edge
+/// detector uses min/max threshold to classify an edge. The min threshold
+/// is set to 0 and the max threshold is set to 15. The aperture size used
+/// in the Canny edge detector will be same as the filter footprint in the
+/// Sobel edge detector and is set to 3. This function will output the edge
+/// map stored as a binarized image (0x0 - not an edge, 0xFF - edge), since
+/// it works with 3x3 windows, it leaves 1 row/col of pixels at the corners.
+/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
+/// | ... , ..., ..., ... |\n
+/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit image containing the edge detection results.
+/// Size of buffer is dstStride*srcHeight bytes.
+///
+/// @param dstStride
+/// Output stride.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param gx
+/// gradient in X direction.
+/// \n\b NOTE: use NULL if do not need the gradient output.
+///
+/// @param gy
+/// gradient in Y direction.
+/// \n\b NOTE: use NULL if do not need the gradient output.
+///
+/// @param gradStride
+/// Output stride for gx and gy.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth*2.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param lowThresh
+/// For all the intermediate pixels along the edge, the magnitude of the
+/// gradient at the pixel locations should be greater than 'low'
+/// (sqrt(gx^2 + gy^2) > low, where gx and gy are X and Y gradient)
+///
+/// @param highThresh
+/// For an edge starting point, i.e. either the first or last
+/// pixel of the edge, the magnitude of the gradient at the pixel should be
+/// greater than 'high' (sqrt(gx^2 + gy^2) > high, where gx and gy are X and
+/// Y gradient).
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvFilterCanny3x3u8_v3( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride,
+ int16_t* __restrict gx,
+ int16_t* __restrict gy,
+ unsigned int gradStride,
+ int lowThresh,
+ int highThresh );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Performs image difference by subracting src2 from src1. dst=src1-src2.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageDiffu8_v2(). In the 2.0.0 release,
+/// fcvImageDiffu8_v2 will be renamed to fcvImageDiffu8
+/// and the signature of fcvImageDiffu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// dst[i,j] = (uint8_t) max( min((short)(src1[i,j]-src2[i,j]), 255), 0 );
+///
+/// @param src1
+/// First source image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src2
+/// Second source image, must be same size as src1.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Destination. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: Must be same size as src1 and src2.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageDiffu8( const uint8_t* __restrict src1,
+ const uint8_t* __restrict src2,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Performs image difference by subracting src2 from src1. dst=src1-src2.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageDiffu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageDiffu8,
+/// \a fcvImageDiffu8_v2 will be removed, and the current signature
+/// for \a fcvImageDiffu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageDiffu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// dst[i,j] = (uint8_t) max( min((short)(src1[i,j]-src2[i,j]), 255), 0 );
+///
+/// @param src1
+/// First source image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src2
+/// Second source image, must be same size as src1.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Stride of input image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Destination. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b NOTE: Must be same size as src1 and src2.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageDiffu8_v2( const uint8_t* __restrict src1,
+ const uint8_t* __restrict src2,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride );
+
+
+//--------------------------------------------------------------------------
+/// @brief
+/// Compute image difference src1-src2
+///
+/// @param src1
+/// Input image1 of int16 type. Size of buffer is srcStride*srcHeight*2 bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src2
+/// Input image2, must have same size as src1
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Input image height
+///
+/// @param srcStride
+/// Stride of input image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output image, saturated for int16 type. Size of buffer is dstStride*srcHeight*2 bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @ingroup image_processing
+////------------------------------------------------------------------------
+FASTCV_API void
+fcvImageDiffs16( const int16_t* __restrict src1,
+ const int16_t* __restrict src2,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict dst,
+ unsigned int dstStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Performs image difference by subracting src2 from src1. dst=src1-src2.
+///
+/// @details
+///
+/// @param src1
+/// First source image. Size of buffer is srcStride*srcHeight*4 bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src2
+/// Second source image, must be same size as src1.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Stride of input image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Destination. Size of buffer is dstStride*srcHeight*4 bytes.
+/// \n\b NOTE: Must be same size as src1 and src2.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvImageDifff32( const float* __restrict src1,
+ const float* __restrict src2,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* __restrict dst,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Performs image difference by promoting both src1 and src 2 to
+/// floating point values and then subracting src2 from src1. dst=src1-src2.
+///
+/// @details
+///
+/// @param src1
+/// First source image
+///
+/// @param src2
+/// Second source image, must be same size as src1.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Stride of input image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param dst
+/// Destination image in float type
+/// \n\b NOTE: Must be same size as src1 and src2.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvImageDiffu8f32( const uint8_t* __restrict src1,
+ const uint8_t* __restrict src2,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* __restrict dst,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Performs image difference by subracting src2 from src1.
+/// dst = ( src1 >> 1) - ( src2 >> 1).
+///
+/// @details
+///
+/// @param src1
+/// First source image
+///
+/// @param src2
+/// Second source image, must be same size as src1.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Stride of input image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param dst
+/// Destination image in int8 type
+/// \n\b NOTE: Must be same size as src1 and src2.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvImageDiffu8s8( const uint8_t* __restrict src1,
+ const uint8_t* __restrict src2,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int8_t* __restrict dst,
+ unsigned int dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Creates 2D gradient from source illuminance data.
+/// This function considers only the left/right neighbors
+/// for x-gradients and top/bottom neighbors for y-gradients.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientInterleaveds16_v2(). In the 2.0.0 release,
+/// fcvImageGradientInterleaveds16_v2 will be renamed to fcvImageGradientInterleaveds16
+/// and the signature of fcvImageGradientInterleaveds16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param gradients
+/// Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientInterleaveds16( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict gradients
+ );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Creates 2D gradient from source illuminance data.
+/// This function considers only the left/right neighbors
+/// for x-gradients and top/bottom neighbors for y-gradients.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageGradientInterleaveds16() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageGradientInterleaveds16,
+/// \a fcvImageGradientInterleaveds16_v2 will be removed, and the current signature
+/// for \a fcvImageGradientInterleaveds16 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageGradientInterleaveds16 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param gradients
+/// Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
+///
+/// @param gradStride
+/// Stride in bytes of the interleaved gradients array.
+/// \n\b NOTE: if 0, srcStride is set as 4*(srcWidth-2).
+/// \n\b WARNING: should be multiple of 16 ( 8 * 2-byte values ), and at least as much as 4*(srcWidth-2) if not 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientInterleaveds16_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict gradients,
+ unsigned int gradStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Function to initialize MSER. To invoke MSER functionality, 3 functions have to be called:
+/// fcvMserInit, fcvMseru8, fcvMserRelease.
+/// Image width has to be greater than 50, and image height has to be greater than 5.
+/// Pixels at the image boundary are not processed. If boundary pixels are important
+/// for a particular application, please consider padding the input image with dummy
+/// pixels of one pixel wide.
+/// Here is the typical usage:
+/// void *mserHandle;
+/// if (fcvMserInit (width,........,&mserHandle))
+/// {
+/// fcvMseru8 (mserHandle,...);
+/// fcvMserRelease(mserHandle);
+/// }
+///
+/// @param width
+/// Width of the image for which MSER has to be done.
+///
+/// @param height
+/// Height of the image for which MSER has to be done.
+///
+/// @param delta
+/// Delta to be used in MSER algorithm (the difference in grayscale values
+/// within which the region is stable ).
+/// Typical value range [0.8 8], typical value 2
+///
+/// @param minArea
+/// Minimum area (number of pixels) of a mser contour.
+/// Typical value range [10 50], typical value 30
+///
+/// @param maxArea
+/// Maximum area (number of pixels) of a mser contour.
+/// Typical value 14400 or 0.25*width*height
+///
+/// @param maxVariation
+/// Maximum variation in grayscale between 2 levels allowed.
+/// Typical value range [0.1 1.0], typical value 0.15
+///
+/// @param minDiversity
+/// Minimum diversity in grayscale between 2 levels allowed.
+/// Typical value range [0.1 1.0], typical value 0.2
+///
+/// @param mserHandle
+/// Output. the mserHandle to be used in subsequent calls.
+///
+/// @return
+/// 1 if successful.
+/// 0 if unsuccessful, mserHandle is invalid.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API int
+fcvMserInit(const unsigned int width,
+ const unsigned int height,
+ unsigned int delta,
+ unsigned int minArea,
+ unsigned int maxArea,
+ float maxVariation,
+ float minDiversity,
+ void ** mserHandle );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Function to release MSER resources.
+///
+/// @param mserHandle
+/// Handle to be used to free up MSER resources.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvMserRelease(void *mserHandle);
+
+///---------------------------------------------------------------------------
+/// @brief
+/// Function to invoke MSER.
+/// Image width has to be greater than 50, and image height has to be greater than 5.
+/// Pixels at the image boundary are not processed. If boundary pixels are important
+/// for a particular application, please consider padding the input image with dummy
+/// pixels of one pixel wide.
+/// Here is the typical usage:
+/// void *mserHandle;
+/// if (fcvMserInit (width,........,&mserHandle))
+/// {
+/// fcvMseru8 (mserHandle,...);
+/// fcvMserRelease(mserHandle);
+/// }
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMseru8_v2(). In the 2.0.0 release,
+/// fcvMseru8_v2 will be renamed to fcvMseru8.
+/// and the signature of fcvMseru8 as it appears now, will be removed.
+/// \n\n
+///
+/// @param mserHandle
+/// The MSER Handle returned by init.
+///
+/// @param srcPtr
+/// Pointer to an image array (unsigned char ) for which MSER has to be done.
+///
+/// @param srcWidth
+/// Width of the source image.
+/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
+///
+/// @param srcHeight
+/// Height of the source image.
+/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
+///
+/// @param srcStride
+/// Stride of the source image.
+///
+/// @param maxContours
+/// Maximum contours that will be returned.
+///
+/// @param numContours
+/// Output, Number of MSER contours in the region.
+///
+/// @param numPointsInContour
+/// Output, Number of points in each contour. This will have values filled up for the
+/// first (*numContours) values. This memory has to be allocated by the caller.
+///
+/// @param pointsArraySize
+/// Size of the output points Array.
+/// Typical size: (# of pixels in source image) * 30
+///
+/// @param pointsArray
+/// Output. This is the points in all the contours. This is a linear array, whose memory
+/// has to be allocated by the caller.
+/// Typical allocation size: pointArraySize.
+/// pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
+/// pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
+/// and so on.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvMseru8( void *mserHandle,
+ const uint8_t* __restrict srcPtr,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ unsigned int maxContours,
+ unsigned int * __restrict numContours,
+ unsigned int * __restrict numPointsInContour,
+ unsigned int pointsArraySize,
+ unsigned int * __restrict pointsArray);
+
+///---------------------------------------------------------------------------
+/// @brief
+/// Function to invoke MSER, with additional outputs for each contour.
+/// Image width has to be greater than 50, and image height has to be greater than 5.
+/// Pixels at the image boundary are not processed. If boundary pixels are important
+/// for a particular application, please consider padding the input image with dummy
+/// pixels of one pixel wide.
+/// Here is the typical usage:
+/// void *mserHandle;
+/// if (fcvMserInit (width,........,&mserHandle))
+/// {
+/// fcvMserExtu8 (mserHandle,...);
+/// fcvMserRelease(mserHandle);
+/// }
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMserExtu8_v2(). In the 2.0.0 release,
+/// fcvMserExtu8_v2 will be renamed to fcvMserExtu8.
+/// and the signature of fcvMserExtu8 as it appears now, will be removed.
+/// \n\n
+///
+/// @param mserHandle
+/// The MSER Handle returned by init.
+///
+/// @param srcPtr
+/// Pointer to an image array (unsigned char ) for which MSER has to be done.
+///
+/// @param srcWidth
+/// Width of the source image.
+/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
+///
+/// @param srcHeight
+/// Height of the source image.
+/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
+///
+/// @param srcStride
+/// Stride of the source image.
+///
+/// @param maxContours
+/// Maximum contours that will be returned.
+/// Application dependent. OCR usually requires 100-1000 contours.
+/// Segmentation usually requires 50-100
+///
+/// @param numContours
+/// Output, Number of MSER contours in the region.
+///
+/// @param numPointsInContour
+/// Output, Number of points in each contour. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller.
+///
+/// @param pointsArraySize
+/// Size of the output points Array.
+/// Typical size: (# of pixels in source image)*30
+///
+/// @param pointsArray
+/// Output. This is the points in all the contours. This is a linear array, whose memory
+/// has to be allocated by the caller.
+/// Typical allocation size: pointArraySize.
+/// pointsArray[0...numPointsInContour[0]-1] defines the first MSER region;
+/// pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
+/// and so on.
+///
+/// @param contourVariation
+/// Output, Variation for each contour from previous grey level.
+/// This will have values filled up for the first (*numContours) values.
+/// This memory has to be allocated by the caller with size of maxContours.
+///
+/// @param contourPolarity
+/// Output, Polarity for each contour. This value is 1 if this is a MSER+ region,
+/// -1 if this is a MSER- region. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller with size of maxContours.
+///
+/// @param contourNodeId
+/// Output, Node id for each contour. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller with size of maxContours
+///
+/// @param contourNodeCounter
+/// Output, Node counter for each contour. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller with size of maxContours.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvMserExtu8( void *mserHandle,
+ const uint8_t* __restrict srcPtr,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ unsigned int maxContours,
+ unsigned int * __restrict numContours,
+ unsigned int * __restrict numPointsInContour,
+ unsigned int * __restrict pointsArray,
+ unsigned int pointsArraySize,
+ unsigned int * __restrict contourVariation,
+ int * __restrict contourPolarity,
+ unsigned int * __restrict contourNodeId,
+ unsigned int * __restrict contourNodeCounter);
+
+///---------------------------------------------------------------------------
+/// @brief
+/// Function to invoke MSER with a smaller memory footprint and the (optional) output of contour bound boxes.
+/// Image width has to be greater than 50, and image height has to be greater than 5.
+/// Pixels at the image boundary are not processed. If boundary pixels are important
+/// for a particular application, please consider padding the input image with dummy
+/// pixels of one pixel wide.
+/// Here is the typical usage:
+/// void *mserHandle;
+/// if (fcvMserInit (width,........,&mserHandle))
+/// {
+/// if ( !fcvMseru8_v2 (mserHandle,...) )
+/// {
+/// // Error handle
+/// }
+/// fcvMserRelease(mserHandle);
+/// }
+///
+/// @param mserHandle
+/// The MSER Handle returned by init.
+///
+/// @param srcPtr
+/// Pointer to an image array (unsigned char ) for which MSER has to be done.
+///
+/// @param srcWidth
+/// Width of the source image.
+/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
+///
+/// @param srcHeight
+/// Height of the source image.
+/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
+///
+/// @param srcStride
+/// Stride of the source image.
+///
+/// @param maxContours
+/// Maximum contours that will be returned.
+///
+/// @param numContours
+/// Output, Number of MSER contours in the region.
+///
+/// @param recArray
+/// Output, This is the bounding rectangle info for each contour.
+/// If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
+/// Typical allocation size: 4*maxContours.
+/// rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
+/// rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
+///
+/// @param numPointsInContour
+/// Output, Number of points in each contour. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller.
+///
+/// @param pointsArraySize
+/// Size of the output points Array.
+/// Typical size: (# of pixels in source image) * 30
+///
+/// @param pointsArray
+/// Output. This is the points in all the contours. This is a linear array, whose memory
+/// has to be allocated by the caller.
+/// Typical allocation size: pointArraySize.
+/// pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
+/// pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
+/// and so on.
+///
+/// @return
+/// 1 if successful.
+/// 0 if failure, e.g., to indicate detected contours are greater than maxContours.
+/// In that case, please consider increasing maxContours.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API int
+fcvMseru8_v2( void *mserHandle,
+ const uint8_t* __restrict srcPtr,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t maxContours,
+ uint32_t* __restrict numContours,
+ uint16_t* __restrict recArray,
+ uint32_t* __restrict numPointsInContour,
+ uint32_t pointsArraySize,
+ uint16_t* __restrict pointsArray);
+
+///---------------------------------------------------------------------------
+/// @brief
+/// Function to invoke MSER with a smaller memory footprint,
+/// the (optional) output of contour bound boxes, and additional information.
+/// Image width has to be greater than 50, and image height has to be greater than 5.
+/// Pixels at the image boundary are not processed. If boundary pixels are important
+/// for a particular application, please consider padding the input image with dummy
+/// pixels of one pixel wide.
+/// Here is the typical usage:
+/// void *mserHandle;
+/// if (fcvMserInit (width,........,&mserHandle))
+/// {
+/// if ( !fcvMserExtu8_v2 (mserHandle,...) )
+/// {
+/// // Error handle
+/// }
+/// fcvMserRelease(mserHandle);
+/// }
+///
+/// @param mserHandle
+/// The MSER Handle returned by init.
+///
+/// @param srcPtr
+/// Pointer to an image array (unsigned char ) for which MSER has to be done.
+///
+/// @param srcWidth
+/// Width of the source image.
+/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
+///
+/// @param srcHeight
+/// Height of the source image.
+/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
+///
+/// @param srcStride
+/// Stride of the source image.
+///
+/// @param maxContours
+/// Maximum contours that will be returned.
+///
+/// @param numContours
+/// Output, Number of MSER contours in the region.
+///
+/// @param recArray
+/// Output, This is the bounding rectangle info for each contour.
+/// If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
+/// Typical allocation size: 4*maxContours.
+/// rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
+/// rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
+///
+/// @param numPointsInContour
+/// Output, Number of points in each contour. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller.
+///
+/// @param pointsArraySize
+/// Size of the output points Array.
+/// Typical size: (# of pixels in source image) * 30
+///
+/// @param pointsArray
+/// Output. This is the points in all the contours. This is a linear array, whose memory
+/// has to be allocated by the caller.
+/// Typical allocation size: pointArraySize.
+/// pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
+/// pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
+/// and so on.
+///
+/// @param contourVariation
+/// Output, Variation for each contour from previous grey level.
+/// This will have values filled up for the first (*numContours) values.
+/// This memory has to be allocated by the caller with size of maxContours.
+///
+/// @param contourPolarity
+/// Output, Polarity for each contour. This value is 1 if this is a MSER+ region,
+/// -1 if this is a MSER- region. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller with size of maxContours.
+///
+/// @param contourNodeId
+/// Output, Node id for each contour. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller with size of maxContours
+///
+/// @param contourNodeCounter
+/// Output, Node counter for each contour. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller with size of maxContours.
+///
+/// @return
+/// 1 if successful.
+/// 0 if failure, e.g., to indicate detected contours are greater than maxContours.
+/// In that case, please consider increasing maxContours.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API int
+fcvMserExtu8_v2( void *mserHandle,
+ const uint8_t* __restrict srcPtr,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t maxContours,
+ uint32_t* __restrict numContours,
+ uint16_t* __restrict recArray,
+ uint32_t* __restrict numPointsInContour,
+ uint32_t pointsArraySize,
+ uint16_t* __restrict pointsArray,
+ uint32_t* __restrict contourVariation,
+ int8_t* __restrict contourPolarity,
+ uint32_t* __restrict contourNodeId,
+ uint32_t* __restrict contourNodeCounter);
+
+///---------------------------------------------------------------------------
+/// @brief
+/// Function to invoke MSER with a smaller memory footprint,
+/// the (optional) output of contour bound boxes, and additional information.
+/// Image width has to be greater than 50, and image height has to be greater than 5.
+/// Pixels at the image boundary are not processed. If boundary pixels are important
+/// for a particular application, please consider padding the input image with dummy
+/// pixels of one pixel wide.
+/// Here is the typical usage:
+/// void *mserHandle;
+/// if (fcvMserInit (width,........,&mserHandle))
+/// {
+/// if ( !fcvMserExtu8_v3 (mserHandle,...) )
+/// {
+/// // Error handle
+/// }
+/// fcvMserRelease(mserHandle);
+/// }
+///
+/// @param mserHandle
+/// The MSER Handle returned by init.
+///
+/// @param srcPtr
+/// Pointer to an image array (unsigned char ) for which MSER has to be done.
+///
+/// @param srcWidth
+/// Width of the source image.
+/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserInit.
+///
+/// @param srcHeight
+/// Height of the source image.
+/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserInit.
+///
+/// @param srcStride
+/// Stride of the source image.
+///
+/// @param maxContours
+/// Maximum contours that will be returned.
+///
+/// @param numContours
+/// Output, Number of MSER contours in the region.
+///
+/// @param recArray
+/// Output, This is the bounding rectangle info for each contour.
+/// If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
+/// Typical allocation size: 4*maxContours.
+/// rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
+/// rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
+///
+/// @param staPointsInPath
+/// Output. Return the index of contour starting points in pathArray.
+/// This memory has to be allocated by the caller. The allocated size should be maxContours*sizeof(uint32_t).
+///
+/// @param numPointsInContour
+/// Output, Number of points in each contour. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller.
+///
+/// @param pathArraySize
+/// Input. The size of output pathArray in terms of how many uint16_t numbers. Must be srcWidth*srcHeight*4.
+/// Note: this parameter is not measured in terms of bytes.
+///
+/// @param pathArray
+/// Output. This is the compressed representation of points in all the contours. This is a linear array, whose memory
+/// has to be allocated by the caller.
+/// Typical allocation size: pathArraySize*sizeof(uint16_t).
+/// For example:
+/// pathArray[ staPointsInPath[0] ] : x coord of the FIRST point in the FIRST mser region.
+/// pathArray[ staPointsInPath[0] + 1 ] : y coord of the FIRST point in the FIRST mser region.
+/// pathArray[ staPointsInPath[0] + 2 ] : x coord of the SECOND point in the FIRST mser region.
+/// pathArray[ staPointsInPath[0] + 3 ] : y coord of the SECOND point in the FIRST mser region.
+/// . . .
+/// pathArray[ staPointsInPath[0] + 2*numPointsInContour[0] - 2 ] : x coord of the LAST point in the FIRST mser region.
+/// pathArray[ staPointsInPath[0] + 2*numPointsInContour[0] - 1 ] : y coord of the LAST point in the FIRST mser region.
+/// and
+/// pathArray[ staPointsInPath[1] ] : x coord of the FIRST point in the SECOND mser region.
+/// pathArray[ staPointsInPath[1] + 1 ] : y coord of the FIRST point in the SECOND mser region.
+/// pathArray[ staPointsInPath[1] + 2 ] : x coord of the SECOND point in the SECOND mser region.
+/// pathArray[ staPointsInPath[1] + 3 ] : y coord of the SECOND point in the SECOND mser region.
+/// . . .
+/// pathArray[ staPointsInPath[1] + 2*numPointsInContour[1] - 2 ] : x coord of the LAST point in the SECOND mser region.
+/// pathArray[ staPointsInPath[1] + 2*numPointsInContour[1] - 1 ] : y coord of the LAST point in the SECOND mser region.
+/// . . .
+///
+/// @param contourVariation
+/// Output, Variation for each contour from previous grey level.
+/// This will have values filled up for the first (*numContours) values.
+/// This memory has to be allocated by the caller with size of maxContours.
+///
+/// @param contourPolarity
+/// Output, Polarity for each contour. This value is 1 if this is a MSER+ region,
+/// -1 if this is a MSER- region. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller with size of maxContours.
+///
+/// @param contourNodeId
+/// Output, Node id for each contour. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller with size of maxContours
+///
+/// @param contourNodeCounter
+/// Output, Node counter for each contour. This will have values filled up
+/// for the first (*numContours) values. This memory has to be allocated by
+/// the caller with size of maxContours.
+///
+/// @return
+/// 1 if successful.
+/// 0 if failure, e.g., to indicate detected contours are greater than maxContours.
+/// In that case, please consider increasing maxContours.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API int
+fcvMserExtu8_v3( void *mserHandle,
+ const uint8_t* __restrict srcPtr,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t maxContours,
+ uint32_t* __restrict numContours,
+ uint16_t* __restrict recArray,
+ uint32_t* __restrict staPointsInPath,
+ uint32_t* __restrict numPointsInContour,
+ uint32_t pathArraySize,
+ uint16_t* __restrict pathArray,
+ uint32_t* __restrict contourVariation,
+ int8_t* __restrict contourPolarity,
+ uint32_t* __restrict contourNodeId,
+ uint32_t* __restrict contourNodeCounter);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Function to initialize 8-neighbor MSER. To invoke 8-neighbor MSER functionality, 3 functions have to be called:
+/// fcvMserNN8Init, fcvMserNN8u8, fcvMserRelease.
+/// Image width has to be greater than 50, and image height has to be greater than 5.
+/// Pixels at the image boundary are not processed. If boundary pixels are important
+/// for a particular application, please consider padding the input image with dummy
+/// pixels of one pixel wide.
+/// Here is the typical usage:
+/// void *mserHandle;
+/// if (fcvMserNN8Init (width,........,&mserHandle))
+/// {
+/// if ( !fcvMserNN8u8 (mserHandle,...) )
+/// {
+/// // Error handle
+/// }
+/// fcvMserRelease(mserHandle);
+/// }
+///
+/// @param width
+/// Width of the image for which MSER has to be done.
+///
+/// @param height
+/// Height of the image for which MSER has to be done.
+///
+/// @param delta
+/// Delta to be used in MSER algorithm (the difference in grayscale values
+/// within which the region is stable ).
+/// Typical value range [0.8 8], typical value 2
+///
+/// @param minArea
+/// Minimum area (number of pixels) of a mser contour.
+/// Typical value range [10 50], typical value 30
+///
+/// @param maxArea
+/// Maximum area (number of pixels) of a mser contour.
+/// Typical value 14400 or 0.25*width*height
+///
+/// @param maxVariation
+/// Maximum variation in grayscale between 2 levels allowed.
+/// Typical value range [0.1 1.0], typical value 0.15
+///
+/// @param minDiversity
+/// Minimum diversity in grayscale between 2 levels allowed.
+/// Typical value range [0.1 1.0], typical value 0.2
+///
+/// @param mserHandle
+/// Output. the mserHandle to be used in subsequent calls.
+///
+/// @return
+/// 1 if successful.
+/// 0 if unsuccessful, mserHandle is invalid.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API int
+fcvMserNN8Init(const uint32_t width,
+ const uint32_t height,
+ uint32_t delta,
+ uint32_t minArea ,
+ uint32_t maxArea ,
+ float32_t maxVariation ,
+ float32_t minDiversity ,
+ void **mserHandle );
+
+///---------------------------------------------------------------------------
+/// @brief
+/// Function to invoke 8-neighbor MSER.
+/// Image width has to be greater than 50, and image height has to be greater than 5.
+/// Pixels at the image boundary are not processed. If boundary pixels are important
+/// for a particular application, please consider padding the input image with dummy
+/// pixels of one pixel wide.
+/// Here is the typical usage:
+/// void *mserHandle;
+/// if (fcvMserNN8Init (width,........,&mserHandle))
+/// {
+/// if ( !fcvMserNN8u8 (mserHandle,...) )
+/// {
+/// // Error handle
+/// }
+/// fcvMserRelease(mserHandle);
+/// }
+///
+/// @param mserHandle
+/// The MSER Handle returned by init.
+///
+/// @param srcPtr
+/// Pointer to an image array (unsigned char ) for which MSER has to be done.
+///
+/// @param srcWidth
+/// Width of the source image.
+/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserNN8Init.
+///
+/// @param srcHeight
+/// Height of the source image.
+/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserNN8Init.
+///
+/// @param srcStride
+/// Stride of the source image.
+///
+/// @param maxContours
+/// Maximum contours that will be returned.
+///
+/// @param numContours
+/// Output, Number of MSER contours in the region.
+///
+/// @param recArray
+/// Output, This is the bounding rectangle info for each contour.
+/// If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
+/// Typical allocation size: 4*maxContours.
+/// rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
+/// rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
+///
+/// @param numPointsInContour
+/// Output, Number of points in each contour. This will have values filled up for the
+/// first (*numContours) values. This memory has to be allocated by the caller.
+///
+/// @param pointsArraySize
+/// Size of the output points Array.
+/// Typical size: (# of pixels in source image) * 30
+///
+/// @param pointsArray
+/// Output. This is the points in all the contours. This is a linear array, whose memory
+/// has to be allocated by the caller.
+/// Typical allocation size: pointArraySize.
+/// pointsArray[0...numPointsInContour[0]-1] defines the first MSER region,
+/// pointsArray[numPointsInContour[0] .. numPointsInContour[1]-1] defines 2nd MSER region
+/// and so on.
+///
+/// @return
+/// 1 if successful.
+/// 0 if failure, e.g., to indicate detected contours are greater than maxContours.
+/// In that case, please consider increasing maxContours.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API int
+fcvMserNN8u8 ( void *mserHandle,
+ const uint8_t* __restrict srcPtr,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t maxContours,
+ uint32_t* __restrict numContours,
+ uint16_t* __restrict recArray,
+ uint32_t* __restrict numPointsInContour,
+ uint32_t pointsArraySize,
+ uint16_t* __restrict pointsArray);
+
+///---------------------------------------------------------------------------
+/// @brief
+/// Function to invoke 8-neighbor MSER, , with additional outputs for each contour.
+/// Image width has to be greater than 50, and image height has to be greater than 5.
+/// Pixels at the image boundary are not processed. If boundary pixels are important
+/// for a particular application, please consider padding the input image with dummy
+/// pixels of one pixel wide.
+/// Here is the typical usage:
+/// void *mserHandle;
+/// if (fcvMserNN8Init (width,........,&mserHandle))
+/// {
+/// if ( !fcvMserExtNN8u8 (mserHandle,...) )
+/// {
+/// // Error handle
+/// }
+/// fcvMserRelease(mserHandle);
+/// }
+///
+/// @param mserHandle
+/// The MSER Handle returned by init.
+///
+/// @param srcPtr
+/// Pointer to an image array (unsigned char ) for which MSER has to be done.
+///
+/// @param srcWidth
+/// Width of the source image.
+/// \n\b NOTE: srcWidth must be <= the width passed to fcvMserNN8Init.
+///
+/// @param srcHeight
+/// Height of the source image.
+/// \n\b NOTE: srcHeight must be <= the height passed to fcvMserNN8Init.
+///
+/// @param srcStride
+/// Stride of the source image.
+///
+/// @param maxContours
+/// Maximum contours that will be returned.
+///
+/// @param numContours
+/// Output, Number of MSER contours in the region.
+///
+/// @param recArray
+/// Output, This is the bounding rectangle info for each contour.
+/// If recArray is specified as NULL, MSER will skip finding the bounding rectangles of the contours.
+/// Typical allocation size: 4*maxContours.
+/// rectArray[0..3] defines the xMin, xMax, yMax, yMin positions of the first MSER contour,
+/// rectArray[4..7] defines the xMin, xMax, yMax, yMin positions of the second MSER contour, and so on.
+///
+/// @return
+/// 1 if successful.
+/// 0 if failure, e.g., to indicate detected contours are greater than maxContours.
+/// In that case, please consider increasing maxContours.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API int
+fcvMserExtNN8u8(void *mserHandle,
+ const uint8_t* __restrict srcPtr,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t maxContours,
+ uint32_t* __restrict numContours,
+ uint16_t* __restrict recArray,
+ uint32_t* __restrict numPointsInContour,
+ uint32_t pointsArraySize,
+ uint16_t* __restrict pointsArray,
+ uint32_t* __restrict contourVariation,
+ int8_t* __restrict contourPolarity,
+ uint32_t* __restrict contourNodeId,
+ uint32_t* __restrict contourNodeCounter);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Creates 2D gradient from source illuminance data.
+/// This function considers only the left/right neighbors
+/// for x-gradients and top/bottom neighbors for y-gradients.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientInterleavedf32_v2(). In the 2.0.0 release,
+/// fcvImageGradientInterleavedf32_v2 will be renamed to fcvImageGradientInterleavedf32
+/// and the signature of fcvImageGradientInterleavedf32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param gradients
+/// Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientInterleavedf32( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* __restrict gradients );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Creates 2D gradient from source illuminance data.
+/// This function considers only the left/right neighbors
+/// for x-gradients and top/bottom neighbors for y-gradients.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageGradientInterleavedf32() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageGradientInterleavedf32,
+/// \a fcvImageGradientInterleavedf32_v2 will be removed, and the current signature
+/// for \a fcvImageGradientInterleavedf32 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageGradientInterleavedf32 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param gradients
+/// Buffer to store gradient. Must be 2*(width-1)*(height-1) in size.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param gradStride
+/// Stride (in bytes) of the interleaved gradients array.
+/// \n\b NOTE: if 0, srcStride is set as (srcWidth-2)*2*sizeof(float).
+/// \n\b WARNING: should be multiple of 32 ( 8 * 4-byte values ), and at least as much as 8 * srcWidth if not 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientInterleavedf32_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* __restrict gradients,
+ unsigned int gradStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Creates 2D gradient from source illuminance data.
+/// This function considers only the left/right neighbors
+/// for x-gradients and top/bottom neighbors for y-gradients.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientPlanars16_v2(). In the 2.0.0 release,
+/// fcvImageGradientPlanars16_v2 will be renamed to fcvImageGradientPlanars16
+/// and the signature of fcvImageGradientPlanars16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (srcWidth)*(srcHeight) in size.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (srcWidth)*(srcHeight) in size.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientPlanars16( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict dx,
+ int16_t* __restrict dy );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Creates 2D gradient from source illuminance data.
+/// This function considers only the left/right neighbors
+/// for x-gradients and top/bottom neighbors for y-gradients.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageGradientPlanars16() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageGradientPlanars16,
+/// \a fcvImageGradientPlanars16_v2 will be removed, and the current signature
+/// for \a fcvImageGradientPlanars16 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageGradientPlanars16 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (srcWidth)*(srcHeight) in size.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (srcWidth)*(srcHeight) in size.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dxyStride
+/// Stride (in bytes) of 'dx' and 'dy' arrays.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 16 (8 * 2-bytes per gradient value), and at least as much as srcWidth if not 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientPlanars16_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict dx,
+ int16_t* __restrict dy,
+ unsigned int dxyStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Creates 2D gradient from source illuminance data.
+/// This function considers only the left/right neighbors
+/// for x-gradients and top/bottom neighbors for y-gradients.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientPlanarf32_v2(). In the 2.0.0 release,
+/// fcvImageGradientPlanarf32_v2 will be renamed to fcvImageGradientPlanarf32
+/// and the signature of fcvImageGradientPlanarf32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (width)*(height) in size.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (width)*(height) in size.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientPlanarf32( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* __restrict dx,
+ float* __restrict dy );
+
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Creates 2D gradient from source illuminance data.
+/// This function considers only the left/right neighbors
+/// for x-gradients and top/bottom neighbors for y-gradients.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageGradientPlanarf32() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageGradientPlanarf32,
+/// \a fcvImageGradientPlanarf32_v2 will be removed, and the current signature
+/// for \a fcvImageGradientPlanarf32 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageGradientPlanarf32 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (srcWidth)*(srcHeight) in size.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (srcWidth)*(srcHeight) in size.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dxyStride
+/// Stride of Gradient values ('dx' and 'dy' arrays) measured in bytes.
+/// \n\b NOTE: if 0, srcStride is set as 4*srcWidth.
+/// \n\b WARNING: should be multiple of 32 (8 * 4-bytes per gradient value), and at least as much as 4*srcWidth if not 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientPlanarf32_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* __restrict dx,
+ float* __restrict dy,
+ unsigned int dxyStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Extracts FAST corners from the image. This function tests the whole image
+/// for corners (apart from the border). FAST-9 looks for continuous segments on the
+/// pixel ring of 9 pixels or more.
+///
+/// @param src
+/// Pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width
+/// \n\b WARNING: should be a multiple of 8.
+/// \n\b WARNING: must be <= 2048.
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2). If 0 is passed, srcStride is set to width.
+/// \n\b WARNING: should be a multiple of 8.
+///
+/// @param barrier
+/// FAST threshold. The threshold is used to compare difference between intensity value of
+/// the central pixel and pixels on a circle surrounding this pixel.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+/// \n\b WARNING: If border < 3, it will be default to 3.
+/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
+///
+/// @param xy
+/// pointer to the output array containing the interleaved x,y position of the
+/// detected corners
+/// \n e.g. struct { int x, y; } xy;
+/// \n\b WARNING: should be 128-bit aligned.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of
+/// corners is exceeded
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerFast9u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int barrier,
+ unsigned int border,
+ uint32_t* __restrict xy,
+ unsigned int nCornersMax,
+ uint32_t* __restrict nCorners );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Extracts FAST corners from the image. This function takes a bit mask so
+/// that only image areas masked with '0' are tested for corners (if these
+/// areas are also not part of the border). FAST-9 looks for continuous segments on the
+/// pixel ring of 9 pixels or more.
+///
+/// @param src
+/// pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// image width
+/// \n\b WARNING: must be <= 2048.
+/// \n\b WARNING: should be a multiple of 8.
+///
+/// @param srcHeight
+/// image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b WARNING: should be a multiple of 8. If left at 0 srcStride is default to srcWidth.
+///
+/// @param barrier
+/// FAST threshold. The threshold is used to compare difference between intensity value of
+/// the central pixel and pixels on a circle surrounding this pixel.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+/// \n\b WARNING: If border < 3, it will be default to 3.
+/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
+///
+/// @param xy
+/// pointer to the output array containing the interleaved x,y position of the
+/// detected corners
+/// \n\b WARNING: should be 128-bit aligned.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of corners
+/// is exceeded
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @param mask
+/// Per-pixel mask for each pixel represented in input image.
+/// If a bit set to 0, pixel will be a candidate for corner detection.
+/// If a bit set to 1, pixel will be ignored.
+///
+/// @param maskWidth
+/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @param maskHeight
+/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerFast9InMasku8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int barrier,
+ unsigned int border,
+ uint32_t* __restrict xy,
+ unsigned int nCornersMax,
+ uint32_t* __restrict nCorners,
+ const uint8_t* __restrict mask,
+ unsigned int maskWidth,
+ unsigned int maskHeight );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Extracts FAST corners from the image. This function tests the whole image
+/// for corners (apart from the border). FAST-10 looks for continuous segments on the
+/// pixel ring of 10 pixels or more.
+///
+/// @param src
+/// Pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width
+/// \n\b WARNING: should be a multiple of 8.
+/// \n\b WARNING: must be <= 2048.
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2). If 0 is passed, srcStride is set to width.
+///
+/// @param barrier
+/// FAST threshold. The threshold is used to compare difference between intensity value of
+/// the central pixel and pixels on a circle surrounding this pixel.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+/// \n\b WARNING: If border < 3, it will be default to 3.
+/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
+///
+/// @param xy
+/// pointer to the output array containing the interleaved x,y position of the
+/// detected corners
+/// \n e.g. struct { int x, y; } xy;
+/// \n\b WARNING: should be 128-bit aligned.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exists when the maximum number of
+/// corners is exceeded
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerFast10u8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int32_t barrier,
+ uint32_t border,
+ uint32_t* __restrict xy,
+ uint32_t nCornersMax,
+ uint32_t* __restrict nCorners);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Extracts FAST corners from the image. This function takes a bit mask so
+/// that only image areas masked with '0' are tested for corners (if these
+/// areas are also not part of the border). FAST-10 looks for continuous segments on the
+/// pixel ring of 10 pixels or more.
+///
+/// @param src
+/// pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// image width
+/// \n\b WARNING: must be <= 2048.
+/// \n\b WARNING: should be a multiple of 8.
+///
+/// @param srcHeight
+/// image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param barrier
+/// FAST threshold. The threshold is used to compare difference between intensity value of
+/// the central pixel and pixels on a circle surrounding this pixel.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+/// \n\b WARNING: If border < 3, it will be default to 3.
+/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
+///
+/// @param xy
+/// pointer to the output array containing the interleaved x,y position of the
+/// detected corners
+/// \n\b WARNING: should be 128-bit aligned.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exists when the maximum number of corners
+/// is exceeded
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @param mask
+/// Per-pixel mask for each pixel represented in input image.
+/// If a bit set to 0, pixel will be a candidate for corner detection.
+/// If a bit set to 1, pixel will be ignored.
+///
+/// @param maskWidth
+/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @param maskHeight
+/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerFast10InMasku8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int32_t barrier,
+ uint32_t border,
+ uint32_t* __restrict xy,
+ uint32_t nCornersMax,
+ uint32_t* __restrict nCorners,
+ const uint8_t* __restrict mask,
+ uint32_t maskWidth,
+ uint32_t maskHeight );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Extracts Harris corners from the image. This function tests the whole
+/// image for corners (apart from the border).
+///
+/// @param src
+/// Pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width
+/// \n\b WARNING: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+///
+/// @param xy
+/// pointer to the output array containing the interleaved x,y position of the
+/// detected corners
+/// \n\b WARNING: should be 128-bit aligned.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of
+/// corners is exceeded
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @param threshold
+/// Minimum "Harris Score" or "Harris Corner Response" of a pixel for it to be
+/// regarded as a corner.
+///
+/// @return
+/// 0 if successful.
+///
+///
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerHarrisu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ unsigned int border,
+ uint32_t* __restrict xy,
+ unsigned int nCornersMax,
+ uint32_t* __restrict nCorners,
+ int threshold );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Local Harris Max applies the Harris Corner algorithm on an 11x11 patch
+/// within an image to determine if a corner is present.
+///
+/// @param src
+/// Pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width
+/// \n\b WARNING: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2). If srcStride == 0, then will use srcWidth.
+///
+/// @param posX
+/// Center X coordinate of the search window
+///
+/// @param posY
+/// Center Y coordinate of the search window
+///
+/// @param maxX
+/// pointer to the X coordinate identified as a corner
+///
+/// @param maxY
+/// pointer to the Y coordinate identified as a corner
+///
+/// @param maxScore
+/// pointer to the Harris score associated with the corner
+///
+/// @return
+/// 0 if no corner is found (maxX, maxY, and maxScore are invalid)
+/// or if posX and/or posY position the patch outside of the range of
+/// the source image.
+/// 1 if a corner is found (maxX, maxY, and maxScore are valid)
+///
+///
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API unsigned int
+fcvLocalHarrisMaxu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ unsigned int posX,
+ unsigned int posY,
+ unsigned int *maxX,
+ unsigned int *maxY,
+ int *maxScore);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Extracts Harris corners from the image. This function takes a bit mask so
+/// that only image areas masked with '0' are tested for corners (if these
+/// areas are also not part of the border).
+///
+/// @param src
+/// pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// image width
+/// \n\b WARNING: should be a multiple of 8.
+///
+/// @param srcHeight
+/// image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+///
+/// @param xy
+/// pointer to the output array containing the interleaved x,y position of the
+/// detected corners
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of corners
+/// is exceeded
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @param threshold
+/// Minimum "Harris Score" or "Harris Corner Respose" of a pixel for it to be
+/// regarded as a corner.
+///
+/// @param mask
+/// Per-pixel mask for each pixel represented in input image.
+/// If a bit set to 0, pixel will be a candidate for corner detection.
+/// If a bit set to 1, pixel will be ignored.
+///
+/// @param maskWidth
+/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @param maskHeight
+/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @return
+/// 0 if successful.
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerHarrisInMasku8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ unsigned int border,
+ uint32_t* __restrict xy,
+ unsigned int nCornersMax,
+ uint32_t* __restrict nCorners,
+ int threshold,
+ const uint8_t* __restrict mask,
+ unsigned int maskWidth,
+ unsigned int maskHeight );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Extracts Harris corners from the image. This function tests the whole
+/// image for corners (apart from the border). It is an improved version
+/// which is more robust to low contrast images.
+///
+/// @param src
+/// Pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b WARNING: should be a multiple of 8.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+///
+/// @param xy
+/// pointer to the output array containing the interleaved x,y position of the
+/// detected corners
+/// \n\b WARNING: should be 128-bit aligned.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of
+/// corners is exceeded
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @param threshold
+/// Minimum "Harris Score" or "Harris Corner Response" of a pixel for it to be
+/// regarded as a corner.
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerHarrisAdaptiveu8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t border,
+ float32_t* __restrict xy,
+ uint32_t nCornersMax,
+ uint32_t* __restrict nCorners,
+ int32_t threshold);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Extracts Harris corners from the image.
+/// \n\b ATTENTION: Compared to fcvCornerHarrisu8, this API gives more accurate results
+/// in exchange for slower execution time.\n\n
+///
+/// DO NOT USE THIS API unless for testing purposes.
+/// This API can be removed without notice.
+///
+/// @details
+/// This function extracts Harris Corner features from the image. The input is
+/// an unsigned 8 bit image. Based on the values of the kernel size, the block size,
+/// the sensitivity, the function generates a Harris Response map (Harris Score).
+/// This map is then thresholded using the threshold parameter to locate local maxima.
+/// Additionally, if the Non Maximum Suppression flag is enabled, the function performs
+/// non maximum suppression of the thresholded response using the min distance parameter
+/// to calculate the neighborhood.
+///
+/// @param src
+/// Input unsigned 8 bit image from which corner features are to be detected
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width
+///
+/// @param srcHeight
+/// Input Image height
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element
+/// of a row and that of the successive row. If srcStride is equal to 0,
+/// it will be set to srcWidth.
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @param harrisResp
+/// The computed Harris Response Map of the image. If the @param normalizeResponse flag is set,
+/// then all values in the map are normalized between 0 and 255. If the @param normalizeResponse flag
+/// is not set, then the map is not normalized to this range.
+/// This buffer MUST be allocated as srcWidth*srcHeight*sizeof(float32_t).
+///
+/// @param respStride
+/// Harris response stride, i.e. the gap (in terms of bytes) between the first element
+/// of a row and that of the successive row. If respStride is equal to 0,
+/// it will be set to srcWidth * sizeof(float32_t).
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @param xy
+/// pointer to the output array containing the interleaved x,y positions of the
+/// detected corners.
+/// \n\b WARNING: should be 128-bit aligned.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+///
+/// @param nCornersMax
+/// Maximum number of corners that should be detected. The function exits when the
+/// maximum number of corners is exceeded.
+/// \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @param threshold
+/// Minimum "Harris Score" or "Harris Corner Response" of a pixel for it to be
+/// regarded as a corner. If the @param normalizeResponse flag is set, then this parameter MUST be a value between
+/// 0 and 255. If the @param normalizeResponse flag is not set, then this parameter can be any value in the range of
+/// int32_t. This parameter is used to threshold @param harrisResp to detect corner features.
+///
+/// @param sensitivity
+/// This parameter represents the sensitivity threshold from the Harris Stephens
+/// equation. Typical values are between 0.04 and 0.06
+///
+/// @param kernelSize
+/// Size of the Sobel Kernel used to compute the gradients from the input image
+/// MUST be 3,5 or 7.
+///
+/// @param blockSize
+/// Size of an average block for computing a derivative covariation matrix over each
+/// pixel neighborhood.
+///
+/// @param nmsEnabled
+/// A flag to enable or disable non maximum suppression. Set flag to 1 to enable it and
+/// 0 to disable.
+/// \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
+/// points before NMS
+///
+/// @param minDistance
+/// The radial euclidean distance to perform non-maximum suppression.
+///
+/// @param normalizeResponse
+/// This parameter is a flag to enable or disable normalization of the harris response.
+/// If it is set, then it enables normalization of the response to the range between 0 and 255. If it
+/// is not set, then the response is NOT normalized to this range.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvCornerHarrisScoreu8(const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t* __restrict harrisResp,
+ uint32_t respStride,
+ uint32_t* __restrict xy,
+ uint32_t nCornersMax,
+ uint32_t* __restrict nCorners,
+ float32_t threshold,
+ float32_t sensitivity,
+ uint32_t kernelSize,
+ uint32_t blockSize,
+ uint32_t nmsEnabled,
+ float32_t minDistance,
+ uint32_t normalizeResponse);
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Computes affine trans. for a given set of corresponding features points
+/// using a linear least square colver based on Cholkesky decomposition.
+///
+/// @param corrs
+/// Correspondence data struct containing coords of points in two frames
+///
+/// @param affine
+/// 3 x 3 affine matrix (computed best fit affine transformation)
+///
+/// @ingroup 3D_reconstruction
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvGeomAffineFitf32( const fcvCorrespondences* __restrict corrs,
+ float* __restrict affine );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Evaluates specified affine transformation against provided points
+/// correspondences. Checks which correspondence members have a projection
+/// error that is smaller than the given one (maxSquErr).
+///
+/// @param corrs
+/// Pointer to correspondences structure.
+///
+/// @param affine
+/// Affine matrix representing relationship between ptTo and ptFrom
+/// correspondences stored as 3x3 floating point matrix formatted as
+/// @todo r0h0, r0h1
+/// Pointer storage must be at least a 9-element floating point array.
+///
+/// @param maxsqerr
+/// Maximum error value squared.
+///
+/// @param inliers
+/// Output array for those indices that passed the test - the array MUST
+/// be able to store numIndices items.
+///
+/// @param numinliers
+/// Output number of corrs that passed the test.
+///
+/// @return
+/// 0 if successfull
+/// -1 if error value square is >= maxsqerr
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvGeomAffineEvaluatef32( const fcvCorrespondences* __restrict corrs,
+ float* __restrict affine,
+ float maxsqerr,
+ uint16_t* __restrict inliers,
+ int32_t* numinliers );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Performs cholesky homography fitting on specified points correspondences.
+/// \n
+/// \n [x_to] [ a11 a12 a13 ] [ x_from ]
+/// \n [y_to] = [ a21 a22 a23 ] * [ y_from ]
+/// \n [ 1 ] [ a31 a32 a33 ] [ 1 ]
+/// \n note that all the correspondences are considered, if correspondence pairs
+/// are smaller than 4, the API returns. If correspondence pairs are larger than
+/// 4, the API takes all the correspondences into consideration using least
+/// squared method.
+///
+/// @details
+/// Output precision is within 3e-3
+///
+/// @param corrs
+/// Pointer to correspondences structure.
+///
+/// @param homography
+/// 3x3 floating point matrix formatted as @todo r0h0, r0h1
+/// Pointer storage must be at least a 9-element floating point array.
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvGeomHomographyFitf32( const fcvCorrespondences* __restrict corrs,
+ float* __restrict homography );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Evaluates specified homography against provided points correspondences.
+/// Check which correspondence members have a projection error that is
+/// smaller than the given one (maxSquErr).
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvGeomHomographyEvaluatef32_v2(). In the 2.0.0 release,
+/// fcvGeomHomographyEvaluatef32_v2 will be renamed to fcvGeomHomographyEvaluatef32
+/// and the signature of fcvGeomHomographyEvaluatef32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param corrs
+/// Pointer to correspondences structure.
+///
+/// @param homography
+/// Homography representing relationship between ptTo and ptFrom
+/// correspondences stored as 3x3 floating point matrix formatted as
+/// @todo r0h0, r0h1
+/// Pointer storage must be at least a 9-element floating point array.
+///
+/// @param maxsqerr
+/// Maximum error value squared.
+///
+/// @param inliers
+/// Output array for those indices that passed the test - the array MUST
+/// be able to store numIndices items.
+///
+/// @param numinliers
+/// Output number of corrs that passed the test.
+///
+/// @return
+/// 0 that error is less than maximum error, -1 greater or equal to maximum
+/// error.
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvGeomHomographyEvaluatef32( const fcvCorrespondences* __restrict corrs,
+ float* __restrict homography,
+ float maxsqerr,
+ uint16_t* __restrict inliers,
+ int32_t* numinliers );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Evaluates specified homography against provided points correspondences.
+/// Check which correspondence members have a projection error that is
+/// smaller than the given one (maxSquErr).
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvGeomHomographyEvaluatef32() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvGeomHomographyEvaluatef32,
+/// \a fcvGeomHomographyEvaluatef32_v2 will be removed, and the current signature
+/// for \a fcvGeomHomographyEvaluatef32 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvGeomHomographyEvaluatef32 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param corrs
+/// Pointer to correspondences structure.
+///
+/// @param homography
+/// Homography representing relationship between ptTo and ptFrom
+/// correspondences stored as 3x3 floating point matrix formatted as
+/// @todo r0h0, r0h1
+/// Pointer storage must be at least a 9-element floating point array.
+///
+/// @param maxsqerr
+/// Maximum error value squared.
+///
+/// @param inliers
+/// Output array for those indices that passed the test - the array MUST
+/// be able to store numIndices items.
+///
+/// @param errinliers
+/// Output array for the error of indices of correspondences that passed
+/// the test.
+///
+/// @param numinliers
+/// Output number of corrs that passed the test.
+///
+/// @return
+/// 0 that error is less than maximum error, -1 greater or equal to maximum
+/// error.
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvGeomHomographyEvaluatef32_v2( const fcvCorrespondences* __restrict corrs,
+ float32_t* __restrict homography,
+ float32_t maxsqerr,
+ uint16_t* __restrict inliers,
+ float32_t*__restrict errinliers,
+ int32_t* numinliers );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Performs cholesky pose fitting on specified points correspondences.
+/// Takes a pose and uses the correspondences to refine it using iterative
+/// Gauss-Newton optimization.
+///
+/// @param corrs
+/// Pointer to correspondences structure.
+///
+/// @param minIterations
+/// Minimum number of iterations to refine.
+///
+/// @param maxIterations
+/// Maximum number of iterations to refine.
+///
+/// @param stopCriteria
+/// Improvement threshold, iterations stop if improvement is less than this
+/// value.
+///
+/// @param initpose
+/// Pose representing initial pose
+/// correspondences stored as a
+/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
+/// matrix and t is the translation vector. The matrix stored in pose is row
+/// major ordering: \n
+/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
+/// matrix is: \n
+/// | a11, a12, a13 , a14|\n
+/// | a21, a22, a23, a24 |\n
+/// | a31, a32, a33, a34 |\n
+/// Pointer storage must be at least a 12-element floating point array.
+///
+/// @param refinedpose
+/// Pose representing refined pose
+/// correspondences stored as a
+/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
+/// matrix and t is the translation vector. The matrix stored in pose is row
+/// major ordering: \n
+/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
+/// matrix is: \n
+/// | a11, a12, a13 , a14|\n
+/// | a21, a22, a23, a24 |\n
+/// | a31, a32, a33, a34 |\n
+/// Pointer storage must be at least a 12-element floating point array.
+///
+/// @return
+/// Final reprojection error.
+///
+///
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API float
+fcvGeomPoseRefineGNf32( const fcvCorrespondences* __restrict corrs,
+ short minIterations,
+ short maxIterations,
+ float stopCriteria,
+ float* initpose,
+ float* refinedpose );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Update and compute the differential pose based on the specified points correspondences
+/// This function and fcvGeomPoseOptimizeGNf32
+/// can be used iteratively to perform poseRefine GN.
+///
+/// @param projected
+/// 2D position after projection
+///
+/// @param reprojErr
+/// 2D reprojection error in camera coordinates (not in pixels!)
+///
+/// @param invz
+/// Inverse depth (z)
+///
+/// @param reprojVariance
+/// Reprojection variance in camera coordinates
+///
+/// @param numpts
+/// Number of points
+///
+/// @param pose
+/// Pose representing differential pose
+/// correspondences stored as a
+/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
+/// matrix and t is the translation vector. The matrix stored in pose is row
+/// major ordering: \n
+/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
+/// matrix is: \n
+/// | a11, a12, a13 , a14|\n
+/// | a21, a22, a23, a24 |\n
+/// | a31, a32, a33, a34 |\n
+/// Pointer storage must be at least a 12-element floating point array.
+///
+/// @return
+/// 0 if successfully clustered, otherwise error code
+///
+///
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvGeomPoseUpdatef32(
+ const float* __restrict projected,
+ const float* __restrict reprojErr,
+ const float* __restrict invz,
+ const float* __restrict reprojVariance,
+ unsigned int numpts,
+ float* __restrict pose );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Update the pose based on the specified points correspondences
+/// using Gauss-Newton optimization. This function and fcvGeomPoseEvaluateErrorf32
+/// can be used iteratively to perform poseRefine GN.
+///
+/// @param projected
+/// 2D position after projection
+///
+/// @param reprojErr
+/// 2D reprojection error in camera coordinates (not in pixels!)
+///
+/// @param invz
+/// Inverse depth (z)
+///
+/// @param reprojVariance
+/// Reprojection variance in camera coordinates
+///
+/// @param numpts
+/// Number of points
+///
+/// @param pose
+/// Pose representing updated pose
+/// correspondences stored as a
+/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
+/// matrix and t is the translation vector. The matrix stored in pose is row
+/// major ordering: \n
+/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
+/// matrix is: \n
+/// | a11, a12, a13 , a14|\n
+/// | a21, a22, a23, a24 |\n
+/// | a31, a32, a33, a34 |\n
+/// Pointer storage must be at least a 12-element floating point array.
+///
+/// @return
+/// 0 if successfully clustered, otherwise error code
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvGeomPoseOptimizeGNf32( const float* __restrict projected,
+ const float* __restrict reprojErr,
+ const float* __restrict invz,
+ const float* __restrict reprojVariance,
+ unsigned int numpts,
+ float* __restrict pose );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Calculate the reprojection error based on the input pose.
+/// This function and fcvGeomPoseOptimizef32 can be used iteratively
+/// to perform poseRefine (GN or LM)..
+///
+/// @param corrs
+/// Pointer to correspondences structure.
+///
+/// @param pose
+/// Pose representing updated pose
+/// correspondences stored as a
+/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
+/// matrix and t is the translation vector. The matrix stored in pose is row
+/// major ordering: \n
+/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
+/// matrix is: \n
+/// | a11, a12, a13 , a14|\n
+/// | a21, a22, a23, a24 |\n
+/// | a31, a32, a33, a34 |\n
+/// Pointer storage must be at least a 12-element floating point array.
+///
+/// @param projected
+/// 2D position after projection
+///
+/// @param reprojErr
+/// 2D reprojection error in camera coordinates (not in pixels!)
+///
+/// @param invz
+/// Inverse depth (z)
+///
+/// @param reprojVariance
+/// Reprojection variance in camera coordinates
+///
+/// @return
+/// Reprojection error.
+///
+///
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API float
+fcvGeomPoseEvaluateErrorf32( const fcvCorrespondences* __restrict corrs,
+ const float* __restrict pose,
+ float* __restrict projected,
+ float* __restrict reprojErr,
+ float* __restrict invz,
+ float* __restrict reprojVariance );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Checks which members have a projection error that is smaller than the
+/// given one.
+///
+/// @param corrs
+/// Pointer to correspondences structure.
+///
+/// @param pose
+/// Pose representing relationship between ptTo and ptFrom
+/// correspondences stored as a
+/// 3x4 transformation matrix in the form [R|t], where R is a 3x3 rotation
+/// matrix and t is the translation vector. The matrix stored in pose is row
+/// major ordering: \n
+/// a11, a12, a13, a14, a21, a22, a23, a24, a31, a32, a33, a34 where the
+/// matrix is: \n
+/// | a11, a12, a13 , a14|\n
+/// | a21, a22, a23, a24 |\n
+/// | a31, a32, a33, a34 |\n
+/// Pointer storage must be at least a 12-element floating point array.
+///
+/// @param maxSquErr
+/// Maximum error value squared.
+///
+/// @param inliers
+/// Output array for those indices that passed the test - the array MUST
+/// be able to store numIndices items.
+///
+/// @param numInliers
+/// Output number of corrs that passed the test.
+///
+/// @return
+/// 0 that error is less than maximum error, -1 greater or equal to maximum
+/// error.
+///
+///
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvGeomPoseEvaluatef32( const fcvCorrespondences* __restrict corrs,
+ const float* pose,
+ float maxSquErr,
+ uint16_t* __restrict inliers,
+ uint32_t* numInliers );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Estimates a 6DOF pose
+/// \n\b NOTE: Given the coordinates of three 3D points (in world reference frame),
+/// and their corresponding perspective projections in an image,
+/// this algorithm determines the position and orientation of the camera in
+/// the world reference frame. The function provides up to four solutions
+/// that can be disambiguated using a fourth point.
+/// When used in conjunction with RANSAC, this function can perform efficient outlier rejection.
+/// Two degenerate cases should be avoided when using this function:
+/// - Indeterminate configuration:
+/// When the three points are collinear in space, there will be a family of poses mapping the
+/// three points to the same image points.
+/// - Unstable configuration:
+/// The camera center is located on a circular cylinder passing through the three points and
+/// the camera optical axis is perpendicular to the plane derived by the three points.
+/// With this configuration, a small change in the position of the three points will
+/// result in a large change of the estimated pose..
+///
+/// @param corrs
+/// 2D-3D correspondence points
+///
+/// @param pose
+/// computed pose (numPoses * 12 data)
+///
+/// @param numPoses (max = 4)
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvGeom3PointPoseEstimatef32( const fcvCorrespondences* __restrict corrs,
+ float* pose,
+ int32_t* numPoses );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// 3x3 correlation with non-separable kernel.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterCorr3x3s8_v2(). In the 2.0.0 release,
+/// fcvFilterCorr3x3s8_v2 will be renamed to fcvFilterCorr3x3s8
+/// and the signature of fcvFilterCorr3x3s8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param kernel
+/// 2-D 3x3 kernel.
+/// \n\b NOTE: Normalized to Q4.4
+///
+/// @param src
+/// Input image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: must be an even number
+///
+/// @param srcHeight
+/// Image height.
+/// \n\b NOTE: must be an even number
+///
+/// @param dst
+/// Output convolution. Border values are ignored in this function.
+/// Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterCorr3x3s8( const int8_t* __restrict kernel,
+ const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// 3x3 correlation with non-separable kernel.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterCorr3x3s8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterCorr3x3s8,
+/// \a fcvFilterCorr3x3s8_v2 will be removed, and the current signature
+/// for \a fcvFilterCorr3x3s8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterCorr3x3s8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param kernel
+/// 2-D 3x3 kernel.
+/// \n\b NOTE: Normalized to Q4.4
+///
+/// @param src
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: must be an even number
+///
+/// @param srcHeight
+/// Image height.
+/// \n\b NOTE: must be an even number
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output convolution. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride. Border values are ignored in this function.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterCorr3x3s8_v2( const int8_t* __restrict kernel,
+ const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// NxN correlation with non-separable kernel.
+/// Border values are ignored in this function. The filling of dst starts
+/// at (N/2,N/2) and ends at (srcWidth-1-N/2,srcHeight-1-N/2).
+/// \n\b NOTE: The border is N/2 wide pixel strips at top, bottom, left and right of image.
+///
+/// @param kernel
+/// 2-D NxN kernel of float32_t.
+///
+/// @param N
+/// Dimension of kernel.
+///
+/// @param src
+/// Input image of unit8_t. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Src image stride, stride of image is the number of bytes between column 0 of
+/// row 1 and column 0 of row 2 in data memory.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output correlation. Size of buffer is dstStride*srcHeight*sizeof(float32_t) bytes.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride, stride of image is the number of bytes between column 0 of
+/// row 1 and column 0 of row 2 in data memory.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth*sizeof(float32_t).
+/// \n\b WARNING: should be multiple of 8, and at least as much as
+/// srcWidth*sizeof(float32_t) if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterCorrNxNu8f32( const float32_t* __restrict kernel,
+ uint32_t N,
+ const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t* __restrict dst,
+ uint32_t dstStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// NxN correlation with non-separable kernel.
+/// Border values are ignored in this function. The filling of dst starts
+/// at (N/2,N/2) and ends at (srcWidth-1-N/2,srcHeight-1-N/2).
+/// \n\b NOTE: The border is N/2 wide pixel strips at top, bottom, left and right of image.
+///
+/// @param kernel
+/// 2-D NxN kernel of int8_t.
+///
+/// @param N
+/// Dimension of kernel.
+///
+/// @param shift
+/// The right shift count used to normalize output. Shift can be considered as Q factor of kernel.
+///
+/// @param src
+/// Input image of unit8_t. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Src image stride, stride of image is the number of bytes between column 0 of
+/// row 1 and column 0 of row 2 in data memory.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output correlation. Size of buffer is dstStride*srcHeight*sizeof(int16_t) bytes.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride, stride of image is the number of bytes between column 0 of
+/// row 1 and column 0 of row 2 in data memory.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth*sizeof(int16_t).
+/// \n\b WARNING: should be multiple of 8, and at least as much as
+/// srcWidth*sizeof(int16_t) if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterCorrNxNu8s16( const int8_t* __restrict kernel,
+ uint32_t N,
+ int8_t shift,
+ const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int16_t* __restrict dst,
+ uint32_t dstStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// NxN correlation with non-separable kernel.
+/// Border values are ignored in this function. The filling of dst starts
+/// at (N/2,N/2) and ends at (srcWidth-1-N/2,srcHeight-1-N/2).
+/// \n\b NOTE: The border is N/2 wide pixel strips at top, bottom, left and right of image.
+///
+/// @param kernel
+/// 2-D NxN kernel of int8_t.
+///
+/// @param N
+/// Dimension of kernel.
+///
+/// @param shift
+/// The right shift count used to normalize output. Shift can be considered as Q factor of kernel.
+///
+/// @param src
+/// Input image of unit8_t. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Src image stride, stride of image is the number of bytes between column 0 of
+/// row 1 and column 0 of row 2 in data memory.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output correlation. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride, stride of image is the number of bytes between column 0 of
+/// row 1 and column 0 of row 2 in data memory.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as
+/// srcWidth if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterCorrNxNu8( const int8_t* __restrict kernel,
+ uint32_t N,
+ int8_t shift,
+ const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// 9x9 correlation with separable kernel.
+/// If src and dst point to the same address, it will do in-place.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterCorrSep9x9s16_v2(). In the 2.0.0 release,
+/// fcvFilterCorrSep9x9s16_v2 will be renamed to fcvFilterCorrSep9x9s16
+/// and the signature of fcvFilterCorrSep9x9s16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param kernel
+/// 1-D kernel in Q15.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src
+/// Input image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+/// \n\b WARNING: must be > 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param tmp
+/// Temporary image buffer used internally.
+/// Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dst
+/// Output correlation. Border values are ignored in this function.
+/// Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterCorrSep9x9s16( const int16_t* __restrict kernel,
+ const int16_t* src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ int16_t* __restrict tmp,
+ int16_t* dst );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// 9x9 FIR filter (convolution) with seperable kernel.
+/// If srcImg and dstImg point to the same address
+/// and srcStride equals to dstStride, it will do in-place.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterCorrSep9x9s16() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterCorrSep9x9s16,
+/// \a fcvFilterCorrSep9x9s16_v2 will be removed, and the current signature
+/// for \a fcvFilterCorrSep9x9s16 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterCorrSep9x9s16 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param kernel
+/// 1-D kernel.
+///
+/// @param srcImg
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcWidth
+/// Image tile width.
+///
+/// @param srcHeight
+/// Image tile height.
+///
+/// @param srcStride
+/// source Image width
+///
+/// @param tmpImg
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstImg
+/// Output correlation. Border values are ignored in this function.
+/// Size of buffer is dstStride*srcHeight bytes.
+/// \n\b NOTE: Size = width * heigth
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstStride
+/// dst Image width
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+FASTCV_API void
+fcvFilterCorrSep9x9s16_v2( const int16_t* __restrict kernel,
+ const int16_t* srcImg,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict tmpImg,
+ int16_t* dstImg,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// 11x11 correlation with separable kernel.
+/// If src and dst point to the same address, it will do in-place.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterCorrSep11x11s16_v2(). In the 2.0.0 release,
+/// fcvFilterCorrSep11x11s16_v2 will be renamed to fcvFilterCorrSep11x11s16
+/// and the signature of fcvFilterCorrSep11x11s16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param kernel
+/// 1-D kernel.
+/// \n\b NOTE: array must be >=12 elements with kernel[11]=0
+/// \n\b WARNING: should be 128-bit aligned.
+/// \n\b NOTE: Normalized to Q1.15
+///
+/// @param src
+/// Input image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+/// \n\b WARNING: must be > 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param tmpImg
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dst
+/// Output correlation. Border values are ignored in this function.
+/// Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterCorrSep11x11s16( const int16_t* __restrict kernel,
+ const int16_t* src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ int16_t* __restrict tmpImg,
+ int16_t* dst );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// 11x11 FIR filter (convolution) with seperable kernel.
+/// If srcImg and dstImg point to the same address
+/// and srcStride equals to dstStride, it will do in-place.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterCorrSep11x11s16() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterCorrSep11x11s16,
+/// \a fcvFilterCorrSep11x11s16_v2 will be removed, and the current signature
+/// for \a fcvFilterCorrSep11x11s16 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterCorrSep11x11s16 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param kernel
+/// 1-D kernel.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcImg
+/// Input image. Size of buffer is srStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcWidth
+/// Image tile width.
+/// \n\b WARNING: should be multiple of 8.
+/// \n\b WARNING: must be > 8.
+///
+/// @param srcHeight
+/// Image tile height.
+///
+/// @param srcStride
+/// source Image width
+///
+/// @param tmpImg
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstImg
+/// Output correlation. Border values are ignored in this function.
+/// \n\b NOTE: Size = dstStride * srcHeigth
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstStride
+/// dst Image width
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+FASTCV_API void
+fcvFilterCorrSep11x11s16_v2( const int16_t* __restrict kernel,
+ const int16_t* srcImg,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict tmpImg,
+ int16_t* dstImg,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// 13x13 correlation with separable kernel.
+/// If src and dst point to the same address, it will do in-place.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterCorrSep13x13s16_v2(). In the 2.0.0 release,
+/// fcvFilterCorrSep13x13s16_v2 will be renamed to fcvFilterCorrSep13x13s16
+/// and the signature of fcvFilterCorrSep13x13s16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param kernel
+/// 1-D kernel.
+/// \n\b NOTE: Normalized to Q1.15
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src
+/// Input image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+/// \n\b WARNING: must be > 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param tmpImg
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dst
+/// Output correlation. Border values are ignored in this function.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterCorrSep13x13s16( const int16_t* __restrict kernel,
+ const int16_t* src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ int16_t* __restrict tmpImg,
+ int16_t* dst );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// 13x13 FIR filter (convolution) with seperable kernel.
+/// If srcImg and dstImg point to the same address
+/// and srcStride equals to dstStride, it will do in-place.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterCorrSep13x13s16() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterCorrSep13x13s16,
+/// \a fcvFilterCorrSep13x13s16_v2 will be removed, and the current signature
+/// for \a fcvFilterCorrSep13x13s16 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterCorrSep13x13s16 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param kernel
+/// 1-D kernel.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcImg
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcWidth
+/// Image tile width.
+/// \n\b WARNING: should be multiple of 8.
+/// \n\b WARNING: must be > 8.
+///
+/// @param srcHeight
+/// Image tile height.
+///
+/// @param srcStride
+/// source Image width
+///
+/// @param tmpImg
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstImg
+/// Output correlation. Border values are ignored in this function.
+/// \n\b NOTE: Size = dstStride * srcHeigth
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstStride
+/// dst Image width
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+FASTCV_API void
+fcvFilterCorrSep13x13s16_v2( const int16_t* __restrict kernel,
+ const int16_t* srcImg,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict tmpImg,
+ int16_t* dstImg,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// 15x15 correlation with separable kernel.
+/// If src and dst point to the same address, it will do in-place.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterCorrSep15x15s16_v2(). In the 2.0.0 release,
+/// fcvFilterCorrSep15x15s16_v2 will be renamed to fcvFilterCorrSep15x15s16
+/// and the signature of fcvFilterCorrSep15x15s16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param kernel
+/// 1-D kernel.
+/// \n\b NOTE: array must be 16 elements with kernel[15]=0
+/// \n\b NOTE: Normalized to Q1.15
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param src
+/// Input image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+/// \n\b WARNING: must be > 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param tmpImg
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Must be same size as src
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dst
+/// Output correlation. Border values are ignored in this function.
+/// \n\b NOTE: Must be same size as src
+/// \n\b NOTE: data should be 128-bit aligned
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterCorrSep15x15s16( const int16_t* __restrict kernel,
+ const int16_t* src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ int16_t* __restrict tmpImg,
+ int16_t* dst );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// 15x15 FIR filter (convolution) with seperable kernel.
+/// If srcImg and dstImg point to the same address
+/// and srcStride equals to dstStride, it will do in-place.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterCorrSep15x15s16() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterCorrSep15x15s16,
+/// \a fcvFilterCorrSep15x15s16_v2 will be removed, and the current signature
+/// for \a fcvFilterCorrSep15x15s16 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterCorrSep15x15s16 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param kernel
+/// 1-D kernel.
+/// \n\b NOTE: array must be 16 elements with kernel[15]=0
+/// \n\b NOTE: Normalized to Q1.15
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcImg
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcWidth
+/// Image tile width.
+/// \n\b WARNING: should be multiple of 8.
+/// \n\b WARNING: must be > 8.
+///
+/// @param srcHeight
+/// Image tile height.
+///
+/// @param srcStride
+/// source Image width
+///
+/// @param tmpImg
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstImg
+/// Output correlation. Border values are ignored in this function.
+/// \n\b NOTE: Size = dstStride * srcHeigth
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstStride
+/// dst Image width
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+FASTCV_API void
+fcvFilterCorrSep15x15s16_v2( const int16_t* __restrict kernel,
+ const int16_t* srcImg,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict tmpImg,
+ int16_t* dstImg,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// 17x17 correlation with separable kernel.
+/// If src and dst point to the same address, it will do in-place.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterCorrSep17x17s16_v2(). In the 2.0.0 release,
+/// fcvFilterCorrSep17x17s16_v2 will be renamed to fcvFilterCorrSep17x17s16
+/// and the signature of fcvFilterCorrSep17x17s16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param kernel
+/// 1-D kernel.
+/// \n\b NOTE: Normalized to Q1.15
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src
+/// Input image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+/// \n\b WARNING: must be > 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param tmpImg
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dst
+/// Output correlation.. Border values are ignored in this function.
+/// \n\b NOTE: Must be same size as src
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterCorrSep17x17s16( const int16_t* __restrict kernel,
+ const int16_t* src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ int16_t* __restrict tmpImg,
+ int16_t* dst );
+
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// 17x17 FIR filter (convolution) with seperable kernel.
+/// If srcImg and dstImg point to the same address
+/// and srcStride equals to dstStride, it will do in-place.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterCorrSep17x17s16() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterCorrSep17x17s16,
+/// \a fcvFilterCorrSep17x17s16_v2 will be removed, and the current signature
+/// for \a fcvFilterCorrSep17x17s16 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterCorrSep17x17s16 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param kernel
+/// 1-D kernel.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcImg
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcWidth
+/// Image tile width.
+///
+/// @param srcHeight
+/// Image tile height.
+///
+/// @param srcStride
+/// source Image width
+///
+/// @param tmpImg
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstImg
+/// Output correlation. Border values are ignored in this function.
+/// \n\b NOTE: Size = dstStride * srcHeigth
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstStride
+/// dst Image width
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+FASTCV_API void
+fcvFilterCorrSep17x17s16_v2( const int16_t* __restrict kernel,
+ const int16_t* srcImg,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict tmpImg,
+ int16_t* dstImg,
+ unsigned int dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// NxN correlation with separable kernel.
+/// If srcImg and dstImg point to the same address
+/// and srcStride equals to dstStride, it will do in-place.
+///
+/// @param kernel
+/// 1-D kernel.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param knlSize
+/// Seperable kernel size.
+///
+/// @param srcImg
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcWidth
+/// Image tile width.
+///
+/// @param srcHeight
+/// Image tile height.
+///
+/// @param srcStride
+/// source Image width
+///
+/// @param tmpImg
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Size = width * ( height + knlSize - 1 )
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstImg
+/// Output correlation. Border values are ignored in this function.
+/// \n\b NOTE: Size = dstStride * srcHeigth
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstStride
+/// dst Image width
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterCorrSepNxNs16( const int16_t* __restrict kernel,
+ int knlSize,
+ const int16_t* srcImg,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict tmpImg,
+ int16_t* dstImg,
+ unsigned int dstStride );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// MxN correlation with separable kernel.
+///
+/// @param kernelX
+/// 1-D kernel of int8_t. The kernel is first applied to rows.
+/// kernelX has Q factor equal to shift.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param knlSizeX
+/// Seperable kernel size of kernelX.
+/// \n\b NOTE: kenrelX must be <= 32.
+///
+/// @param kernelY
+/// 1-D kernel of int8_t. The kernel is applied to columns after kernelX
+/// is applied. It could be the same buffer as kernelX which makes it a
+/// NxN symetric kernel.
+/// kernelY has Q factor equal to shift.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param knlSizeY
+/// Seperable kernel size of kernelY.
+///
+/// @param shift
+/// The Q factor of kernels. Output is right-shifted by 2*shift to compensate for two rounds of filtering
+///
+/// @param srcImg
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Src image stride, stride of image is the number of bytes between column 0 of
+/// row 1 and column 0 of row 2 in data memory.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dstImg
+/// Output correlation. Can do in-place filtering (i.e. dstImg=srcImg).
+/// \n\b NOTE: Size = dstStride * srcHeigth
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @param dstStride
+/// Output stride, stride of image is the number of bytes between column 0 of
+/// row 1 and column 0 of row 2 in data memory.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterCorrSepMxNu8( const int8_t* kernelX,
+ uint32_t knlSizeX,
+ const int8_t* kernelY,
+ uint32_t knlSizeY,
+ int8_t shift,
+ const uint8_t* srcImg,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* dstImg,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Calculates the mean and variance of intensities of a rectangle in a
+/// grayscale image.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageIntensityStats_v2(). In the 2.0.0 release,
+/// fcvImageIntensityStats_v2 will be renamed to fcvImageIntensityStats
+/// and the signature of fcvImageIntensityStats as it appears now,
+/// will be removed.
+/// This API is the same as fcvImageIntensityStats_v2 with
+/// FASTCV_UNBIASED_VARIANCE_ESTIMATOR
+/// \n\n
+///
+/// @param src
+/// pointer to 8-bit grayscale image
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of source image
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param xBegin
+/// x coordinate of top left of rectangle
+///
+/// @param yBegin
+/// y coordinate of top left of rectangle
+///
+/// @param recWidth
+/// width of rectangular region
+///
+/// @param recHeight
+/// height of rectangular region
+///
+/// @param mean
+/// output of mean of region
+///
+/// @param variance
+/// output of variance of region
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageIntensityStats( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ int xBegin,
+ int yBegin,
+ unsigned int recWidth,
+ unsigned int recHeight,
+ float* mean,
+ float* variance );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Calculates the mean and variance of intensities of a rectangle in a
+/// grayscale image.
+///
+/// @param src
+/// pointer to 8-bit grayscale image
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of source image
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param xBegin
+/// x coordinate of top left of rectangle
+///
+/// @param yBegin
+/// y coordinate of top left of rectangle
+///
+/// @param recWidth
+/// width of rectangular region
+///
+/// @param recHeight
+/// height of rectangular region
+///
+/// @param mean
+/// output of mean of region
+///
+/// @param variance
+/// output of variance of region
+///
+/// @param varianceEstimator
+/// variance estimator
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvImageIntensityStats_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ int xBegin,
+ int yBegin,
+ uint32_t recWidth,
+ uint32_t recHeight,
+ float32_t* mean,
+ float32_t* variance,
+ fcvVarianceEstimator varianceEstimator);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a histogram of intensities for a rectangular region of a grayscale
+/// image. Bins each pixel into a histogram of size 256, depending on the
+/// intensity of the pixel (in the range 0 to 255).
+///
+/// @details
+///
+/// @param src
+/// pointer to 8-bit grayscale image
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of source image
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param xBegin
+/// x coordinate of top left of rectangle
+///
+/// @param yBegin
+/// y coordinate of top left of rectangle
+///
+/// @param recWidth
+/// Width of rectangular region
+///
+/// @param recHeight
+/// Height of rectangular region
+///
+/// @param histogram
+/// Array of size 256 for storing the histogram
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageIntensityHistogram( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ int xBegin,
+ int yBegin,
+ unsigned int recWidth,
+ unsigned int recHeight,
+ int32_t* histogram );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Builds an integral image of the incoming 8-bit image and adds an
+/// unfilled border on top and to the left.
+/// \n NOTE: border usually zero filled elsewhere.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvIntegratePatchu8_v2(). In the 2.0.0 release,
+/// fcvIntegratePatchu8_v2 will be renamed to fcvIntegratePatchu8
+/// and the signature of fcvIntegratePatchu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// sum (X,Y) = sum_{x (patchW+1)(patchH+1)
+///
+/// @param intgrlSqrdImgOut
+/// Integral image of squared values.
+/// \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvIntegratePatchu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ int patchX,
+ int patchY,
+ unsigned int patchW,
+ unsigned int patchH,
+ uint32_t* __restrict intgrlImgOut,
+ uint32_t* __restrict intgrlSqrdImgOut );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Builds an integral image of the incoming 8-bit patch values and their
+/// squares and adds an unfilled border on top and to the left.
+/// \n NOTE: border usually zero filled elsewhere.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvIntegratePatchu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvIntegratePatchu8,
+/// \a fcvIntegratePatchu8_v2 will be removed, and the current signature
+/// for \a fcvIntegratePatchu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvIntegratePatchu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// sum (X,Y) = sum_{x (patchW+1)(patchH+1)
+///
+/// @param intgrlSqrdImgOut
+/// Integral image of squared values.
+/// \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvIntegratePatchu8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int patchX,
+ int patchY,
+ unsigned int patchW,
+ unsigned int patchH,
+ uint32_t* __restrict intgrlImgOut,
+ uint32_t* __restrict intgrlSqrdImgOut );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Builds an integral image of the incoming 8-bit patch values and their
+/// squares and adds an unfilled border on top and to the left.
+/// \n NOTE: border usually zero filled elsewhere.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvIntegratePatchu8() and fcvIntegratePatchu8_v2() with the addition of
+/// extra parameters. This function has been added to allow for backward
+/// compatibility with the original function. When the 2.0.0 release of this
+/// library is made, this function will be renamed to: \a fcvIntegratePatchu8,
+/// \a fcvIntegratePatchu8_v2 and fcvIntegratePatchu8_v3 will be removed, and
+/// the current signature for \a fcvIntegratePatchu8 and fcvIntegratePatchu8_v2
+/// will be removed. Until 2.0.0, the developer should use this implementation
+/// with the expectation of renaming it to \a fcvIntegratePatchu8 when
+/// transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// sum (X,Y) = sum_{x (patchW+1)(patchH+1)
+///
+/// @param intgrlStride
+/// Stride in bytes of the Integral Image
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param intgrlSqrdImgOut
+/// Integral image of squared values.
+/// \n\b NOTE: Memory must be > (patchW+1)(patchH+1)
+///
+/// @param intgrlSqrdStride
+/// Stride in bytes of the Squared Integral Image
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvIntegratePatchu8_v3(const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t patchX,
+ uint32_t patchY,
+ uint32_t patchW,
+ uint32_t patchH,
+ uint32_t* __restrict intgrlImgOut,
+ uint32_t intgrlStride,
+ uint32_t* __restrict intgrlSqrdImgOut,
+ uint32_t intgrlSqrdStride);
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Builds an integral image of the incoming 12x12 8-bit patch values and
+/// their squares. It also adds an unfilled border on top and to the left.
+/// \n NOTE: border usually zero filled elsewhere.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvIntegratePatch12x12u8_v2(). In the 2.0.0 release,
+/// fcvIntegratePatch12x12u8_v2 will be renamed to fcvIntegratePatch12x12u8
+/// and the signature of fcvIntegratePatch12x12u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// sum (X,Y) = sum_{x (12+1)(12+1)
+///
+/// @param intgrlSqrdImgOut
+/// Integral image of squared values.
+/// \n\b NOTE: Memory must be > (12+1)(12+1)
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvIntegratePatch12x12u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ int patchX,
+ int patchY,
+ uint32_t* __restrict intgrlImgOut,
+ uint32_t* __restrict intgrlSqrdImgOut );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Builds an integral image of the incoming 12x12 8-bit patch values and
+/// their squares. It also adds an unfilled border on top and to the left.
+/// \n NOTE: border usually zero filled elsewhere.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvIntegratePatch12x12u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvIntegratePatch12x12u8,
+/// \a fcvIntegratePatch12x12u8_v2 will be removed, and the current signature
+/// for \a fcvIntegratePatch12x12u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvIntegratePatch12x12u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// sum (X,Y) = sum_{x (12+1)(12+1)
+///
+/// @param intgrlSqrdImgOut
+/// Integral image of squared values.
+/// \n\b NOTE: Memory must be > (12+1)(12+1)
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvIntegratePatch12x12u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int patchX,
+ int patchY,
+ uint32_t* __restrict intgrlImgOut,
+ uint32_t* __restrict intgrlSqrdImgOut );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Builds an integral image of the incoming 18x18 8-bit patch values and
+/// their squares. It also adds an unfilled border on top and to the left.
+/// \n NOTE: border usually zero filled elsewhere.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvIntegratePatch18x18u8_v2(). In the 2.0.0 release,
+/// fcvIntegratePatch18x18u8_v2 will be renamed to fcvIntegratePatch18x18u8
+/// and the signature of fcvIntegratePatch18x18u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// sum (X,Y) = sum_{x (18+1)(18+1)
+///
+/// @param intgrlSqrdImgOut
+/// Integral image of squared values.
+/// \n\b NOTE: Memory must be > (18+1)(18+1)
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvIntegratePatch18x18u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ int patchX,
+ int patchY,
+ uint32_t* __restrict intgrlImgOut,
+ uint32_t* __restrict intgrlSqrdImgOut );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Builds an integral image of the incoming 18x18 8-bit patch values and
+/// their squares. It also adds an unfilled border on top and to the left.
+/// \n NOTE: border usually zero filled elsewhere.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvIntegratePatch18x18u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvIntegratePatch18x18u8,
+/// \a fcvIntegratePatch18x18u8_v2 will be removed, and the current signature
+/// for \a fcvIntegratePatch18x18u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvIntegratePatch18x18u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// sum (X,Y) = sum_{x (18+1)(18+1)
+///
+/// @param intgrlSqrdImgOut
+/// Integral image of squared values.
+/// \n\b NOTE: Memory must be > (18+1)(18+1)
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvIntegratePatch18x18u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int patchX,
+ int patchY,
+ uint32_t* __restrict intgrlImgOut,
+ uint32_t* __restrict intgrlSqrdImgOut );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Integrates one line of an image or any portion of an image that is
+/// contiguous in memory.
+///
+/// @param src
+/// Input image. Size of buffer is srcWidth bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Number of pixels.
+/// \n NOTE: bit width enforces numPxls < 2^16
+///
+/// @param intgrl
+/// Sum of values from specified pixels.
+///
+/// @param intgrlSqrd
+/// Sum of squared values from specified pixels.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvIntegrateImageLineu8( const uint8_t* __restrict src,
+ uint16_t srcWidth,
+ uint32_t* intgrl,
+ uint32_t* intgrlSqrd );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Integrates 64 contiguous pixels of an image.
+///
+/// @param src
+/// Input image.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param intgrl
+/// Sum of values from specified pixels.
+///
+/// @param intgrlSqrd
+/// Sum of squared values from specified pixels.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvIntegrateImageLine64u8( const uint8_t* __restrict src,
+ uint16_t* intgrl,
+ uint32_t* intgrlSqrd );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// compute approximate mean and variance for the range of NFT4 float
+/// descriptors where descriptor elements along dimension are treated
+/// as random vars
+///
+/// @param src
+/// contiguous block of descriptors of dimension 36
+///
+/// @param first
+/// index of the first descriptor in range array vind for computing mean and var
+///
+/// @param last
+/// index of the last descriptor in range array vind for computing mean and range
+///
+/// @param vind
+/// array of randomized indexes of descriptors
+///
+/// @param means
+/// buffer for approximate means, must be 36 long
+///
+/// @param vars
+/// buffer for approximate variances, must be 36 long
+///
+/// @param temp
+/// bufffer, must be 46 long
+///
+/// @return
+/// 0 - success
+/// EFAULT - invalid address
+/// EINVAL - invalid argument
+///
+/// @remark
+/// If descriptor range is > 100 then only
+/// 100 samples are drawn from the range to compute
+/// approximate means and variances.
+///
+/// Variances computed here do not have to be true variances because their
+/// values do not matter in kdtrees. The only thing that matters is that
+/// the ordering relation of variances is preserved
+///
+///
+///
+/// @ingroup object_detection
+// -----------------------------------------------------------------------------
+
+FASTCV_API int
+fcvDescriptorSampledMeanAndVar36f32( const float* __restrict src,
+ int first,
+ int last,
+ int32_t* vind,
+ float* __restrict means,
+ float* __restrict vars,
+ float* __restrict temp );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Searches a 8x8 patch within radius around a center pixel for the max NCC.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvNCCPatchOnCircle8x8u8_v2(). In the 2.0.0 release,
+/// fcvNCCPatchOnCircle8x8u8_v2 will be renamed to fcvNCCPatchOnCircle8x8u8
+/// and the signature of fcvNCCPatchOnCircle8x8u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param patch
+/// Pointer to 8-bit patch pixel values linearly laid out in memory.
+///
+/// @param src
+/// Pointer to 8-bit image pixel values linearly laid out in memory.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width in pixels of the image.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height in pixels of the image.
+///
+/// @param search_center_x
+/// X location of search center in pixels of the image.
+///
+/// @param search_center_y
+/// Y location of search center in pixels of the image.
+///
+/// @param search_radius
+/// Radius of search in pixels. Must be <=5.
+///
+/// @param best_x
+/// Center X location on the image of the best NCC match. The center X has
+/// 4 pixels to the left and 3 to the right.
+///
+/// @param best_y
+/// Center Y location on the image of the best NCC match. The center Y has
+/// 4 pixels above and 3 pixels below.
+///
+/// @param bestNCC
+/// Largest value of the normalized cross-correlation found in the NCC search.
+/// It's quantized to integer value in Q7 (between -128 and 128).
+///
+/// @param findSubPixel (0 or 1)
+/// Use parabolic interpolation of NCC values to find sub-pixel estimates.
+///
+/// @param subX
+/// Sub-pixel estimate for optimal NCC relative to best_x.
+/// \n e.g., float x = (float)best_x + subX;
+///
+/// @param subY
+/// Sub-pixel estimate for optimal NCC relative to best_y.
+///
+/// @return
+/// 0 = OK \n
+/// 1 = "search_radius" too large\n
+/// 2 = invalid "search_center_x,y"\n
+/// 3 = not found\n
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvNCCPatchOnCircle8x8u8( const uint8_t* __restrict patch,
+ const uint8_t* __restrict src,
+ unsigned short srcWidth,
+ unsigned short srcHeight,
+ unsigned short search_center_x,
+ unsigned short search_center_y,
+ unsigned short search_radius,
+ uint16_t* best_x,
+ uint16_t* best_y,
+ uint32_t* bestNCC,
+ int findSubPixel,
+ float* subX,
+ float* subY );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Searches a 8x8 patch within radius around a center pixel for the max NCC.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvNCCPatchOnCircle8x8u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvNCCPatchOnCircle8x8u8,
+/// \a fcvNCCPatchOnCircle8x8u8_v2 will be removed, and the current signature
+/// for \a fcvNCCPatchOnCircle8x8u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvNCCPatchOnCircle8x8u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param patch
+/// Pointer to 8-bit patch pixel values linearly laid out in memory.
+///
+/// @param src
+/// Pointer to 8-bit image pixel values linearly laid out in memory.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width in pixels of the image.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height in pixels of the image.
+///
+/// @param search_center_x
+/// X location of search center in pixels of the image.
+///
+/// @param search_center_y
+/// Y location of search center in pixels of the image.
+///
+/// @param search_radius
+/// Radius of search in pixels. Must be <=5.
+///
+/// @param filterLowVariance
+/// Minimum variance. Used to as threshold to compare against variance of
+/// 8x8 block of src or patch.
+///
+/// @param best_x
+/// Center X location on the image of the best NCC match. The center X has
+/// 4 pixels to the left and 3 to the right.
+///
+/// @param best_y
+/// Center Y location on the image of the best NCC match. The center Y has
+/// 4 pixels above and 3 pixels below.
+///
+/// @param bestNCC
+/// Largest value of the normalized cross-correlation found in the NCC search.
+/// It's quantized to integer value in Q7 (between -128 and 128).
+///
+/// @param findSubPixel (0 or 1)
+/// Use parabolic interpolation of NCC values to find sub-pixel estimates.
+///
+/// @param subX
+/// Sub-pixel estimate for optimal NCC relative to best_x.
+/// \n e.g., float x = (float)best_x + subX;
+///
+/// @param subY
+/// Sub-pixel estimate for optimal NCC relative to best_y.
+///
+/// @return
+/// 0 = OK \n
+/// 1 = "search_radius" too large\n
+/// 2 = invalid "search_center_x,y"\n
+/// 3 = not found\n
+/// 4 = Patch has too low variance\n
+/// 5 = Image region has too low variance\n
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvNCCPatchOnCircle8x8u8_v2( const uint8_t* __restrict patch,
+ const uint8_t* __restrict src,
+ unsigned short srcWidth,
+ unsigned short srcHeight,
+ unsigned short search_center_x,
+ unsigned short search_center_y,
+ unsigned short search_radius,
+ int filterLowVariance,
+ uint16_t* best_x,
+ uint16_t* best_y,
+ uint32_t* bestNCC,
+ int findSubPixel,
+ float* subX,
+ float* subY );
+
+
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Searches a 8x8 patch within square region around a center pixel
+/// for the max NCC.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvNCCPatchOnSquare8x8u8_v2(). In the 2.0.0 release,
+/// fcvNCCPatchOnSquare8x8u8_v2 will be renamed to fcvNCCPatchOnSquare8x8u8
+/// and the signature of fcvNCCPatchOnSquare8x8u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param patch
+/// Pointer to 8-bit patch pixel values linearly laid out in memory.
+///
+/// @param src
+/// Pointer to 8-bit image pixel values linearly laid out in memory.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width in pixels of the image.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height in pixels of the image.
+///
+/// @param search_center_x
+/// Center X coordinate of the search window
+///
+/// @param search_center_y
+/// Center Y coordinate of the search window
+///
+/// @param search_w
+/// Width of search square in pixels
+/// \n\b WARNING: must be 11 or less.
+///
+/// @param best_x
+/// Center X location on the image of the best NCC match. The center X has
+/// 4 pixels to the left and 3 to the right.
+///
+/// @param best_y
+/// Center Y location on the image of the best NCC match. The center Y has
+/// 4 pixels above and 3 pixels below.
+///
+/// @param bestNCC
+/// NCC value of the best match block.
+/// It's quantized to integer value in Q7 (between -128 and 128).
+///
+/// @param doSubPixel (0 or 1)
+/// Use parabolic interpolation of NCC values to find sub-pixel estimates.
+///
+/// @param subX
+/// Sub-pixel estimate for optimal NCC relative to best_x.
+/// \n e.g., float x = (float)best_x + subX;
+///
+/// @param subY
+/// Sub-pixel estimate for optimal NCC relative to best_y.
+///
+/// @return
+/// 0 = OK \n
+/// 1 = "search_radius" too large\n
+/// 2 = invalid "search_center_x,y"\n
+/// 3 = not found\n
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvNCCPatchOnSquare8x8u8( const uint8_t* __restrict patch,
+ const uint8_t* __restrict src,
+ unsigned short srcWidth,
+ unsigned short srcHeight,
+ unsigned short search_center_x,
+ unsigned short search_center_y,
+ unsigned short search_w,
+ uint16_t* best_x,
+ uint16_t* best_y,
+ uint32_t* bestNCC,
+ int doSubPixel,
+ float* subX,
+ float* subY );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Searches a 8x8 patch within square region around a center pixel
+/// for the max NCC.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvNCCPatchOnSquare8x8u8 with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvNCCPatchOnSquare8x8u8,
+/// \a fcvNCCPatchOnSquare8x8u8_v2 will be removed, and the current signature
+/// for \a fcvNCCPatchOnSquare8x8u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvNCCPatchOnSquare8x8u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param patch
+/// Pointer to 8-bit patch pixel values linearly laid out in memory.
+///
+/// @param src
+/// Pointer to 8-bit image pixel values linearly laid out in memory.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width in pixels of the image.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height in pixels of the image.
+///
+/// @param search_center_x
+/// Center X coordinate of the search window
+///
+/// @param search_center_y
+/// Center Y coordinate of the search window
+///
+/// @param search_w
+/// Width of search square in pixels
+/// \n\b WARNING: must be 11 or less.
+///
+/// @param filterLowVariance
+/// Minimum variance. Used to as threshold to compare against variance of
+/// 8x8 block of src or patch.
+///
+/// @param best_x
+/// Center X location on the image of the best NCC match. The center X has
+/// 4 pixels to the left and 3 to the right.
+///
+/// @param best_y
+/// Center Y location on the image of the best NCC match. The center Y has
+/// 4 pixels above and 3 pixels below.
+///
+/// @param bestNCC
+/// NCC value of the best match block.
+/// It's quantized to integer value in Q7 (between -128 and 128).
+///
+/// @param doSubPixel (0 or 1)
+/// Use parabolic interpolation of NCC values to find sub-pixel estimates.
+///
+/// @param subX
+/// Sub-pixel estimate for optimal NCC relative to best_x.
+/// \n e.g., float x = (float)best_x + subX;
+///
+/// @param subY
+/// Sub-pixel estimate for optimal NCC relative to best_y.
+///
+/// @return
+/// 0 = OK \n
+/// 1 = "search_radius" too large\n
+/// 2 = invalid "search_center_x,y"\n
+/// 3 = not found\n
+/// 4 = Patch has too low variance\n
+/// 5 = Image region has too low variance\n
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvNCCPatchOnSquare8x8u8_v2( const uint8_t* __restrict patch,
+ const uint8_t* __restrict src,
+ unsigned short srcWidth,
+ unsigned short srcHeight,
+ unsigned short search_center_x,
+ unsigned short search_center_y,
+ unsigned short search_w,
+ int filterLowVariance,
+ uint16_t* best_x,
+ uint16_t* best_y,
+ uint32_t* bestNCC,
+ int doSubPixel,
+ float* subX,
+ float* subY );
+
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sum of absolute differences of an image against an 8x8 template.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvSumOfAbsoluteDiffs8x8u8_v2(). In the 2.0.0 release,
+/// fcvSumOfAbsoluteDiffs8x8u8_v2 will be renamed to fcvSumOfAbsoluteDiffs8x8u8
+/// and the signature of fcvSumOfAbsoluteDiffs8x8u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// 8x8 sum of ||A-B||. The template patch is swept over the entire image and
+/// the results are put in dst.
+///
+/// @param patch
+/// 8x8 template
+///
+/// @param src
+/// Reference Image.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the src image.
+///
+/// @param srcHeight
+/// Height of the src image.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param dst
+/// The dst buffer shall be width X height bytes in length.
+/// Output of SAD(A,B). dst[4][4] correspondes to the 0,0 pixel of the template
+/// aligned with the 0,0 pixel of src. The dst border values not covered by
+/// entire 8x8 patch window will remain unmodified by the function. The caller
+/// should either initialize these to 0 or ignore.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvSumOfAbsoluteDiffs8x8u8( const uint8_t* __restrict patch,
+ const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint16_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sum of absolute differences of an image against an 8x8 template.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvSumOfAbsoluteDiffs8x8u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvSumOfAbsoluteDiffs8x8u8,
+/// \a fcvSumOfAbsoluteDiffs8x8u8_v2 will be removed, and the current signature
+/// for \a fcvSumOfAbsoluteDiffs8x8u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvSumOfAbsoluteDiffs8x8u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// 8x8 sum of ||A-B||. The template patch is swept over the entire image and
+/// the results are put in dst.
+///
+/// @param patch
+/// 8x8 template
+///
+/// @param patchStride
+/// Stride of the 8x8 template buffer
+///
+/// @param dstStride
+/// Stride of the patch (in bytes) - i.e., how many bytes between column 0 of row N
+/// and column 0 of row N+1.
+///
+/// @param src
+/// Reference Image.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the src image.
+///
+/// @param srcHeight
+/// Height of the src image.
+///
+/// @param srcStride
+/// Stride of image (in bytes) - i.e., how many bytes between column 0 of row N
+/// and column 0 of row N+1.
+///
+/// @param dst
+/// The dst buffer shall be at least ( width x height ) values in length.
+/// Output of SAD(A,B). dst[4][4]correspondes to the 0,0 pixel of the template
+/// aligned with the 0,0 pixel of src. The dst border values not covered by
+/// entire 8x8 patch window will remain unmodified by the function. The caller
+/// should either initialize these to 0 or ignore.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of destination (in bytes) - i.e., how many bytes between column 0 of row N
+/// and column 0 of row N+1.
+///
+///
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvSumOfAbsoluteDiffs8x8u8_v2( const uint8_t* __restrict patch,
+ unsigned int patchStride,
+ const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint16_t* __restrict dst,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Down-scale the image to half width and height by averaging 2x2 pixels
+/// into one.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvScaleDownBy2u8_v2(). In the 2.0.0 release,
+/// fcvScaleDownBy2u8_v2 will be renamed to fcvScaleDownBy2u8
+/// and the signature of fcvScaleDownBy2u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// A box filter downsampling the next pixel, the pixel below, and the next
+/// pixel to the pixel below into one pixel.\n
+/// | px00 px01 px02 px03 |\n
+/// | px10 px11 px12 px13 |\n
+/// to:\n
+/// | (px00+px01+px10+px11)/4 (px02+px03+px12+px13)/4 |\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+/// \n\b NOTE:must be a multiple of 2
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is srcWidth*srcHeight/4 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvScaleDownBy2u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Down-scale the image to half width and height by averaging 2x2 pixels
+/// into one.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvScaleDownBy2u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvScaleDownBy2u8,
+/// \a fcvScaleDownBy2u8_v2 will be removed, and the current signature
+/// for \a fcvScaleDownBy2u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvScaleDownBy2u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// A box filter downsampling the next pixel, the pixel below, and the next
+/// pixel to the pixel below into one pixel.\n
+/// | px00 px01 px02 px03 |\n
+/// | px10 px11 px12 px13 |\n
+/// to:\n
+/// | (px00+px01+px10+px11)/4 (px02+px03+px12+px13)/4 |\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+/// \n\b NOTE:must be a multiple of 2
+///
+/// @param srcStride
+/// Image stride (in bytes).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is dstStride*srcHeight/2 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as srcWidth/2.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth/2 if not 0.
+///
+///
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvScaleDownBy2u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Downscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvScaleDownBy2Gaussian5x5u8_v2(). In the 2.0.0 release,
+/// fcvScaleDownBy2Gaussian5x5u8_v2 will be renamed to fcvScaleDownBy2Gaussian5x5u8
+/// and the signature of fcvScaleDownBy2Gaussian5x5u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Downsamples the image using a 5x5 Gaussian filter kernel.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+/// \n\b NOTE:must be a multiple of 2
+///
+/// @param dst
+/// Output 8-bit downscale image of size (width / 2) x (height / 2).
+/// \n\b NOTE: border values have been taken cared w.r.t. the pixel coordinate.
+///
+///
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvScaleDownBy2Gaussian5x5u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Downscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvScaleDownBy2Gaussian5x5u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvScaleDownBy2Gaussian5x5u8,
+/// \a fcvScaleDownBy2Gaussian5x5u8_v2 will be removed, and the current signature
+/// for \a fcvScaleDownBy2Gaussian5x5u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvScaleDownBy2Gaussian5x5u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Downsamples the image using a 5x5 Gaussian filter kernel.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride (in bytes).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit downscale image of size (width / 2) x (height / 2).
+/// \n\b NOTE: border values have been taken cared w.r.t. the pixel coordinate.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as srcWidth/2.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth/2 if not 0.
+///
+///
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvScaleDownBy2Gaussian5x5u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Downscale the image to quarter width and height by averaging 4x4 pixels
+/// into one..
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvScaleDownBy4u8_v2(). In the 2.0.0 release,
+/// fcvScaleDownBy4u8_v2 will be renamed to fcvScaleDownBy4u8
+/// and the signature of fcvScaleDownBy4u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// A 4x4 downsampling box filter across adjacent pixels is applied.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+/// \n\b NOTE:must be a multiple of 4
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is srcWidth*srcHeight/16 bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvScaleDownBy4u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Downscale the image to quarter width and height by averaging 4x4 pixels
+/// into one..
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvScaleDownBy4u8_v2() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvScaleDownBy4u8_v2,
+/// \a fcvScaleDownBy4u8_v2 will be removed, and the current signature
+/// for \a fcvScaleDownBy4u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvScaleDownBy4u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// A 4x4 downsampling box filter across adjacent pixels is applied.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+/// \n\b NOTE:must be a multiple of 4
+///
+/// @param srcStride
+/// Image stride (in bytes).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is dstStride*srcHeight/4 bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as srcWidth/4.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth/4 if not 0.
+///
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvScaleDownBy4u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Downscale the image to 2/3 width and height by averaging 3x3 pixels
+/// into one..
+///
+/// @details
+/// A 3x3 downsampling box filter across adjacent pixels is applied.
+///
+/// @param src
+/// Input 8-bit image.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: In case of non multiple of 3, it will crop to the closest multiple of 3
+///
+/// @param srcHeight
+/// Image height.
+/// \n\b NOTE: In case of non multiple of 3, it will crop to the closest multiple of 3
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2). If 0 is passed, srcStride is set to srcWidth.
+///
+/// @param dst
+/// Output 8-bit image.
+/// \n\b WARNING: should be 128-bit aligned.
+/// Memory must be pre-allocated at least srcWidth * srcHeight * 2 / 3
+/// dstWidth = srcWidth/3*2
+/// dstHeight = srcHeight/3*2
+///
+/// @param dstStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2). If 0 is passed, dstStride is set to dstWidth which is srcWidth *2/3.
+///
+/// @return
+/// 0 if successful
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvScaleDown3To2u8( const uint8_t* __restrict src,
+ unsigned srcWidth,
+ unsigned srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Downsample Horizontaly and/or Vertically by an *integer* scale.
+///
+/// @details
+/// Uses Nearest Neighbor method
+///
+/// @param src
+/// Input 8-bit image.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Source Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Source Image height.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2). If 0 is passed, srcStride is set to srcWidth.
+///
+/// @param dst
+/// Output 8-bit image.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Destination Image width.
+///
+/// @param dstHeight
+/// Destination Image height.
+///
+/// @param dstStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2). If 0 is passed, dstStride is set to dstWidth which is srcWidth *2/3.
+///
+/// @return
+/// 0 if successful
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvScaleDownNNu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstWidth,
+ unsigned int dstHeight,
+ unsigned int dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Downsample Horizontaly and/or Vertically by an *integer* scale.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvScaleDownu8_v2(). In the 2.0.0 release,
+/// fcvScaleDownu8_v2 will be renamed to fcvScaleDownu8
+/// and the signature of fcvScaleDownu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Uses an box averaging filter of size MxN where M is the scale factor
+/// in horizontal dimension and N is the scale factor in the vertical
+/// dimension.
+/// \n \b NOTE: input dimensions should be multiple of output dimensions.
+/// \n NOTE: On different processors, some output pixel values may be off by 1
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Source Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Source Image height.
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is dstWidth*dstHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Destination Image width.
+///
+/// @param dstHeight
+/// Destination Image height.
+///
+///
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvScaleDownu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst,
+ unsigned int dstWidth,
+ unsigned int dstHeight );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Downsample Horizontaly and/or Vertically by an *integer* scale.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvScaleDownu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvScaleDownu8,
+/// \a fcvScaleDownu8_v2 will be removed, and the current signature
+/// for \a fcvScaleDownu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvScaleDownu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Uses an box averaging filter of size MxN where M is the scale factor
+/// in horizontal dimension and N is the scale factor in the vertical
+/// dimension
+/// \n \b NOTE: input dimensions should be multiple of output dimensions.
+/// \n NOTE: On different processors, some output pixel values may be off by 1
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Source Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Source Image height.
+///
+/// @param srcStride
+/// Image stride (in bytes).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is dstStride*dstHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Destination Image width.
+///
+/// @param dstHeight
+/// Destination Image height.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
+///
+///
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvScaleDownu8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstWidth,
+ unsigned int dstHeight,
+ unsigned int dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Upscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvScaleUpBy2Gaussian5x5u8_v2(). In the 2.0.0 release,
+/// fcvScaleUpBy2Gaussian5x5u8_v2 will be renamed to fcvScaleUpBy2Gaussian5x5u8
+/// and the signature of fcvScaleUpBy2Gaussian5x5u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Upsamples the image using a 5x5 Gaussian filter kernel.
+/// /n/b NOTE: border values have been taken care with Gaussion coefficients.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output 8-bit upsampled image of size (2*width) x (2*height).
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvScaleUpBy2Gaussian5x5u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Upscale a grayscale image by a factor of two using a 5x5 Gaussian filter kernel
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvScaleUpBy2Gaussian5x5u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvScaleUpBy2Gaussian5x5u8,
+/// \a fcvScaleUpBy2Gaussian5x5u8_v2 will be removed, and the current signature
+/// for \a fcvScaleUpBy2Gaussian5x5u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvScaleUpBy2Gaussian5x5u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Upsamples the image using a 5x5 Gaussian filter kernel.
+/// /n/b NOTE: border values have been taken care with Gaussion coefficients.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcStride
+/// Image stride (in bytes).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output 8-bit upsampled image of size (2*dstStride) x (2*srcHeight).
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as srcWidth*2.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth*2 if not 0.
+///
+///
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvScaleUpBy2Gaussian5x5u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Translate to float and normalize 36 8-bit elements
+///
+/// @param src
+/// Pointer to the first input vector
+///
+/// @param invLen
+/// Pointer to inverse length of the first input vector
+/// located right after each 36 element vector
+///
+/// @param numVecs
+/// Number of vectors to translate
+///
+/// @param reqNorm
+/// Required norm
+///
+/// @param srcStride
+/// Step in bytes to data of the next vector
+/// Each vector has 36 8-bit elements and 1 float invLen
+///
+/// @param dst
+/// Pointer to contiguous block for output vectors
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param stopBuild
+/// Allows other threads to break this function in the middle of processing.
+/// When set to 1, the function will exit on the next iteration.
+///
+/// @return
+/// 0 - success
+/// EFAULT - invalid address
+/// EINVAL - invalid argument
+///
+/// @ingroup math_vector
+// -----------------------------------------------------------------------------
+
+FASTCV_API int
+fcvVecNormalize36s8f32( const int8_t* __restrict src,
+ unsigned int srcStride,
+ const float* __restrict invLen,
+ unsigned int numVecs,
+ float reqNorm,
+ float* __restrict dst,
+ int32_t* stopBuild );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Sum of squared differences of one 36-byte vector against 4 others.
+///
+/// @details
+/// SSD of one vector (a) against 4 others (b0,b1,b2,b3) using their given
+/// inverse lengths for normalization.
+/// \n\n SSD(a,b0), SSD(a,b1), SSD(a,b2), SSD(a,b3)
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param invLenA
+/// Inverse of vector A = 1/|A|
+///
+/// @param b0
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b1
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b2
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param b3
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param invLenB
+/// Inverse of vectors b0...b3 = 1/|b0|,... 1/|b3|
+/// \n\b WARNING: array should be 128-bit aligned
+///
+/// @param distances
+/// Output of the 4 results { SSD(a,b0), SSD(a,b1), SSD(a,b2), SSD(a,b3) }.
+/// \n ACCURACY: 1.0e-6
+/// \n\b WARNING: array should be 128-bit aligned
+///
+///
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvSumOfSquaredDiffs36x4s8( const int8_t* __restrict a,
+ float invLenA,
+ const int8_t* __restrict b0,
+ const int8_t* __restrict b1,
+ const int8_t* __restrict b2,
+ const int8_t* __restrict b3,
+ const float* __restrict invLenB,
+ float* __restrict distances );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Sum of squared differences of one 36-byte vector against N others.
+///
+/// @details
+/// SSD of one vector (a) against N other 36-byte vectors
+/// ( b[0], b[1], ..., b[n-1] )
+/// using their given inverse lengths for normalization.
+/// \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param invLenA
+/// Inverse of vector A = 1/|A|
+///
+/// @param b
+/// Vectors b[0]...b[n-1].
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param invLenB
+/// Inverse of vectors b[0]...b[n-1] = 1/|b[0]|,... 1/|b[n-1]|
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param numB
+/// Number of B vectors.
+///
+/// @param distances
+/// Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }.
+/// \n ACCURACY: 1.0e-6
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvSumOfSquaredDiffs36xNs8( const int8_t* __restrict a,
+ float invLenA,
+ const int8_t* const * __restrict b,
+ const float* __restrict invLenB,
+ unsigned int numB,
+ float* __restrict distances );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Sorting of 8 float numbers
+///
+/// @details
+/// Perform sorting of 8 scores in ascending order (output of SumOfSquaredDiffs)
+///
+/// @param inScores
+/// Input 8 element float array
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param outScores
+/// Output is 8 element sorted float array
+/// \n\b WARNING: array should be 128-bit aligned
+///
+///
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvSort8Scoresf32( float* __restrict inScores, float* __restrict outScores );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Binarizes a grayscale image based on a threshold value.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterThresholdu8_v2(). In the 2.0.0 release,
+/// fcvFilterThresholdu8_v2 will be renamed to fcvFilterThresholdu8
+/// and the signature of fcvFilterThresholdu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Sets the pixel to max(255) if it's value is greater than the threshold;
+/// else, set the pixel to min(0).
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output 8-bit binarized image. Size of buffer is srcWidth*srcHeight bytes.
+/// If src equals to dst, it will do in-place.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param threshold
+/// Threshold value for binarization.
+/// \n\b WARNING: must be larger than 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvFilterThresholdu8( const uint8_t* src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* dst,
+ unsigned int threshold );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Binarizes a grayscale image based on a threshold value.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterThresholdu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterThresholdu8,
+/// \a fcvFilterThresholdu8_v2 will be removed, and the current signature
+/// for \a fcvFilterThresholdu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterThresholdu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Sets the pixel to max(255) if it's value is greater than the threshold;
+/// else, set the pixel to min(0).
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
+/// If src equals to dst and srcStride equals to dstStride, it will do in-place.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param threshold
+/// Threshold value for binarization.
+/// \n\b WARNING: must be larger than 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterThresholdu8_v2( const uint8_t* src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* dst,
+ unsigned int dstStride,
+ unsigned int threshold );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Binarizes a grayscale image based on a threshold value.
+/// The binarized image will be in the two values selected by user.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterThresholdu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterThresholdu8,
+/// \a fcvFilterThresholdu8_v3 will be removed, and the current signature
+/// for \a fcvFilterThresholdu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterThresholdu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Sets the pixel to max(255) if it's value is greater than the threshold;
+/// else, set the pixel to min(0).
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
+/// If src equals to dst and srcStride equals to dstStride, it will do in-place.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param threshold
+/// Threshold value for binarization.
+/// \n\b WARNING: must be larger than 0.
+///
+/// @param trueValue
+/// The value in type of uint8_t assigned to the destination pixel if the source is larger than threshold
+///
+/// @param falseValue
+/// The value in type of uint8_t assigned to the destination pixel if the source is smaller than or equal to threshold
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterThresholdu8_v3( const uint8_t* src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* dst,
+ unsigned int dstStride,
+ unsigned int threshold,
+ uint8_t trueValue,
+ uint8_t falseValue);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Binarizes a grayscale image based on a pair of threshold values.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterThresholdRangeu8_v2(). In the 2.0.0 release,
+/// fcvFilterThresholdRangeu8_v2 will be renamed to fcvFilterThresholdRangeu8
+/// and the signature of fcvFilterThresholdRangeu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Sets the pixel to min(0) if it's value is greater than the higher threshold
+/// or smaller than the lower threshold;
+/// else, set the pixel to max(255).
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
+/// If src equals to dst and srcStride equals to dstStride, it will do in-place.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param lowThresh
+/// The lower threshold value for binarization.
+///
+/// @param highThresh
+/// The higher threshold value for binarization.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterThresholdRangeu8( const uint8_t* src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* dst,
+ uint32_t dstStride,
+ uint8_t lowThresh,
+ uint8_t highThresh );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Binarizes a grayscale image based on a pair of threshold values.
+/// The binarized image will be in the two values selected by user.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterThresholdRangeu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterThresholdRangeu8,
+/// \a fcvFilterThresholdRangeu8_v2 will be removed, and the current signature
+/// for \a fcvFilterThresholdRangeu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterThresholdRangeu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Sets the pixel to min(0) if it's value is greater than the higher threshold
+/// or smaller than the lower threshold;
+/// else, set the pixel to max(255).
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit binarized image. Size of buffer is dstStride*srcHeight bytes.
+/// If src equals to dst and srcStride equals to dstStride, it will do in-place.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param lowThresh
+/// The lower threshold value for binarization.
+///
+/// @param highThresh
+/// The higher threshold value for binarization.
+///
+/// @param trueValue
+/// The value in type of uint8_t assigned to the destination pixel if the source is
+/// within the range inclusively defined by the pair of threshold values
+///
+/// @param falseValue
+/// The value in type of uint8_t assigned to the destination pixel if the source is
+/// out of the range defined by the pair of threshold values
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterThresholdRangeu8_v2( const uint8_t* src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* dst,
+ uint32_t dstStride,
+ uint8_t lowThresh,
+ uint8_t highThresh,
+ uint8_t trueValue,
+ uint8_t falseValue);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dilate a grayscale image by taking the local maxima of 3x3 neighborhood window.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterDilate3x3u8_v2(). In the 2.0.0 release,
+/// fcvFilterDilate3x3u8_v2 will be renamed to fcvFilterDilate3x3u8
+/// and the signature of fcvFilterDilate3x3u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output 8-bit dilated image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterDilate3x3u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dilate a grayscale image by taking the local maxima of 3x3 neighborhood window.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterDilate3x3u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterDilate3x3u8,
+/// \a fcvFilterDilate3x3u8_v2 will be removed, and the current signature
+/// for \a fcvFilterDilate3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterDilate3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit dilated image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterDilate3x3u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Erode a grayscale image by taking the local minima of 3x3 neighborhood window.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterErode3x3u8_v2(). In the 2.0.0 release,
+/// fcvFilterErode3x3u8_v2 will be renamed to fcvFilterErode3x3u8
+/// and the signature of fcvFilterErode3x3u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output 8-bit eroded image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterErode3x3u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Erode a grayscale image by taking the local minima of 3x3 nbhd window.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterErode3x3u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterErode3x3u8,
+/// \a fcvFilterErode3x3u8_v2 will be removed, and the current signature
+/// for \a fcvFilterErode3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterErode3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit eroded image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterErode3x3u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Warps the patch centered at nPos in the input image using the affine
+/// transform in nAffine
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvTransformAffine8x8u8_v2(). In the 2.0.0 release,
+/// fcvTransformAffine8x8u8_v2 will be renamed to fcvTransformAffine8x8u8
+/// and the signature of fcvTransformAffine8x8u8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image. Size of buffer is srcWidth*srcHeight bytes.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param nPos[ 2 ]
+/// Position in the image in 32 bit fixed point (Q16)
+/// \n\b NOTE: if any 1 coordinates of the warped square are inside the image, return 1 and
+/// \n leave function. Otherwise, return 0.
+/// \n\b WARNING: must be 64-bit aligned.
+///
+/// @param nAffine[ 2 ][ 2 ]
+/// Transformation matrix in 32 bit fixed point (Q16). The matrix stored
+/// in nAffine is using row major ordering: \n
+/// a11, a12, a21, a22 where the matrix is: \n
+/// | a11, a12 |\n
+/// | a21, a22 |\n
+///
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param nPatch
+/// Transformed patch.
+///
+/// @return
+/// 0 if the transformation is valid
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvTransformAffine8x8u8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ const int32_t* __restrict nPos,
+ const int32_t* __restrict nAffine,
+ uint8_t* __restrict nPatch );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Warps the patch centered at nPos in the input image using the affine
+/// transform in nAffine
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvTransformAffine8x8u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvTransformAffine8x8u8,
+/// \a fcvTransformAffine8x8u8_v2 will be removed, and the current signature
+/// for \a fcvTransformAffine8x8u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvTransformAffine8x8u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Stride of image (in bytes) - i.e., how many bytes between column 0 of row N
+/// and column 0 of row N+1.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: must be at least as much as srcWidth if not 0.
+///
+/// @param nPos[ 2 ]
+/// Position in the image in 32 bit fixed point (Q16)
+/// \n\b NOTE: if any 1 coordinates of the warped square are inside the image, return 1 and
+/// \n leave function. Otherwise, return 0.
+/// \n\b WARNING: must be 64-bit aligned.
+///
+/// @param nAffine[ 2 ][ 2 ]
+/// Transformation matrix in 32 bit fixed point (Q16). The matrix stored
+/// in nAffine is using row major ordering: \n
+/// a11, a12, a21, a22 where the matrix is: \n
+/// | a11, a12 |\n
+/// | a21, a22 |\n
+///
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param patch
+/// Transformed patch.
+///
+/// @param patchStride
+/// Stride of patch (in bytes) - i.e., how many bytes between column 0 of row N
+/// and column 0 of row N+1.
+/// \n\b NOTE: if 0, srcStride is set as 8.
+/// \n\b WARNING: must be at least as much as 8 if not 0.
+///
+/// @return
+/// 0 if the transformation is valid
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvTransformAffine8x8u8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ const int32_t* __restrict nPos,
+ const int32_t* __restrict nAffine,
+ uint8_t* __restrict patch,
+ unsigned int patchStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Warps a grayscale image using the a perspective projection transformation
+/// matrix (also known as a homography). This type of transformation is an
+/// invertible transformation which maps straight lines to straight lines.
+/// Bi-linear interpolation is used where applicable.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvWarpPerspectiveu8_v2(). In the 2.0.0 release,
+/// fcvWarpPerspectiveu8_v2 will be renamed to fcvWarpPerspectiveu8
+/// and the signature of fcvWarpPerspectiveu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Warps an image taking into consideration the perspective scaling.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Input image height.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param dst
+/// Warped output image. Size of buffer is dstWidth*dstHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Dst image width.
+/// \n\b NOTE: data should be multiple of 8.
+///
+/// @param dstHeight
+/// Dst image height.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param projectionMatrix
+/// 3x3 perspective transformation matrix (generally a homography). The
+/// matrix stored in homography is row major ordering: \n
+/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
+/// | a11, a12, a13 |\n
+/// | a21, a22, a23 |\n
+/// | a31, a32, a33 |\n
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// Note:
+/// The projection matrix follows the so-called inverse mapping convention.
+/// It is applied to the dst coordinates to produce the corresponding
+/// src coordinates. In other 3rd party tools, the so-called forward mapping
+/// convention may be used, where the projection matrix refers to the one
+/// applied to the src coordinates to produce the dst coordinates.
+/// When comparing with 3rd party results, please make sure
+/// the same convention of projection matrices are assumed. If not,
+/// please transform the projection matrix into an equivalent form under
+/// the forward mapping convention before feeding it into 3rd party tools.
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvWarpPerspectiveu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst,
+ unsigned int dstWidth,
+ unsigned int dstHeight,
+ float* __restrict projectionMatrix );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Warps a grayscale image using the a perspective projection transformation
+/// matrix (also known as a homography). This type of transformation is an
+/// invertible transformation which maps straight lines to straight lines.
+/// Bi-linear interpolation is used where applicable.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvWarpPerspectiveu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvWarpPerspectiveu8,
+/// \a fcvWarpPerspectiveu8_v2 will be removed, and the current signature
+/// for \a fcvWarpPerspectiveu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Warps an image taking into consideration the perspective scaling.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Input image height.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcStride
+/// Input image stride (in bytes).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Warped output image. Size of buffer is dstStride*dstHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Dst image width.
+/// \n\b NOTE: data should be multiple of 8.
+///
+/// @param dstHeight
+/// Dst image height.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param dstStride
+/// Output image stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
+///
+/// @param projectionMatrix
+/// 3x3 perspective transformation matrix (generally a homography). The
+/// matrix stored in homography is row major ordering: \n
+/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
+/// | a11, a12, a13 |\n
+/// | a21, a22, a23 |\n
+/// | a31, a32, a33 |\n
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// Note:
+/// The projection matrix follows the so-called inverse mapping convention.
+/// It is applied to the dst coordinates to produce the corresponding
+/// src coordinates. In other 3rd party tools, the so-called forward mapping
+/// convention may be used, where the projection matrix refers to the one
+/// applied to the src coordinates to produce the dst coordinates.
+/// When comparing with 3rd party results, please make sure
+/// the same convention of projection matrices are assumed. If not,
+/// please transform the projection matrix into an equivalent form under
+/// the forward mapping convention before feeding it into 3rd party tools.
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvWarpPerspectiveu8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstWidth,
+ unsigned int dstHeight,
+ unsigned int dstStride,
+ float* __restrict projectionMatrix );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Warps a 3 color channel image based on a 3x3 perspective projection matrix using
+/// bilinear interpolation.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcv3ChannelWarpPerspectiveu8_v2(). In the 2.0.0 release,
+/// fcv3ChannelWarpPerspectiveu8_v2 will be renamed to fcv3ChannelWarpPerspectiveu8
+/// and the signature of fcv3ChannelWarpPerspectiveu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image. Size of buffer is srcWidth*srcHeight*3 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Input image height.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param dst
+/// Warped output image. Size of buffer is dstWidth*dstHeight*3 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Output image width.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param dstHeight
+/// Output image height.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param projectionMatrix
+/// 3x3 perspective transformation matrix (generally a homography). The
+/// matrix stored in homography is row major ordering: \n
+/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
+/// | a11, a12, a13 |\n
+/// | a21, a22, a23 |\n
+/// | a31, a32, a33 |\n
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// Note:
+/// The projection matrix follows the so-called inverse mapping convention.
+/// It is applied to the dst coordinates to produce the corresponding
+/// src coordinates. In other 3rd party tools, the so-called forward mapping
+/// convention may be used, where the projection matrix refers to the one
+/// applied to the src coordinates to produce the dst coordinates.
+/// When comparing with 3rd party results, please make sure
+/// the same convention of projection matrices are assumed. If not,
+/// please transform the projection matrix into an equivalent form under
+/// the forward mapping convention before feeding it into 3rd party tools.
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcv3ChannelWarpPerspectiveu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ uint8_t* __restrict dst,
+ unsigned int dstWidth,
+ unsigned int dstHeight,
+ float* __restrict projectionMatrix );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Warps a 3 color channel image based on a 3x3 perspective projection
+/// matrix using bilinear interpolation.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcv3ChannelWarpPerspectiveu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcv3ChannelWarpPerspectiveu8,
+/// \a fcv3ChannelWarpPerspectiveu8_v2 will be removed, and the current signature
+/// for \a fcv3ChannelWarpPerspectiveu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcv3ChannelWarpPerspectiveu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcHeight
+/// Input image height.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcStride
+/// Input image stride (in bytes).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth*3.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth*3 if not 0.
+///
+/// @param dst
+/// Warped output image. Size of buffer is dstStride*dstHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Output image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param dstHeight
+/// Output image height.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param dstStride
+/// Output image stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as dstWidth*3.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth*3 if not 0.
+///
+/// @param projectionMatrix
+/// 3x3 perspective transformation matrix (generally a homography). The
+/// matrix stored in homography is row major ordering: \n
+/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
+/// | a11, a12, a13 |\n
+/// | a21, a22, a23 |\n
+/// | a31, a32, a33 |\n
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// Note:
+/// The projection matrix follows the so-called inverse mapping convention.
+/// It is applied to the dst coordinates to produce the corresponding
+/// src coordinates. In other 3rd party tools, the so-called forward mapping
+/// convention may be used, where the projection matrix refers to the one
+/// applied to the src coordinates to produce the dst coordinates.
+/// When comparing with 3rd party results, please make sure
+/// the same convention of projection matrices are assumed. If not,
+/// please transform the projection matrix into an equivalent form under
+/// the forward mapping convention before feeding it into 3rd party tools.
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcv3ChannelWarpPerspectiveu8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ uint8_t* __restrict dst,
+ unsigned int dstWidth,
+ unsigned int dstHeight,
+ unsigned int dstStride,
+ float* __restrict projectionMatrix );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// General function for computing cluster centers and cluster bindings
+/// for a set of points of dimension dim.
+///
+/// @param points
+/// Array of all points. Array size must be greater than
+/// numPoints * dim.
+///
+/// @param numPoints
+/// Number of points in points array.
+///
+/// @param dim
+/// dimension, e.g. 36
+///
+/// @param pointStride
+/// Byte distance between adjacent points in array
+///
+/// @param indices
+/// Array of point indices in points array. Processing will only
+/// occur on points whose indices are in this array. Each index in array
+/// must be smaller numPoints.
+///
+/// @param numIndices
+/// Length of indices array. numIndieces must be <= numPoints.
+///
+/// @param numClusters
+/// Number of cluster centers
+///
+/// @param clusterCenters
+/// current cluster centers;
+/// elements are distant by clusterCenterStride
+///
+/// @param clusterCenterStride
+/// byte distance between adjacent cluster centers in array
+///
+/// @param newClusterCenters
+/// array for new cluster centers; should be numClusterCenters long
+///
+/// @param clusterMemberCounts
+/// Element counts for each cluster; should be numClusterCenters long
+///
+/// @param clusterBindings
+/// Output indices of the clusters to which each vector belongs to, array must
+/// be numIndices long.
+///
+/// @param sumOfClusterDistances
+/// Array for sum of distances of cluster elements to cluster centers;
+/// Must be numClusters long
+///
+/// @return
+/// 0 if successfully clustered, otherwise error code
+///
+/// @remark
+/// This is general clusterer. There are no assumptions on points other
+/// than they belong to a vector space
+///
+///
+///
+/// @ingroup clustering_and_search
+//---------------------------------------------------------------------------
+
+FASTCV_API int
+fcvClusterEuclideanf32( const float* __restrict points,
+ int numPoints, // actually not used but helpful
+ int dim,
+ int pointStride,
+ const size_t* __restrict indices,
+ int numIndices,
+ int numClusters,
+ float* __restrict clusterCenters,
+ int clusterCenterStride,
+ float* __restrict newClusterCenters,
+ size_t* __restrict clusterMemberCounts,
+ size_t* __restrict clusterBindings,
+ float* sumOfClusterDistances );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Function for computing cluster centers and cluster bindings
+/// for a set of normalized points of dimension dim. Cluster centers
+/// are also normalized (see remark below)
+///
+/// @param points
+/// Array of all points. Array size must be greater than
+/// numPoints * dim.
+///
+/// @param numPoints
+/// Number of points in points array.
+///
+/// @param dim
+/// dimension, e.g. 36
+///
+/// @param pointStride
+/// Byte distance between adjacent points in array
+///
+/// @param indices
+/// Array of point indices in points array. Processing will only
+/// occur on points whose indices are in this array. Each index in array
+/// must be smaller numPoints.
+///
+/// @param numIndices
+/// Length of indices array. numIndieces must be <= numPoints.
+///
+/// @param numClusters
+/// Number of cluster centers
+///
+/// @param clusterCenters
+/// current cluster centers;
+/// elements are distant by clusterCenterStride
+///
+/// @param clusterCenterStride
+/// byte distance between adjacent cluster centers in array
+///
+/// @param newClusterCenters
+/// array for new cluster centers; should be numClusterCenters long
+///
+/// @param clusterMemberCounts
+/// Element counts for each cluster; should be numClusterCenters long
+///
+/// @param clusterBindings
+/// Output indices of the clusters to which each vector belongs to, a
+/// rray must be numIndices long.
+///
+/// @param sumOfClusterDistances
+/// Array for sum of distances of cluster elements to cluster centers;
+/// Must be numClusters long
+///
+/// @return
+/// 0 if successfully clustered, otherwise error code
+///
+/// @remark
+/// this function assumes that points are normalized (e.g. NFT4
+/// descriptors). Cluster centers are also normalized. Normalized points
+/// are on a surface of unit sphere which is not a vector space but
+/// curved manifold of dimension (dim-1) embeded in Euclidean vector space
+/// of dimension dim
+///
+/// @ingroup clustering_and_search
+//---------------------------------------------------------------------------
+
+FASTCV_API int
+fcvClusterEuclideanNormedf32( const float* __restrict points,
+ int numPoints,
+ int dim,
+ int pointStride,
+ const size_t* __restrict indices,
+ int numIndices,
+ int numClusters,
+ float* __restrict clusterCenters,
+ int clusterCenterStride,
+ float* __restrict newClusterCenters,
+ size_t* __restrict clusterMemberCounts,
+ size_t* __restrict clusterBindings,
+ float* sumOfClusterDistances );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Function for computing cluster centers and cluster bindings
+/// for a set of normalized points of dimension 36. Cluster centers
+/// are also normalized (see remark below)
+///
+/// @param points
+/// Array of all points. Array size must be greater than
+/// numPoints * 36.
+///
+/// @param numPoints
+/// Number of points in points array.
+///
+/// @param pointStride
+/// Byte distance between adjacent points in array
+///
+/// @param indices
+/// Array of point indices in points array. Processing will only
+/// occur on points whose indices are in this array. Each index in array
+/// must be smaller numPoints.
+///
+/// @param numIndices
+/// Length of indices array. numIndieces must be <= numPoints.
+///
+/// @param numClusters
+/// Number of cluster centers
+///
+/// @param clusterCenters
+/// current cluster centers;
+/// elements are distant by clusterCenterStride
+///
+/// @param clusterCenterStride
+/// byte distance between adjacent cluster centers in array
+///
+/// @param newClusterCenters
+/// array for new cluster centers; should be numClusterCenters long
+///
+/// @param clusterMemberCounts
+/// Element counts for each cluster; should be numClusterCenters long
+///
+/// @param clusterBindings
+/// Output indices of the clusters to which each vector belongs to, a
+/// rray must be numIndices long.
+///
+/// @param sumOfClusterDistances
+/// Array for sum of distances of cluster elements to cluster centers;
+/// Must be numClusters long
+///
+/// @return
+/// 0 if successfully clustered, otherwise error code
+///
+/// @remark
+/// this function assumes that points are normalized (e.g. NFT4
+/// descriptors). Cluster centers are also normalized. Normalized points
+/// are on a surphace of unit sphere which is not a vector space but
+/// curved manifold of dimension (dim-1) embeded in Euclidean vector space
+/// of dimension dim
+///
+/// @ingroup clustering_and_search
+//---------------------------------------------------------------------------
+
+FASTCV_API int
+fcvClusterEuclideanNormed36f32( const float* __restrict points,
+ int numPoints,
+ int pointStride,
+ const size_t* __restrict indices,
+ int numIndices,
+ int numClusters,
+ float* __restrict clusterCenters,
+ int clusterCenterStride,
+ float* __restrict newClusterCenters,
+ size_t* __restrict clusterMemberCounts,
+ size_t* __restrict clusterBindings,
+ float* sumOfClusterDistances );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Blur with 5x5 Gaussian filter
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterGaussian5x5s16_v2(). In the 2.0.0 release,
+/// fcvFilterGaussian5x5s16_v2 will be renamed to fcvFilterGaussian5x5s16
+/// and the signature of fcvFilterGaussian5x5s16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Convolution with 5x5 Gaussian kernel:
+/// \n 1 4 6 4 1
+/// \n 4 16 24 16 4
+/// \n 6 24 36 24 6
+/// \n 4 16 24 16 4
+/// \n 1 4 6 4 1
+///
+/// @param src
+/// Input int data (can be sq. of gradient, etc).
+/// \n\b NOTE: Size of buffer is srcWidth*srcHeight*2 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output int data. Size of buffer is srcWidth*srcHeight*2 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param blurBorder
+/// If set to 0, border is ignored.
+/// If set to 1, border is blurred by 0-padding adjacent values.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterGaussian5x5s16( const int16_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ int16_t* __restrict dst,
+ int blurBorder );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Blur with 5x5 Gaussian filter
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterGaussian5x5s16() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterGaussian5x5s16,
+/// \a fcvFilterGaussian5x5s16_v2 will be removed, and the current signature
+/// for \a fcvFilterGaussian5x5s16 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterGaussian5x5s16 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Convolution with 5x5 Gaussian kernel:
+/// \n 1 4 6 4 1
+/// \n 4 16 24 16 4
+/// \n 6 24 36 24 6
+/// \n 4 16 24 16 4
+/// \n 1 4 6 4 1
+///
+/// @param src
+/// Input int data (can be sq. of gradient, etc).
+/// Size of buffer is srcStride*srcHeight*2 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth*2.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
+///
+/// @param dst
+/// Output int data. Size of buffer is dstStride*srcHeight*2 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride in bytes.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth*2.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
+///
+/// @param blurBorder
+/// If set to 0, border is ignored.
+/// If set to 1, border is blurred by 0-padding adjacent values.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterGaussian5x5s16_v2( const int16_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict dst,
+ unsigned int dstStride,
+ int blurBorder );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Blur with 5x5 Gaussian filter
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterGaussian5x5s32_v2(). In the 2.0.0 release,
+/// fcvFilterGaussian5x5s32_v2 will be renamed to fcvFilterGaussian5x5s32
+/// and the signature of fcvFilterGaussian5x5s32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Convolution with 5x5 Gaussian kernel:
+/// \n 1 4 6 4 1
+/// \n 4 16 24 16 4
+/// \n 6 24 36 24 6
+/// \n 4 16 24 16 4
+/// \n 1 4 6 4 1
+///
+/// @param src
+/// Input int data (can be sq. of gradient, etc).
+/// Size of buffer is srcWidth*srcHeight*4 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param dst
+/// Output int data. Size of buffer is srcWidth*srcHeight*4 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param blurBorder
+/// If set to 0, border is ignored.
+/// If set to 1, border is blurred by 0-padding adjacent values.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterGaussian5x5s32( const int32_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ int32_t* __restrict dst,
+ int blurBorder );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Blur with 5x5 Gaussian filter
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterGaussian5x5s32() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterGaussian5x5s32,
+/// \a fcvFilterGaussian5x5s32_v2 will be removed, and the current signature
+/// for \a fcvFilterGaussian5x5s32 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterGaussian5x5s32 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Convolution with 5x5 Gaussian kernel:
+/// \n 1 4 6 4 1
+/// \n 4 16 24 16 4
+/// \n 6 24 36 24 6
+/// \n 4 16 24 16 4
+/// \n 1 4 6 4 1
+///
+/// @param src
+/// Input int data (can be sq. of gradient, etc).
+/// Size of buffer is srcStride*srcHeight*4 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Input Image stride in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth*sizeof(int32_t).
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output int data. Size of buffer is dstStride*srcHeight*4 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output Image stride in bytes.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth*sizeof(int32_t).
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param blurBorder
+/// If set to 0, border is ignored.
+/// If set to 1, border is blurred by 0-padding adjacent values.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFilterGaussian5x5s32_v2( const int32_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int32_t* __restrict dst,
+ unsigned int dstStride,
+ int blurBorder );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Segments an image (3 or 1 channel) into meaningful regions,
+/// depending on the color or gray scale uniformity of the neighborhood pixels.
+///
+/// @param src
+/// Pointer to 8-bit color (3-channel) or grayscale (1-channel) image.
+///
+/// @param srcWidth
+/// Width of src image, measured by pixels.
+///
+/// @param srcHeight
+/// Height of src image, measured by pixels.
+///
+/// @param srcStride
+/// Stride of src image, measured by bytes.
+/// WARNING: should be multiple of 8, and at least as much as srcWidth*numChannel if not 0.
+///
+/// @param numChannel
+/// Number of channels of src image. 1 for gray scale and 3 for color image.
+///
+/// @param thresholdSplit
+/// Threshold for region split. Higher value: larger uniform region segmented.
+/// Range of 3-channel image segmentation 20~500: 20~50 for heavy over-segmentation, 50~100 for median over-segmentation, 100~150 for light over-segmentation, 150~250 for normal segmentation, 250~400 for light under-segmentation, 400~500 for heavy under-segmentation.
+/// Range of 1-channel image segmentation 3~150: 3~10 for heavy over-segmentation, 10~15 for median over-segmentation, 15~25 for light over-segmentation, 25~50 for normal segmentation, 50~75 for light under-segmentation, 75~150 for heavy under-segmentation.
+///
+/// @param thresholdMerge
+/// Threshold for region merge, measured by the region area (pixels). Higher value: larger uniform region segmented. Range 10~1000 for VGA size image.
+/// Range of 3-channel image segmentation 10~1000: 10~30 for heavy over-segmentation, 30~60 for median over-segmentation, 60~150 for light over-segmentation, 150~400 for normal segmentation, 400~600 for light under-segmentation, 600~1000 for heavy under-segmentation.
+/// Same for the 1-channel image.
+/// For other image size, please tune the thresholdMerge value proportional to the VGA size.
+///
+/// @param segLabel
+/// Segmented labels. 1 channel with same size of src. Pixel belonging to the same region is uniformly labeled by a non-zero number.
+///
+/// @param segLabelStride
+/// Stride of segmented labels, measured by bytes.
+/// WARNING: should be multiple of 8, and at least as much as srcWidth*4 if not 0.
+///
+/// @param data
+/// data buffer for inner function buffer allocation. The buffer size is recommended below,
+/// for 3-channel image: *data = (uint8_t *) malloc ( srcWidth*srcHeight*18*sizeof(uint8_t) );
+/// for 1-channel image: *data = (uint8_t *) malloc ( srcWidth*srcHeight*16*sizeof(uint8_t) );
+///
+/// @return
+/// 0 if successful.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+FASTCV_API uint32_t
+fcvImageSegmentationRegionGrow( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t numChannel,
+ uint32_t thresholdSplit,
+ uint32_t thresholdMerge,
+ uint32_t* __restrict segLabel,
+ uint32_t segLabelStride,
+ uint8_t* __restrict data );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Warps the patch centered at nPos in the input image using the affine
+/// transform in nAffine
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvTransformAffineu8_v2(). In the 2.0.0 release,
+/// fcvTransformAffineu8_v2 will be renamed to fcvTransformAffineu8
+/// and the signature of fcvTransformAffineu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image. Size of buffer is srcWidth*srcHeight bytes.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param position[ 2 ]
+/// Position in the image
+/// \n\b WARNING: must be 64-bit aligned.
+///
+/// @param affine[ 2 ][ 2 ]
+/// Transformation matrix. The matrix stored
+/// in affine is using row major ordering: \n
+/// a11, a12, a21, a22 where the matrix is: \n
+/// | a11, a12 |\n
+/// | a21, a22 |\n
+///
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param patch
+/// Transformed patch.
+///
+/// @param patchWidth
+/// Patch width.
+///
+/// @param patchHeight
+/// Patch height.
+///
+/// @return
+/// 0 if the transformation is valid
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API int
+fcvTransformAffineu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ const float* __restrict position,
+ const float* __restrict affine,
+ uint8_t* __restrict patch,
+ unsigned int patchWidth,
+ unsigned int patchHeight );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Warps the patch centered at nPos in the input image using the affine
+/// transform in nAffine
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvTransformAffineu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvTransformAffineu8,
+/// \a fcvTransformAffineu8_v2 will be removed, and the current signature
+/// for \a fcvTransformAffineu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvTransformAffineu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Stride of image (in bytes) - i.e., how many bytes between column 0 of row N
+/// and column 0 of row N+1.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: must be at least as much as srcWidth if not 0.
+///
+/// @param position[ 2 ]
+/// Position in the image
+/// \n\b WARNING: must be 64-bit aligned.
+///
+/// @param affine[ 2 ][ 2 ]
+/// Transformation matrix. The matrix stored
+/// in affine is using row major ordering: \n
+/// a11, a12, a21, a22 where the matrix is: \n
+/// | a11, a12 |\n
+/// | a21, a22 |\n
+///
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param patch
+/// Transformed patch.
+///
+/// @param patchWidth
+/// Patch width.
+///
+/// @param patchHeight
+/// Patch height.
+///
+/// @param patchStride
+/// Stride of patch (in bytes) - i.e., how many bytes between column 0 of row N
+/// and column 0 of row N+1.
+/// \n\b NOTE: if 0, patchStride is set as patchWidth.
+/// \n\b WARNING: must be at least as much as patchWidth if not 0.
+///
+/// @return
+/// 0 if the transformation is valid
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API int
+fcvTransformAffineu8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ const float* __restrict position,
+ const float* __restrict affine,
+ uint8_t* __restrict patch,
+ unsigned int patchWidth,
+ unsigned int patchHeight,
+ unsigned int patchStride );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Extracts a 17x17 rotation corrected patch from a 25x25 image.
+///
+/// @param src
+/// 25x25 input image in continuous memory.
+///
+/// @param dst
+/// 17x17 output patch.
+///
+/// @param orientation
+/// Rotation angle of patch relative to src.
+/// \n 10-bit fixed-point angle around unit circle.
+/// \n NOTE: 0 = 0 degrees and 1024 = 360 degrees.
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCopyRotated17x17u8( const uint8_t* __restrict src,
+ uint8_t* __restrict dst,
+ int orientation );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Counts "1" bits in supplied vector.
+///
+/// @param src
+/// Pointer to vector to count bits that are 1.
+///
+/// @param srcLength
+/// Length of the vector to count bits. Assumed that the remainder of bits modulo 8
+/// will be set to 0 a priori.
+///
+/// @return
+/// total number of "1" bits in supplied vector
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvBitCountu8( const uint8_t* __restrict src,
+ unsigned int srcLength );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Counts "1" bits in supplied 32-byte vector.
+///
+/// @param src
+/// Pointer to 32-byte vector(s) to count bits that are 1.
+///
+/// @return
+/// total number of "1" bits in supplied vector
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvBitCount32x1u8( const uint8_t* __restrict src );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Counts bits in supplied 4, 32-byte vectors.
+///
+/// @param a
+/// Pointer to 32-byte vector to count bits.
+///
+/// @param b
+/// Pointer to 32-byte vector to count bits.
+///
+/// @param c
+/// Pointer to 32-byte vector to count bits.
+///
+/// @param d
+/// Pointer to 32-byte vector to count bits.
+///
+/// @param bitCount
+/// Array to store the four resultant bit counts.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvBitCount32x4u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b,
+ const uint8_t* __restrict c,
+ const uint8_t* __restrict d,
+ uint32_t* __restrict bitCount );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Counts bits in supplied 64-byte vector.
+///
+/// @param src
+/// Pointer to 64-byte vector(s) to count bits.
+///
+/// @return
+/// Bit count.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvBitCount64x1u8( const uint8_t* __restrict src );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Counts bits in supplied 4, 64-byte vectors.
+///
+/// @param a
+/// Pointer to 64-byte vector to count bits.
+///
+/// @param b
+/// Pointer to 64-byte vector to count bits.
+///
+/// @param c
+/// Pointer to 64-byte vector to count bits.
+///
+/// @param d
+/// Pointer to 64-byte vector to count bits.
+///
+/// @param bitCount
+/// Array to store the four resultant bit counts.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvBitCount64x4u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b,
+ const uint8_t* __restrict c,
+ const uint8_t* __restrict d,
+ uint32_t* __restrict bitCount );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Counts bits in supplied vector of unsigned intergers.
+///
+/// @param src
+/// Pointer to vector(s) to count bits.
+///
+/// @param srcLength
+/// Number of elements in vector
+///
+/// @return
+/// Bit count.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvBitCountu32( const uint32_t* __restrict src,
+ unsigned int srcLength );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Computes the Hamming distance between the two supplied arbitrary length
+/// vectors.
+///
+/// @param a
+/// Pointer to vector to compute distance.
+///
+/// @param b
+/// Pointer to vector to compute distance.
+///
+/// @param abLength
+/// Length in bits of each of the vectors. Assumed that the remainder of
+/// bits modulo 8 will be set to 0 a priori.
+///
+/// @return
+/// Hamming distance between the two vectors.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvHammingDistanceu8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b,
+ unsigned int abLength );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Computes the Hamming distance between the two supplied 32-byte vectors.
+///
+/// @param a
+/// Pointer to 32-byte vector to compute distance.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param b
+/// Pointer to 32-byte vector to compute distance.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @return
+/// Hamming distance between the two vectors.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvHammingDistance32x1u8a4( const uint8_t* __restrict a,
+ const uint8_t* __restrict b );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Computes the Hamming distance between the two supplied 64-byte vectors.
+///
+/// @param a
+/// Pointer to 64-byte vector to compute distance.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param b
+/// Pointer to 64-byte vector to compute distance.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @return
+/// Hamming distance between the two vectors.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvHammingDistance64x1u8a4( const uint8_t* __restrict a,
+ const uint8_t* __restrict b );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Computes the Hamming distance between the two supplied 32-byte vectors.
+///
+/// @param a
+/// Pointer to 32-byte vector to compute distance.
+///
+/// @param b
+/// Pointer to 32-byte vector to compute distance.
+///
+/// @return
+/// Hamming distance between the two vectors.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvHammingDistance32x1u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Computes the Hamming distance between the two supplied 64-byte vectors.
+///
+/// @param a
+/// Pointer to 64-byte vector to compute distance.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param b
+/// Pointer to 64-byte vector to compute distance.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @return
+/// Hamming distance between the two vectors.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvHammingDistance64x1u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Computes the Hamming distance between A and each of B,C,D,E 32-byte vectors.
+///
+/// @param a
+/// Pointer to 32-byte vector to compute distance.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param b
+/// Pointer to 32-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param c
+/// Pointer to 32-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param d
+/// Pointer to 32-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param e
+/// Pointer to 32-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param hammingDistances
+/// Array to store each Hamming distance between the vectors.
+/// \n\b WARNING: should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvHammingDistance32x4u8a4( const uint8_t* __restrict a,
+ const uint8_t* __restrict b,
+ const uint8_t* __restrict c,
+ const uint8_t* __restrict d,
+ const uint8_t* __restrict e,
+ uint32_t* __restrict hammingDistances );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Computes the Hamming distance between A and each of B,C,D,E 64-byte
+/// vectors.
+///
+/// @param a
+/// Pointer to 32-byte vector to compute distance.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param b
+/// Pointer to 32-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param c
+/// Pointer to 32-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param d
+/// Pointer to 32-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param e
+/// Pointer to 32-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param hammingDistances
+/// Array to store each Hamming distance between the vectors.
+/// \n\b WARNING: should be 128-bit aligned
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvHammingDistance64x4u8a4( const uint8_t* __restrict a,
+ const uint8_t* __restrict b,
+ const uint8_t* __restrict c,
+ const uint8_t* __restrict d,
+ const uint8_t* __restrict e,
+ uint32_t* __restrict hammingDistances );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Computes the Hamming distance between A and each of B,C,D,E 64-byte vectors.
+///
+/// @param a
+/// Pointer to 64-byte vector to compute distance.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param b
+/// Pointer to 64-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param c
+/// Pointer to 64-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param d
+/// Pointer to 64-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param e
+/// Pointer to 64-byte vector to compute distance from A.
+/// \n\b WARNING: must be 32-bit aligned
+///
+/// @param hammingDistances
+/// Array to store each Hamming distance between the vectors.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvHammingDistance64x4u8( const uint8_t* __restrict a,
+ const uint8_t* __restrict b,
+ const uint8_t* __restrict c,
+ const uint8_t* __restrict d,
+ const uint8_t* __restrict e,
+ uint32_t* __restrict hammingDistances );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Extracts FAST corners and scores from the image
+///
+/// @param src
+/// 8-bit image
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width
+/// \n\b NOTE: should be a multiple of 8.
+/// \n\b WARNING: must be <= 2048.
+///
+/// @param srcHeight
+/// image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param barrier
+/// FAST threshold. The threshold is used to compare difference between intensity value of
+/// the central pixel and pixels on a circle surrounding this pixel.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+/// \n\b WARNING: If border < 3, it will be default to 3.
+/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
+///
+/// @param xy
+/// pointer to the output array cointaining the interleaved x,y position of the
+/// detected corners.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param scores
+/// Pointer to the output array containing the scores of the detected corners.
+/// The score is the highest threshold that can still validate the detected corner.
+/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
+/// For example, a corner of score 108 is stronger than a corner of score 50.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of
+/// corners is exceeded.
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerFast9Scoreu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int barrier,
+ unsigned int border,
+ uint32_t* __restrict xy,
+ uint32_t* __restrict scores,
+ unsigned int nCornersMax,
+ uint32_t* __restrict nCorners );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Extracts FAST corners and scores from the image
+///
+/// @param src
+/// Grayscale image with one byte per pixel
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// image width
+/// \n\b NOTE: should be a multiple of 8.
+/// \n\b WARNING: must be <= 2048.
+///
+/// @param srcHeight
+/// image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param barrier
+/// FAST threshold. The threshold is used to compare difference between intensity value of
+/// the central pixel and pixels on a circle surrounding this pixel.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+/// \n\b WARNING: If border < 3, it will be default to 3.
+/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
+///
+/// @param xy
+/// Pointer to the output array cointaining the interleaved x,y position of the
+/// detected corners.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param scores
+/// Pointer to the output array containing the scores of the detected corners.
+/// The score is the highest threshold that can still validate the detected corner.
+/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
+/// For example, a corner of score 108 is stronger than a corner of score 50.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of
+/// corners is exceeded.
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @param mask
+/// Per-pixel mask for each pixel represented in input image.
+/// If a bit set to 0, pixel will be a candidate for corner detection.
+/// If a bit set to 1, pixel will be ignored.
+///
+/// @param maskWidth
+/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @param maskHeight
+/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerFast9InMaskScoreu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int barrier,
+ unsigned int border,
+ uint32_t* __restrict xy,
+ uint32_t* __restrict scores,
+ unsigned int nCornersMax,
+ uint32_t* __restrict nCorners,
+ const uint8_t* __restrict mask,
+ unsigned int maskWidth,
+ unsigned int maskHeight );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Extracts FAST corners and scores from the image
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvCornerFast9Scoreu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvCornerFast9Scoreu8,
+/// \a fcvCornerFast9Scoreu8_v2 will be removed, and the current signature
+/// for \a fcvCornerFast9Scoreu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvCornerFast9Scoreu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// non-maximum suppression can be enabled to reduce the number of false corners.
+///
+/// @param src
+/// 8-bit image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width, the number of pixels in a row.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param barrier
+/// FAST threshold. The threshold is used to compare difference between intensity value of
+/// the central pixel and pixels on a circle surrounding this pixel.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+/// \n\b WARNING: If border < 3, it will be default to 3.
+/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
+///
+/// @param xy
+/// Pointer to the output array cointaining the interleaved x,y position of the
+/// detected corners.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param scores
+/// Pointer to the output array containing the scores of the detected corners.
+/// The score is the highest threshold that can still validate the detected corner.
+/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
+/// For example, a corner of score 108 is stronger than a corner of score 50.
+/// \n\b NOTE: should be 128-bit aligned.
+/// \n\b NOTE: size of buffer is @param nCornersMax
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of
+/// corners is exceeded.
+/// \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
+///
+/// @param nCorners
+/// Pointer to an integer storing the number of corners detected
+///
+/// @param nmsEnabled
+/// Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
+/// \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
+/// points before NMS
+///
+/// @param tempBuf
+/// Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
+/// Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerFast9Scoreu8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int barrier,
+ unsigned int border,
+ uint32_t* __restrict xy,
+ uint32_t* __restrict scores,
+ unsigned int nCornersMax,
+ uint32_t* __restrict nCorners,
+ uint32_t nmsEnabled,
+ void* __restrict tempBuf);
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Extracts FAST corners and scores from the image based on the mask. The mask specifies pixels
+/// to be ignored by the detector.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvCornerFast9InMaskScoreu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvCornerFast9InMaskScoreu8,
+/// \a fcvCornerFast9InMaskScoreu8_v2 will be removed, and the current signature
+/// for \a fcvCornerFast9InMaskScoreu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvCornerFast9InMaskScoreu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// non-maximum suppression can be enabled to reduce the number of false corners.
+///
+/// @param src
+/// 8-bit grayscale image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width, the number of pixels in a row.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param barrier
+/// FAST threshold. The threshold is used to compare difference between intensity value of
+/// the central pixel and pixels on a circle surrounding this pixel.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+/// \n\b WARNING: If border < 3, it will be default to 3.
+/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
+///
+/// @param xy
+/// Pointer to the output array cointaining the interleaved x,y position of the
+/// detected corners.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param scores
+/// Pointer to the output array containing the scores of the detected corners.
+/// The score is the highest threshold that can still validate the detected corner.
+/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
+/// For example, a corner of score 108 is stronger than a corner of score 50.
+/// \n\b NOTE: should be 128-bit aligned.
+/// \n\b NOTE: size of buffer is @param nCornersMax
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of
+/// corners is exceeded.
+/// \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
+///
+/// @param nCorners
+/// Pointer to an integer storing the number of corners detected
+///
+/// @param mask
+/// Mask used to omit regions of the image. For allowed mask sizes refer to
+/// @param maskWidth and @param maskHeight . The mask is so defined to work with multiple
+/// scales if necessary. For any pixel set to '1' in the mask, the corresponding pixel in the image
+/// will be ignored.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param maskWidth
+/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @param maskHeight
+/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @param nmsEnabled
+/// Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
+/// \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
+/// points before NMS
+///
+/// @param tempBuf
+/// Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
+/// Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerFast9InMaskScoreu8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int barrier,
+ unsigned int border,
+ uint32_t* __restrict xy,
+ uint32_t* __restrict scores,
+ unsigned int nCornersMax,
+ uint32_t* __restrict nCorners,
+ const uint8_t* __restrict mask,
+ unsigned int maskWidth,
+ unsigned int maskHeight,
+ uint32_t nmsEnabled,
+ void* __restrict tempBuf);
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Extracts FAST corners and scores from the image
+///
+/// @details
+/// non-maximum suppression can be enabled to reduce the number of false corners.
+///
+/// @param src
+/// 8-bit image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width, the number of pixels in a row.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param barrier
+/// FAST threshold. The threshold is used to compare difference between intensity value of
+/// the central pixel and pixels on a circle surrounding this pixel.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+/// \n\b WARNING: If border < 3, it will be default to 3.
+/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
+///
+/// @param xy
+/// Pointer to the output array cointaining the interleaved x,y position of the
+/// detected corners.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param scores
+/// Pointer to the output array containing the scores of the detected corners.
+/// The score is the highest threshold that can still validate the detected corner.
+/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
+/// For example, a corner of score 108 is stronger than a corner of score 50.
+/// \n\b NOTE: should be 128-bit aligned.
+/// \n\b NOTE: size of buffer is @param nCornersMax
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of
+/// corners is exceeded.
+/// \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @param nmsEnabled
+/// Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
+/// \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
+/// points before NMS
+///
+/// @param tempBuf
+/// Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
+/// Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @ingroup feature_detection
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerFast10Scoreu8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int32_t barrier,
+ uint32_t border,
+ uint32_t* __restrict xy,
+ uint32_t* __restrict scores,
+ uint32_t nCornersMax,
+ uint32_t* __restrict nCorners,
+ uint32_t nmsEnabled,
+ void* __restrict tempBuf);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Extracts FAST corners and scores from the image based on the mask. The mask specifies pixels
+/// to be ignored by the detector.
+///
+/// @param src
+/// 8-bit grayscale image where keypoints are detected
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// image width
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param barrier
+/// FAST threshold. The threshold is used to compare difference between intensity value of
+/// the central pixel and pixels on a circle surrounding this pixel.
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom,right,left of the image
+/// \n\b WARNING: If border < 3, it will be default to 3.
+/// \n\b WARNING: srcWidth and srcHeight must be > 2 x border
+///
+/// @param xy
+/// Pointer to the output array cointaining the interleaved x,y position of the
+/// detected corners.
+/// \n\b NOTE: Remember to allocate double the size of @param nCornersMax
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param scores
+/// Pointer to the output array containing the scores of the detected corners.
+/// The score is the highest threshold that can still validate the detected corner.
+/// Must be greater than barrier. A higher score value indicates a stronger corner feature.
+/// For example, a corner of score 108 is stronger than a corner of score 50.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param nCornersMax
+/// Maximum number of corners. The function exits when the maximum number of
+/// corners is exceeded.
+/// \n\b NOTE: This number should account for the number of key points before non-maximum suppression.
+///
+/// @param nCorners
+/// pointer to an integer storing the number of corners detected
+///
+/// @param mask
+/// Mask used to omit regions of the image. For allowed mask sizes refer to
+/// @param maskWidth and @param maskHeight. The mask is so defined to work with multiple
+/// scales if necessary. For any pixel set to '1' in the mask, the corresponding pixel in the image
+/// will be ignored.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param maskWidth
+/// Width of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @param maskHeight
+/// Height of the mask. Both width and height of the mask must be 'k' times image width and height,
+/// where k = 1/2, 1/4 , 1/8 , 1, 2, 4 and 8.
+///
+/// @param nmsEnabled
+/// Enable non-maximum suppresion to prune weak key points (0=disabled, 1=enabled)
+/// \n\b NOTE: When NMS is enabled, be sure to assign large enough nCornersMax to store raw key
+/// points before NMS
+///
+/// @param tempBuf
+/// Pointer to scratch buffer if nms is enabled, otherwise it can be NULL.
+/// Size of buffer: (3*nCornersMax+srcHeight+1)*4 bytes
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @ingroup feature_detection
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvCornerFast10InMaskScoreu8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int32_t barrier,
+ uint32_t border,
+ uint32_t* __restrict xy,
+ uint32_t* __restrict scores,
+ uint32_t nCornersMax,
+ uint32_t* __restrict nCorners,
+ const uint8_t* __restrict mask,
+ uint32_t maskWidth,
+ uint32_t maskHeight,
+ uint32_t nmsEnabled,
+ void* __restrict tempBuf);
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Optical flow. Bitwidth optimized implementation
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvTrackLKOpticalFlowu8_v2(). In the 2.0.0 release,
+/// fcvTrackLKOpticalFlowu8_v2 will be renamed to fcvTrackLKOpticalFlowu8
+/// and the signature of fcvTrackLKOpticalFlowu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src1
+/// Input image from frame #1.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src2
+/// Input image from frame #2.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Input image height.
+///
+/// @param src1Pyr
+/// Image Pyradmid of src1
+/// \n\b WARNING: obtained by calling fcvPyramidCreateu8
+///
+/// @param src2Pyr
+/// Image Pyradmid of src2
+/// \n\b WARNING: obtained by calling fcvPyramidCreateu8
+///
+/// @param dx1Pyr
+/// Horizontal Sobel gradient pyramid for src1
+/// \n\b NOTE: To be left NULL. In this case the function will
+/// build the pyramid internally.
+///
+/// @param dy1Pyr
+/// Vertical Sobel grading pyraid for src1
+/// \n\b NOTE: To be left NULL. In this case the function will
+/// build the pyramid internally.
+///
+/// @param featureXY
+/// Pointer to X,Y floating point, sub-pixel coordinates for features to
+/// track. Stored as X,Y tuples. featureXY array storage must
+/// be >= featureLen*2.
+///
+/// @param featureXY_out
+/// Pointer to X,Y floating point, sub-pixel coordinates for tracked features
+/// Stored as X,Y tuples. featureXY array storage must
+/// be >= featureLen*2.
+///
+/// @param featureStatus
+/// Pointer to integer array for status of each feature defined in
+/// featureXY. featureStatus array storage must
+/// be >= featureLen.
+///
+/// @param featureLen
+/// Number of features in featuresXY and featureStatus array.
+///
+/// @param windowWidth
+/// Width of window for optical flow searching. Must be odd number.
+/// \n\b NOTE: suggested value 5, 7 or 9
+///
+/// @param windowHeight
+/// Height of window for optical flow searching. Must be odd number.
+/// \n\b NOTE:: suggested value 5, 7 or 9
+///
+/// @param maxIterations
+/// Maximum number of LK iterations to perform per pyramid level.
+/// \n\b NOTE: suggested value 5 or 7
+///
+/// @param nPyramidLevels
+/// Number of pyramid levels.
+/// \n\b NOTE: suggested value 3 or 4 depending on size of image
+///
+/// @param maxResidue
+/// Maximum feature residue above which feature is declared lost.
+/// \n\b NOTE: obsolete parameters, set to 0
+///
+/// @param minDisplacement
+/// Minimum displacement solved below which iterations are stopped.
+/// \n\b NOTE: obsolete parameters, set to 0
+///
+/// @param minEigenvalue
+/// Threshold for feature goodness. If it is set it to 0, the check is disabled.
+/// \n\b NOTE: If good features are passed to the function, then it is suggested
+/// that you set it to 0 to have faster function time
+/// \n\b NOTE: obsolete parameters, set to 0
+///
+/// @param lightingNormalized
+/// if 1 Enable lightning normalization
+/// \n if 0 Disable lightning normalization
+/// \n\b NOTE: obsolete parameters, set to 0
+///
+/// @ingroup object_detection
+// -----------------------------------------------------------------------------
+
+FASTCV_API void
+fcvTrackLKOpticalFlowu8( const uint8_t* __restrict src1,
+ const uint8_t* __restrict src2,
+ int srcWidth,
+ int srcHeight,
+ const fcvPyramidLevel* src1Pyr,
+ const fcvPyramidLevel* src2Pyr,
+ const fcvPyramidLevel* dx1Pyr,
+ const fcvPyramidLevel* dy1Pyr,
+ const float* featureXY,
+ float* featureXY_out,
+ int32_t* featureStatus,
+ int featureLen,
+ int windowWidth,
+ int windowHeight,
+ int maxIterations,
+ int nPyramidLevels,
+ float maxResidue,
+ float minDisplacement,
+ float minEigenvalue,
+ int lightingNormalized );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Optical flow (with stride so ROI can be supported)
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvTrackLKOpticalFlowu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvTrackLKOpticalFlowu8,
+/// \a fcvTrackLKOpticalFlowu8_v2 will be removed, and the current signature
+/// for \a fcvTrackLKOpticalFlowu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a ffcvTrackLKOpticalFlowu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src1
+/// Input image from frame #1.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src2
+/// Input image from frame #2.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param width
+/// Input image width.
+///
+/// @param height
+/// Input image height.
+///
+/// @param stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to width.
+/// NOTE: should be a multiple of 8.
+///
+/// @param src1Pyr
+/// Image Pyramid of src1 (with stride)
+/// \n\b WARNING: obtained by calling fcvPyramidCreateu8_v2
+///
+/// @param src2Pyr
+/// Image Pyradmid of src2 (with stride)
+/// \n\b WARNING: obtained by calling fcvPyramidCreateu8_v2
+///
+/// @param featureXY
+/// Pointer to X,Y floating point, sub-pixel coordinates for features to
+/// track. Stored as X,Y tuples. featureXY array storage must
+/// be >= featureLen*2.
+///
+/// @param featureXY_out
+/// Pointer to X,Y floating point, sub-pixel coordinates for tracked features
+/// Stored as X,Y tuples. featureXY array storage must
+/// be >= featureLen*2.
+///
+/// @param featureStatus
+/// Pointer to integer array for status of each feature defined in
+/// featureXY. featureStatus array storage must
+/// be >= featureLen.
+///
+/// @param featureLen
+/// Number of features in featuresXY and featureStatus array.
+///
+/// @param windowWidth
+/// Width of window for optical flow searching. Must be odd number.
+/// \n\b NOTE: suggested value 5, 7 or 9
+///
+/// @param windowHeight
+/// Height of window for optical flow searching. Must be odd number.
+/// \n\b NOTE:: suggested value 5, 7 or 9
+///
+/// @param maxIterations
+/// Maximum number of LK iterations to perform per pyramid level.
+/// \n\b NOTE: suggested value 5 or 7
+///
+/// @param nPyramidLevels
+/// Number of pyramid levels.
+/// \n\b NOTE: suggested value 3 or 4 depending on size of image
+///
+/// @ingroup object_detection
+// -----------------------------------------------------------------------------
+
+FASTCV_API void
+fcvTrackLKOpticalFlowu8_v2( const uint8_t* __restrict src1,
+ const uint8_t* __restrict src2,
+ uint32_t width,
+ uint32_t height,
+ uint32_t stride,
+ const fcvPyramidLevel_v2 *src1Pyr,
+ const fcvPyramidLevel_v2 *src2Pyr,
+ const float32_t* featureXY,
+ float32_t* featureXY_out,
+ int32_t* featureStatus,
+ int32_t featureLen,
+ int32_t windowWidth,
+ int32_t windowHeight,
+ int32_t maxIterations,
+ int32_t nPyramidLevels);
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Optical flow.
+///
+/// \n\b ATTENTION: This function will be removed when the 2.0.0 release of this library
+/// is made. Until 2.0.0, the developer should use this implementation with the expectation of
+/// using \a fcvTrackLKOpticalFlowu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src1
+/// Input image from frame #1.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src2
+/// Input image from frame #2.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Input image height.
+///
+/// @param src1Pyr
+/// Image Pyradmid of src1
+/// \n\b WARNING: obtained by calling fcvPyramidCreateu8
+///
+/// @param src2Pyr
+/// Image Pyradmid of src2
+/// \n\b WARNING: obtained by calling fcvPyramidCreateu8
+///
+/// @param dx1Pyr
+/// Horizontal Sobel gradient pyramid for src1
+/// \n\b NOTE: To be left NULL. In this case the function will
+/// build the pyramid internally.
+///
+/// @param dy1Pyr
+/// Vertical Sobel grading pyraid for src1
+/// \n\b NOTE: To be left NULL. In this case the function will
+/// build the pyramid internally.
+///
+/// @param featureXY
+/// Pointer to X,Y floating point, sub-pixel coordinates for features to
+/// track. Stored as X,Y tuples. featureXY array storage must
+/// be >= featureLen*2.
+///
+/// @param featureXY_out
+/// Pointer to X,Y floating point, sub-pixel coordinates for tracked features
+/// Stored as X,Y tuples. featureXY array storage must
+/// be >= featureLen*2.
+///
+/// @param featureStatus
+/// Pointer to integer array for status of each feature defined in
+/// featureXY. featureStatus array storage must
+/// be >= featureLen.
+/// \n\b NOTE: Possible status are :
+/// \n TRACKED 1
+/// \n NOT_FOUND -1
+/// \n SMALL_DET -2
+/// \n MAX_ITERATIONS -3
+/// \n OUT_OF_BOUNDS -4
+/// \n LARGE_RESIDUE -5
+/// \n SMALL_EIGVAL -6
+/// \n INVALID -99
+///
+/// @param featureLen
+/// Number of features in featuresXY and featureStatus array.
+///
+/// @param windowWidth
+/// Width of window for optical flow searching. Must be odd number.
+/// \n\b NOTE: suggested value 5, 7 or 9
+///
+/// @param windowHeight
+/// Height of window for optical flow searching. Must be odd number.
+/// \n\b NOTE:: suggested value 5, 7 or 9
+///
+/// @param maxIterations
+/// Maximum number of LK iterations to perform per pyramid level.
+/// \n\b NOTE: suggested value 5 or 7
+///
+/// @param nPyramidLevels
+/// Number of pyramid levels.
+/// \n\b NOTE: suggested value 3 or 4 depending on size of image
+///
+/// @param maxResidue
+/// Maximum feature residue above which feature is declared lost.
+/// \n\b NOTE: obsolete parameters, set to 0
+///
+/// @param minDisplacement
+/// Minimum displacement solved below which iterations are stopped.
+/// \n\b NOTE : Suggest that be set to between 0.1 and 0.2, say 0.15
+/// \n\b NOTE: obsolete parameters, set to 0
+///
+/// @param minEigenvalue
+/// Threshold for feature goodness. If it is set it to 0, the check is disabled.
+/// \n\b NOTE: If good features are passed to the function, then it is suggested
+/// that you set it to 0 to have faster function time
+/// \n\b NOTE: obsolete parameters, set to 0
+///
+/// @param lightingNormalized
+/// if 1 Enable lightning normalization
+/// \n if 0 Disable lightning normalization
+/// \n\b NOTE: obsolete parameters, set to 0
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvTrackLKOpticalFlowf32( const uint8_t* __restrict src1,
+ const uint8_t* __restrict src2,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ const fcvPyramidLevel* src1Pyr,
+ const fcvPyramidLevel* src2Pyr,
+ const fcvPyramidLevel* dx1Pyr,
+ const fcvPyramidLevel* dy1Pyr,
+ const float* featureXY,
+ float* featureXY_out,
+ int32_t* featureStatus,
+ int featureLen,
+ int windowWidth,
+ int windowHeight,
+ int maxIterations,
+ int nPyramidLevels,
+ float maxResidue,
+ float minDisplacement,
+ float minEigenvalue,
+ int lightingNormalized );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Builds an image pyramid of float32 arising from a single
+/// original image - that are successively downscaled w.r.t. the
+/// pre-set levels.
+/// \n\b NOTE: Memory should be deallocated using fcvPyramidDelete
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvPyramidCreatef32_v2(). In the 2.0.0 release,
+/// fcvPyramidCreatef32_v2 will be renamed to fcvPyramidCreatef32
+/// and the signature of fcvPyramidCreatef32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Base image. Size of buffer is srcWidth*srcHeight*4 bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of base image
+/// \n\b WARNING: must be a multiple of 2^numLevels
+///
+/// @param srcHeight
+/// Height of base image
+/// \n\b WARNING: must be a multiple of 2^numLevels
+///
+/// @param numLevels
+/// Number of levels of the pyramid
+///
+/// @param pyramid
+/// Output pyramid of numLevels+1 images of the same type as src .
+/// pyramid[0] will be the same as src . pyramid[1] is the next
+/// pyramid layer, a smoothed and down-sized src , and so on.
+///
+/// @ingroup image_processing
+//-------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvPyramidCreatef32( const float* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int numLevels,
+ fcvPyramidLevel* pyramid );
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Builds an image pyramid (with stride).
+/// \n\b NOTE: Memory should be deallocated using fcvPyramidDelete_v2
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvPyramidCreatef32() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvPyramidCreatef32,
+/// \a fcvPyramidCreatef32_v2 will be removed, and the current signature
+/// for \a fcvPyramidCreatef32 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvPyramidCreatef32 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// base image
+///
+/// @param srcWidth
+/// width of base image
+/// \n\b NOTE: Needs to be a multiple of 2^numLevels
+///
+/// @param srcHeight
+/// height of base image
+/// \n\b NOTE: Needs to be a multiple of 2^numLevel
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory (base image).
+/// \n\b NOTE: Needs to be a multiple of 2^numLevels
+/// \n\b NOTE: If left at 0, pyramid (non-base) image stride is the same as its srcWidth*sizeof(float32_t)
+///
+/// @param numLevels
+/// Number of levels of the pyramid
+///
+/// @param fcvPyramidLevel_v2
+/// output pyramid (with stride) of numLevels+1 images of the same type as src .
+/// pyramid[0] will be the same as src . pyramid[1] is the next
+/// pyramid layer, a smoothed and down-sized src , and so on.
+///
+/// @ingroup image_processing
+//-------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvPyramidCreatef32_v2( const float32_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t numLevels,
+ fcvPyramidLevel_v2* pyramid );
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Builds an image pyramid of uint8_t arising from a single
+/// original image - that are successively downscaled w.r.t. the
+/// pre-set levels.
+/// \n\b NOTE: Memory should be deallocated using fcvPyramidDelete
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvPyramidCreateu8_v2(). In the 2.0.0 release,
+/// fcvPyramidCreateu8_v2 will be renamed to fcvPyramidCreateu8
+/// and the signature of fcvPyramidCreateu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Base image. Size of buffer is srcWidth*srcHeight bytes.
+///
+/// @param srcWidth
+/// Width of base image
+/// \n\b WARNING: must be a multiple of 2^(numLevels-1)
+///
+/// @param srcHeight
+/// height of base image
+/// \n\b NOTE: must be a multiple of 2^(numLevels-1)
+///
+/// @param numLevels
+/// Number of levels of the pyramid
+///
+/// @param pyramid
+/// Output pyramid of numLevels+1 images of the same type as src .
+/// pyramid[0] will be the same as src . pyramid[1] is the next
+/// pyramid layer, a smoothed and down-sized src , and so on.
+///
+/// @ingroup image_processing
+//-------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvPyramidCreateu8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int numLevels,
+ fcvPyramidLevel* pyramid );
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Builds an image pyramid (with stride).
+/// \n\b NOTE: Memory should be deallocated using fcvPyramidDelete
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvPyramidCreateu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvPyramidCreateu8,
+/// \a fcvPyramidCreateu8_v2 will be removed, and the current signature
+/// for \a fcvPyramidCreateu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvPyramidCreateu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// base image
+///
+/// @param srcWidth
+/// width of base image
+/// \n\b NOTE: Needs to be a multiple of 2^numLevels
+///
+/// @param srcHeight
+/// height of base image
+/// \n\b NOTE: Needs to be a multiple of 2^numLevel
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory (base image).
+/// \n\b NOTE: Needs to be a multiple of 2^numLevels
+/// \n\b NOTE: Pyramid (non-base) image stride is the same as its width
+///
+/// @param numLevels
+/// Number of levels of the pyramid
+///
+/// @param fcvPyramidLevel_v2
+/// output pyramid (with stride) of numLevels+1 images of the same type as src .
+/// pyramid[0] will be the same as src . pyramid[1] is the next
+/// pyramid layer, a smoothed and down-sized src , and so on.
+///
+/// @ingroup image_processing
+//-------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvPyramidCreateu8_v2( const uint8_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t numLevels,
+ fcvPyramidLevel_v2* pyramid );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Builds a Gaussian image pyramid.
+/// DO NOT USE THIS API unless for testing purposes.
+/// This API can be removed without notice.
+///
+/// @details
+/// This function builds a Gaussian image Pyramid given an input image. Each level
+/// of the pyramid is computed by first applying a gaussian filter on the previous level,
+/// and then scaling the image based on the type of scale factor selected. The memory for
+/// the pyramid must be allocated using fcvPyramidAllocate_v3(), and should be
+/// deallocated using fcvPyramidDelete_v2()
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvPyramidCreateu8_v2() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvPyramidCreateu8,
+/// \a fcvPyramidCreateu8_v3 will be removed, and the current signature
+/// for \a fcvPyramidCreateu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvPyramidCreateu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// base image
+///
+/// @param srcWidth
+/// Width of base image
+///
+/// @param srcHeight
+/// Height of base image
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory (base image).
+/// \n\b NOTE: The stride of pyramid levels other than the base are set to be the same as their width
+///
+/// @param numLevels
+/// Number of levels of the pyramid
+///
+/// @param scale
+/// Defines the type of scaling used for each pyramid level.
+/// FASTCV_PYRAMID_SCALE_HALF downscales each level of the pyramid by a factor of 2.
+/// FASTCV_PYRAMID_SCALE_ORB downscales each level of the pyramid by a factor of 1/(2)^(1/4),
+/// which is approximated as 0.8408964f
+///
+/// @param pyramidGaussian
+/// output pyramid of "numLevels" images of the same type as src .
+/// pyramidGaussian[0] will be the same as src . pyramidGaussian[1] is the next
+/// pyramid layer, a smoothed and scaled src, and so on.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//-------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvPyramidCreateu8_v3(const uint8_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t numLevels,
+ fcvPyramidScale scale,
+ fcvPyramidLevel_v2* __restrict pyramidGaussian);
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Creates a gradient pyramid of int16_t from an image pyramid of uint8_t
+///
+/// @param imgPyr
+/// Input Image Pyramid
+///
+/// @param dxPyr
+/// Horizontal Sobel gradient pyramid
+///
+/// @param dyPyr
+/// Verical Sobel gradient pyramid
+///
+/// @param numLevels
+/// Number of levels in the pyramids
+///
+/// @ingroup image_processing
+//-------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvPyramidSobelGradientCreatei16( const fcvPyramidLevel* imgPyr,
+ fcvPyramidLevel* dxPyr,
+ fcvPyramidLevel* dyPyr,
+ unsigned int numLevels );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Creates a gradient pyramid of float32 from an image pyramid of uint8_t
+///
+/// @param imgPyr
+/// input Image Pyramid
+///
+/// @param dxPyr
+/// Horizontal Sobel gradient pyramid
+///
+/// @param dyPyr
+/// Verical Sobel gradient pyramid
+///
+/// @param numLevels
+/// Number of levels in the pyramids
+///
+/// @ingroup image_processing
+//-------------------------------------------------------------------------------
+
+FASTCV_API int
+fcvPyramidSobelGradientCreatef32( const fcvPyramidLevel* imgPyr,
+ fcvPyramidLevel* dxPyr,
+ fcvPyramidLevel* dyPyr,
+ unsigned int numLevels );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Creates a gradient pyramid of integer8 from an image pyramid of uint8_t
+///
+/// @param imgPyr
+/// input Image Pyramid
+///
+/// @param dxPyr
+/// Horizontal Sobel gradient pyramid
+///
+/// @param dyPyr
+/// Verical Sobel gradient pyramid
+///
+/// @param numLevels
+/// Number of levels in the pyramids
+///
+/// @ingroup image_processing
+// -----------------------------------------------------------------------------
+
+FASTCV_API int
+fcvPyramidSobelGradientCreatei8( const fcvPyramidLevel* imgPyr,
+ fcvPyramidLevel* dxPyr,
+ fcvPyramidLevel* dyPyr,
+ unsigned int numLevels );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientSobelPlanars16_v3(). In the 2.0.0 release,
+/// fcvImageGradientSobelPlanars16_v3 will be renamed to fcvImageGradientSobelPlanars16
+/// and the signature of fcvImageGradientSobelPlanars16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (width)*(height) in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values
+/// Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (width)*(height) in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values
+/// Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientSobelPlanars16( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict dx,
+ int16_t* __restrict dy);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientSobelPlanars16_v3(). In the 2.0.0 release,
+/// fcvImageGradientSobelPlanars16_v3 will be renamed to fcvImageGradientSobelPlanars16
+/// and the signature of fcvImageGradientSobelPlanars16_v2 and
+/// fcvImageGradientSobelPlanars16_v3 as it appears now, will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values
+/// Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values
+/// Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dxyStride
+/// Stride (in bytes) of 'dx' and 'dy' gradient arrays.
+/// \n\b NOTE: if 0, dxyStride is set as (srcWidth*sizeof(int16_t)).
+/// \n\b WARNING: should be multiple of 16 (8 * 2-bytes per gradient value), and at least as much as srcWidth if not 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientSobelPlanars16_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict dx,
+ int16_t* __restrict dy,
+ unsigned int dxyStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data without normalization.
+/// This function computes central differences on 3x3 neighborhood and then convolves
+/// the result with Sobel kernel
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageGradientSobelPlanars16_v2() with a change in behavior: no normalization
+/// at the end of the calculation.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageGradientSobelPlanars16,
+/// \a fcvImageGradientSobelPlanars16_v2 and fcvImageGradientSobelPlanars16_v3
+/// will be removed, and the current signature for \a fcvImageGradientSobelPlanars16
+/// and fcvImageGradientSobelPlanars16_v3 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageGradientSobelPlanars16 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient. The number of pixels in a row.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dxyStride
+/// Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvImageGradientSobelPlanars16_v3( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict dx,
+ int16_t* __restrict dy,
+ unsigned int dxyStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientSobelInterleaveds16_v3(). In the 2.0.0 release,
+/// fcvImageGradientSobelInterleaveds16_v3 will be renamed to fcvImageGradientSobelInterleaveds16
+/// and the signature of fcvImageGradientSobelInterleaveds16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param gradients
+/// Buffer to store horizontal and vertical gradient. Must be
+/// (width-2)*(height-2) *2 in size.
+/// Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientSobelInterleaveds16( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict gradients );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientSobelInterleaveds16_v3(). In the 2.0.0 release,
+/// fcvImageGradientSobelInterleaveds16_v3 will be renamed to fcvImageGradientSobelInterleaveds16
+/// and the signature of fcvImageGradientSobelInterleaveds16 and
+/// fcvImageGradientSobelInterleaveds16_v2 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param gradients
+/// Buffer to store horizontal and vertical gradient. Must be
+/// gradStride*(height-2) *2 bytes in size.
+/// Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param gradStride
+/// Stride (in bytes) of the interleaved gradients array.
+/// \n\b NOTE: if 0, gradStride is set as (srcWidth-2)*2*sizeof(int16_t).
+/// \n\b WARNING: should be multiple of 8, and at least as much as 4*srcWidth if not 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientSobelInterleaveds16_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict gradients,
+ unsigned int gradStride );
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+/// \n Compared to the original and v2 functions, this v3 functions does not normalize
+/// \n the gradients (divide by 8). It just returns the actual dx, dy values.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageGradientSobelInterleaveds16_v2() with a change in behavior: no
+/// normalization at the end of the calculation.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageGradientSobelInterleaveds16,
+/// \a fcvImageGradientSobelInterleaveds16_v2 and fcvImageGradientSobelInterleaveds16_v3
+/// will be removed, and the current signature for \a fcvImageGradientSobelInterleaveds16
+/// and fcvImageGradientSobelInterleaveds16_v3 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageGradientSobelInterleaveds16 when transitioning to 2.0.0.
+/// \n\n
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient. The number of pixels in a row.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param gradients
+/// Buffer to store horizontal and vertical gradient. Must be
+/// gradStride*(height-2) *2 bytes in size.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param gradStride
+/// Stride (in bytes) is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in the interleaved gradients array. If left at 0 gradStride is default to 4 * (srcWidth-2).
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @ingroup image_processing
+// -----------------------------------------------------------------------------
+FASTCV_API void
+fcvImageGradientSobelInterleaveds16_v3( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int16_t* __restrict gradients,
+ unsigned int gradStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientSobelInterleavedf32_v2(). In the 2.0.0 release,
+/// fcvImageGradientSobelInterleavedf32_v2 will be renamed to fcvImageGradientSobelInterleavedf32
+/// and the signature of fcvImageGradientSobelInterleavedf32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param gradients
+/// Buffer to store horizontal and vertical gradient. Must be
+/// (width-2)*(height-2) *2 floats in size.
+/// Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientSobelInterleavedf32( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* __restrict gradients);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel. The output is in interleaved format (i.e.) [dx][dy][dx][dy]....
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageGradientSobelInterleavedf32() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageGradientSobelInterleavedf32,
+/// \a fcvImageGradientSobelInterleavedf32_v2 will be removed, and the current signature
+/// for \a fcvImageGradientSobelInterleavedf32 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageGradientSobelInterleavedf32 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param gradients
+/// Buffer to store horizontal and vertical gradient. Must be
+/// gradStride*(height-2) *2 bytes in size.
+/// Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param gradStride
+/// Stride (in bytes) of the interleaved gradients array.
+/// \n\b NOTE: if 0, gradStride is set as (srcWidth-2)*2*sizeof(float).
+/// \n\b WARNING: should be multiple of 8, and at least as much as (srcWidth-2)*2*sizeof(float) if not 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientSobelInterleavedf32_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* __restrict gradients,
+ unsigned int gradStride);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function
+/// computes central differences on 3x3 neighborhood and then convolves the
+/// result with Sobel kernel
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvFilterGaussian3x3u8_v2(). In the 2.0.0 release,
+/// fcvImageGradientSobelPlanars8_v2 will be renamed to fcvImageGradientSobelPlanars8
+/// and the signature of fcvImageGradientSobelPlanars8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (width)*(height) in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (width)*(height) in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientSobelPlanars8( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int8_t* __restrict dx,
+ int8_t* __restrict dy);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function
+/// computes central differences on 3x3 neighborhood and then convolves the
+/// result with Sobel kernel
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageGradientSobelPlanars8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageGradientSobelPlanars8,
+/// \a fcvImageGradientSobelPlanars8_v2 will be removed, and the current signature
+/// for \a fcvImageGradientSobelPlanars8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageGradientSobelPlanars8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dxyStride
+/// Stride (in bytes) of 'dx' and 'dy' gradient arrays.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvImageGradientSobelPlanars8_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ int8_t* __restrict dx,
+ int8_t* __restrict dy,
+ unsigned int dxyStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientSobelPlanarf32_v2(). In the 2.0.0 release,
+/// fcvImageGradientSobelPlanarf32_v2 will be renamed to fcvImageGradientSobelPlanarf32
+/// and the signature of fcvImageGradientSobelPlanarf32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (width)*(height) in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (width)*(height) in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvImageGradientSobelPlanarf32( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* dx,
+ float* dy);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageGradientSobelPlanarf32() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageGradientSobelPlanarf32,
+/// \a fcvImageGradientSobelPlanarf32_v2 will be removed, and the current signature
+/// for \a fcvImageGradientSobelPlanarf32 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageGradientSobelPlanarf32 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dxyStride
+/// Stride (in bytes) of 'dx' and 'dy' gradient arrays.
+/// \n\b NOTE: if 0, dxyStride is set as 4*srcWidth.
+/// \n\b WARNING: should be multiple of 32 (8 * 4-bytes per gradient value),and at least as much as srcWidth*sizeof(float) if not 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvImageGradientSobelPlanarf32_v2( const uint8_t* __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* dx,
+ float* dy,
+ unsigned int dxyStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageGradientSobelPlanarf32f32_v2(). In the 2.0.0 release,
+/// fcvImageGradientSobelPlanarf32f32_v2 will be renamed to fcvImageGradientSobelPlanarf32f32
+/// and the signature of fcvImageGradientSobelPlanarf32f32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight floats.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels (not bytes) between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (width)*(height) floats in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (width)*(height) floats in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvImageGradientSobelPlanarf32f32( const float * __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* dx,
+ float* dy);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data. This function computes
+/// central differences on 3x3 neighborhood and then convolves the result with Sobel
+/// kernel
+/// \n
+/// \n [ -1 0 +1 ] [ -1 -2 -1 ]
+/// \n dx = [ -2 0 +2 ] * src dy = [ 0 0 0 ] * src
+/// \n [ -1 0 +1 ] [ +1 +2 +1 ]
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageGradientSobelPlanarf32f32()() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageGradientSobelPlanarf32f32(),
+/// \a fcvImageGradientSobelPlanarf32f32_v2 will be removed, and the current signature
+/// for \a fcvImageGradientSobelPlanarf32f32 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageGradientSobelPlanarf32f32 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight floats.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride (in bytes) of image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b WARNING: should be multiple of 32 (8 * 4-bytes), and at least as much as srcWidth*sizeof(float) if not 0.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth*4.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
+/// \n\b NOTE: a border of 1 pixel in size on top, bottom, left, and right
+/// contains undefined values. Gradient output is scaled by 1/8.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dxyStride
+/// Stride (in bytes) of 'dx' and 'dy' gradient arrays.
+/// \n\b WARNING: should be multiple of 32 (8 * 4-bytes per gradient value).
+/// \n\b WARNING: should be multiple of 32 (8 * 4-bytes), and at least as much as srcWidth*sizeof(float) if not 0.
+/// \n\b NOTE: if 0, dxyStride is set as srcWidth*4.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvImageGradientSobelPlanarf32f32_v2( const float * __restrict src,
+ unsigned int srcWidth,
+ unsigned int srcHeight,
+ unsigned int srcStride,
+ float* dx,
+ float* dy,
+ unsigned int dxyStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Block Optical Flow 16x16 - Tracks all 16x16 blocks in the Region of Interest
+/// (ROI) from Source-1 to Source-2. Generates Motion Vectors for blocks where
+/// motion is detected.
+///
+/// @details
+///
+/// @param[in] src1
+/// Pointer to source image where the original blocks are present.
+/// \n Dimensions should be same as \a src2, and equal to \a srcWidth,
+/// \a srcHeight, \a srcStride.
+/// \n\b WARNING: should be 128-bit aligned. Buffer size is srcStride*srcHeight bytes.
+///
+/// @param[in] src2
+/// Pointer to second source image where motion vectors for blocks in \a img1
+/// are to be located.
+/// \n Dimensions should be same as \a src1, and equal to \a srcWidth,
+/// \a srcHeight, \a srcStride.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param[in] srcWidth
+/// Width of source images pointed by \a src1 and \a src2.
+///
+/// @param[in] srcHeight
+/// Height of source images pointed by \a src1 and \a src2.
+///
+/// @param[in] srcStride
+/// Stride of source images pointed by \a src1 and \a src2.
+///
+/// @param[in] roiLeft
+/// Left co-ordinate (x0) of Region-of-Interest (ROI).
+///
+/// @param[in] roiTop
+/// Top co-orgdinate (y0) of Region-of-Interest (ROI).
+///
+/// @param[in] roiRight
+/// Right co-ordinate (x1) of Region-of-Interest (ROI).
+///
+/// @param[in] roiBottom
+/// Bottom co-ordinate (y1) of Region-of-Interest (ROI).
+///
+/// @param[in] shiftSize
+/// Distance in number of pixels (both horizontally and vertically) between
+/// consecutive blocks for which motion vector is searched.
+/// \n\b NOTE: Larger the value, less number of blocks will be tracked, and
+/// hence the function will run faster.
+///
+/// @param[in] searchWidth
+/// Numbers of pixels horizontally on left and right of the source block (src2) where a
+/// match is searched for. For example, if searchWidth is 8 and searchHeight
+/// is 8, then the search area for any given block will be 32x32 around
+/// the location of that block.
+///
+/// @param[in] searchHeight
+/// Numbers of pixels vertically on top and bottom of the source block (src2) where a
+/// match is searched for. For example, if searchWidth is 8 and searchHeight
+/// is 8, then the search area for any given block will be 32x32 around
+/// the location of that block.
+///
+/// @param[in] searchStep
+/// Distance in number of pixels between consecutive search targets within
+/// the above search window.
+/// \n\b NOTE: Larger the value, more coarse the search will be and thus
+/// will make the fucntion run faster. Smaller the value, more dense the
+/// search will be, making the funciton run slower.
+///
+/// @param[in] usePrevious
+/// Indicates if the function should use the existing motion vectors in
+/// locX and locY as the starting point for motion vector search.
+/// \n\b NOTE: This parameter is redundant at the moment.
+///
+/// @param[out] numMv
+/// Pointer to variable that will store the count of Motion Vectors
+/// generated by the function.
+/// \n\b WARNING: This pointer should be Non-NULL.
+///
+/// @param[out] locX
+/// Pointer to an array which will store the X co-ordinates of the
+/// original Block for which a Motion Vector is generated.
+/// \n\b NOTE: The array will contain \a numMv valid entries.
+/// \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
+/// (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
+/// \n\b WARNING: This pointer should be Non-NULL, and the array size should
+/// be >= number of 16x16 blocks in ROI.
+///
+/// @param[out] locY
+/// Pointer to an array which will store the Y co-ordinates of the
+/// original Block for which a Motion Vector is generated.
+/// \n\b NOTE: The array will contain \a numMv valid entries.
+/// \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
+/// (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
+/// \n\b WARNING: This pointer should be Non-NULL, and the array size should
+/// be >= number of 16x16 blocks in ROI.
+///
+/// @param[out] mvX
+/// Pointer to an array which will store the X co-ordinates of the block in \a src2
+/// corresponding block in \a src1. (\a mvX[i]-\a locX[i]) will give the motion
+/// vector for the block in \a src1.
+/// \n\b NOTE: The array will contain \a numMv valid entries.
+/// \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
+/// (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
+/// \n\b WARNING: This pointer should be Non-NULL, and the array size should
+/// be >= number of 16x16 blocks in ROI.
+///
+/// @param[out] mvY
+/// Pointer to an array which will store the Y co-ordinates of the block in \a src2
+/// corresponding block in \a src1. (\a mvY[i]-\a locY[i]) will give the motion
+/// vector for the block in \a src1.
+/// \n\b NOTE: The array will contain \a numMv valid entries.
+/// \n\b NOTE: the maximum number of MVs is related to ROI size and shiftSize, as follows:
+/// (roiRight-roiLeft)/shiftSize * (roiBottom-roiTop)/shiftSize;
+/// \n\b WARNING: This pointer should be Non-NULL, and the array size should
+/// be >= number of 16x16 blocks in ROI.
+///
+/// @return
+/// 0 - Success, Failure otherwise.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API int
+fcvTrackBMOpticalFlow16x16u8( const uint8_t* __restrict src1,
+ const uint8_t* __restrict src2,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t roiLeft,
+ uint32_t roiTop,
+ uint32_t roiRight,
+ uint32_t roiBottom,
+ uint32_t shiftSize,
+ uint32_t searchWidth,
+ uint32_t searchHeight,
+ uint32_t searchStep,
+ uint32_t usePrevious,
+ uint32_t * numMv,
+ uint32_t * locX,
+ uint32_t * locY,
+ uint32_t * mvX,
+ uint32_t * mvY);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Searches a set of patches within the source image for the max NCCs. The search
+/// regions are corresponding to the patches in the search list.
+///
+/// @param patches
+/// Pointer to a set of 8-bit patches, each patch takes patchWidth *patchHeight pixel
+/// values which are linearly laid out in memory.
+/// \n\b WARNING: patchWidth * patchHeight must be <= 256
+///
+/// @param patchWidth
+/// Width in pixels of the patch.
+///
+/// @param patchHeight
+/// Height in pixels of the patch.
+///
+/// @param src
+/// Pointer to 8-bit image for search.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width in pixels of the image.
+///
+/// @param srcHeight
+/// Height in pixels of the image.
+///
+/// @param srcStride
+/// The stride of the imge. Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param searchCenterX
+/// The list of Center X coordinate of each search window
+///
+/// @param searchCenterY
+/// The list of Center Y coordinate of each search window
+///
+/// @param searchWidth
+/// Width of search range in pixels
+/// \n\b WARNING: must be odd number.
+///
+/// @param searchHeight
+/// Height of search range in pixels
+/// \n\b WARNING: must be odd number.
+///
+/// @param filterLowVariance
+/// Minimum variance. Used to as threshold to compare against variance of
+/// the block of src or patch.
+///
+/// @param bestX
+/// The list of Center X location on the image of the best NCC matches.
+/// The center X has (patchWidth/2) pixels to the left and
+/// (patchWidth - (patchWidth/2) - 1) to the right.
+///
+/// @param bestY
+/// The list of Center Y location on the image of the best NCC matches.
+/// The center Y has (patchWidth/2) pixels above and
+/// (patchWidth - (patchWidth/2) - 1) below.
+///
+/// @param bestNCC
+/// NCC value of the best match blocks.
+/// It's quantized to integer value in Q7 (between -128 and 128).
+///
+/// @param findSubPixel (0 or 1)
+/// Use parabolic interpolation of NCC values to find sub-pixel estimates.
+///
+/// @param subX
+/// Sub-pixel estimate for optimal NCC relative to bestX.
+/// \n e.g., float x = (float)bestX + subX;
+///
+/// @param subY
+/// Sub-pixel estimate for optimal NCC relative to bestY.
+///
+/// @param numSearches
+/// number of patch searches in the image.
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvNCCPatchesOnRectu8 ( const uint8_t* __restrict patches,
+ uint32_t patchWidth,
+ uint32_t patchHeight,
+ const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ const uint32_t * __restrict searchCenterX,
+ const uint32_t * __restrict searchCenterY,
+ uint32_t searchWidth,
+ uint32_t searchHeight,
+ int32_t filterLowVariance,
+ uint32_t* __restrict bestX,
+ uint32_t* __restrict bestY,
+ uint32_t* __restrict bestNCC,
+ int32_t findSubPixel,
+ float32_t* __restrict subX,
+ float32_t* __restrict subY,
+ uint32_t numSearches );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Performs per-element bitwise-OR operation on two 8-bit single channel images.
+/// Two images should have the same size. dst(I)=src1(I) V src2(I) if mask(I) is not zero.
+///
+/// @param src1
+/// Pointer to the 8-bit source image 1.
+///
+/// @param src2
+/// Pointer to the 8-bit source image 2.
+///
+/// @param srcWidth
+/// Width of source images pointed by src1 and src2.
+///
+/// @param srcHeight
+/// Height of source images pointed by src1 and src2.
+///
+/// @param srcStride
+/// Stride of source images (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param dst
+/// Pointer to the 8-bit destination image.
+///
+/// @param dstStride
+/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param mask
+/// Pointer to the 8-bit single channel mask. It specifies elements of the destination array to be changed.
+/// The mask is optional. If there is no mask, the value is NULL.
+///
+/// @param maskStride
+/// Stride of the mask (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// If there is no mask, the value is 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvBitwiseOru8(const uint8_t* __restrict src1,
+ const uint8_t* __restrict src2,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t * __restrict dst,
+ uint32_t dstStride,
+ uint8_t * __restrict mask,
+ uint32_t maskStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Performs per-element bitwise-OR operation on two 32-bit single channel images.
+/// Two images should have the same size. dst(I)=src1(I) V src2(I) if mask(I) is not zero.
+///
+/// @param src1
+/// Pointer to the 32-bit source image 1.
+///
+/// @param src2
+/// Pointer to the 32-bit source image 2.
+///
+/// @param srcWidth
+/// Width of source images pointed by src1 and src2.
+///
+/// @param srcHeight
+/// Height of source images pointed by src1 and src2.
+///
+/// @param srcStride
+/// Stride of source images (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param dst
+/// Pointer to the 8-bit destination image.
+///
+/// @param dstStride
+/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param mask
+/// Pointer to the 8-bit single channel mask. It specifies elements of the destination array to be changed.
+/// The mask is optional. If there is no mask, the value is NULL.
+///
+/// @param maskStride
+/// Stride of the mask (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// If there is no mask, the value is 0.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvBitwiseOrs32(const int32_t* __restrict src1,
+ const int32_t* __restrict src2,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int32_t * __restrict dst,
+ uint32_t dstStride,
+ uint8_t * __restrict mask,
+ uint32_t maskStride);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Converts an image from RGB space to grayscale
+///
+/// @details
+///
+/// @param src
+/// Source 8-bit image, BGR888 format (R is lowest byte for the pixel)
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Source image width.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Source image height.
+///
+/// @param srcStride
+/// Stride of source image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// If set to 0, srcStride=srcWidth as default
+///
+/// @param dst
+/// Destination 8-bit gray-scale image.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// If set to 0, dstStride=srcStride as default
+///
+///
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvColorRGB888ToGrayu8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Integral of the image tilted by 45 degrees
+///
+/// @details
+/// Calculates the tilted integral image of an input image
+/// and adds an zero-filled border on top. Left border not zero.
+/// dst[i,j]=sum (src[m,n]), where n according to
+/// descDBTargetId.
+///
+/// @param dbLUT
+/// A pointer to uint32_t [numDBLUT][2],
+/// which stores the starting index of descDB and
+/// the number of descriptors
+/// \n\b WARNING: must be 64-bit aligned.
+///
+/// @param numDBLUT
+/// The size of dbLUT
+///
+/// @param descDB
+/// A pointer to int8_t [numDescDB][36],
+/// which stores descriptors
+/// \n\b WARNING: must be 64-bit aligned.
+///
+/// @param descDBInvLenQ38
+/// A pointer to uint32_t [numDescDB],
+/// which stores the inverse length of descDB.
+/// The value is in Q38 format.
+///
+/// @param descDBTargetId
+/// A pointer to uint16_t [numDescDB],
+/// which stores the target id.
+///
+/// @param descDBOldIdx
+/// A pointer to uint32_t [numDescDB],
+/// which stores the old index of the desc before sorting
+///
+/// @param numDescDB
+/// Number of descriptor in the database.
+///
+/// @ingroup feature_detection
+//---------------------------------------------------------------------------
+
+FASTCV_API int
+fcvLinearSearchPrepare8x36s8( uint32_t * __restrict dbLUT,
+ uint32_t numDBLUT,
+ int8_t * __restrict descDB,
+ uint32_t * __restrict descDBInvLenQ38,
+ uint16_t * __restrict descDBTargetId,
+ uint32_t * __restrict descDBOldIdx,
+ uint32_t numDescDB );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Perform linear search of descriptor in a database
+///
+/// @param dbLUT
+/// A pointer to uint32_t [numDBLUT][2],
+/// which stores the starting index of descDB and
+/// the number of descriptors
+/// \n\b WARNING: must be 64-bit aligned.
+///
+/// @param numDBLUT
+/// The size of dbLUT
+///
+/// @param descDB
+/// A pointer to int8_t [numDescDB][36],
+/// which stores descriptors
+/// \n\b WARNING: must be 64-bit aligned.
+///
+/// @param descDBInvLenQ38
+/// A pointer to uint32_t [numDescDB],
+/// which stores the inverse length of descDB.
+/// The value is in Q38 format.
+///
+/// @param descDBTargetId
+/// A pointer to uint16_t [numDescDB],
+/// which stores the target id.
+///
+/// @param numDescDB
+/// Number of descriptor in the database.
+///
+/// @param srcDesc
+/// A pointer to int8_t [numSrcDesc][36],
+/// which stores descriptors.
+/// \n\b WARNING: must be 64-bit aligned.
+///
+/// @param srcDescInvLenQ38
+/// A pointer to uint32_t [numSrcDec],
+/// which stores the inverse length of srcDesc.
+/// The value is in Q38 format.
+///
+/// @param srcDescIdx
+/// A pointer to the dbLUT data
+///
+/// @param numSrcDesc
+/// Number of source descriptor
+///
+/// @param targetsToIgnore
+/// A list of target IDs to be ignored
+///
+/// @param numTargetsToIgnore
+/// Number of targets to be ignored
+///
+/// @param maxDistanceQ31
+/// Maximum distance for correspondences.
+/// In Q31 format.
+///
+/// @param correspondenceDBIdx
+/// A pointer to uint32_t [maxNumCorrespondences],
+/// which will be used by this function to output indices of featuresDB
+/// as a part of correspondences.
+///
+/// @param correspondenceSrcDescIdx
+/// A pointer to uint32_t [maxNumCorrespondences],
+/// which will be used by this function to output indices of descriptors
+/// as a part of correspondences.
+///
+/// @param correspondenceDistanceQ31
+/// A pointer to uint32_t [maxNumCorrespondences],
+/// which will be used by this function to output the distances
+/// as a part of correspondences.
+/// In Q31 format.
+///
+/// @param maxNumCorrespondences
+/// Maximum number of correspondences allowed
+///
+/// @param numCorrespondences
+/// Number of correspondences returned by this function
+///
+/// @ingroup feature_detection
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvLinearSearch8x36s8(
+ const uint32_t * __restrict dbLUT,
+ uint32_t numDBLUT,
+ const int8_t * __restrict descDB,
+ const uint32_t * __restrict descDBInvLenQ38,
+ const uint16_t * __restrict descDBTargetId,
+ uint32_t numDescDB,
+ const int8_t * __restrict srcDesc,
+ const uint32_t * __restrict srcDescInvLenQ38,
+ const uint32_t * __restrict srcDescIdx,
+ uint32_t numSrcDesc,
+ const uint16_t * __restrict targetsToIgnore,
+ uint32_t numTargetsToIgnore,
+ uint32_t maxDistanceQ31,
+ uint32_t * __restrict correspondenceDBIdx,
+ uint32_t * __restrict correspondenceSrcDescIdx,
+ uint32_t * __restrict correspondenceDistanceQ31,
+ uint32_t maxNumCorrespondences,
+ uint32_t * __restrict numCorrespondences );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds only extreme outer contours in a binary image. There is no nesting
+/// relationship between contours. It sets hierarchy[i][2]=hierarchy[i][3]=-1
+/// for all the contours.
+///
+/// @param src
+/// Grayscale image with one byte per pixel. Non-zero pixels are treated as
+/// 1's. Zero pixels remain 0's, so the image is treated as binary.
+///
+/// @param srcWidth
+/// Image width
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param maxNumContours
+/// Maximum number of contours can be found
+///
+/// @param numContours
+/// Number of actually found contours
+///
+/// @param numContourPoints
+/// Number of points in each found contour
+///
+/// @param contourStartPoints
+/// Pointers to the start point of each found contour
+///
+/// @param pointBuffer
+/// Pointer to point buffer for contour points' coordinates. It should
+/// be allocated before calling this function.
+///
+/// @param pointBufferSize
+/// Size of point buffer in terms of uint32_t
+///
+/// @param hierarchy
+/// Information about the image topology. It has numContours elements.
+/// For each contour i, the elements hierarchy[i][0], hiearchy[i][1],
+/// hiearchy[i][2], and hiearchy[i][3] are set to 0-based indices of the
+/// next and previous contours at the same hierarchical level, the first
+/// child contour and the parent contour, respectively. If for a contour i
+/// there are no next, previous, parent, or nested contours, the corresponding
+/// elements of hierarchy[i] will be negative.
+///
+/// @param contourHandle
+/// Pointer to assistant and intermediate data. It should be allocated by
+/// fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvFindContoursExternalu8( uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t maxNumContours,
+ uint32_t* __restrict numContours,
+ uint32_t* __restrict numContourPoints,
+ uint32_t** __restrict contourStartPoints,
+ uint32_t* __restrict pointBuffer,
+ uint32_t pointBufferSize,
+ int32_t hierarchy[][4],
+ void* contourHandle );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds contours in a binary image without any hierarchical relationships.
+///
+/// @param src
+/// Grayscale image with one byte per pixel. Non-zero pixels are treated as
+/// 1's. Zero pixels remain 0's, so the image is treated as binary.
+///
+/// @param srcWidth
+/// Image width
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param maxNumContours
+/// Maximum number of contours can be found
+///
+/// @param numContours
+/// Number of actually found contours
+///
+/// @param numContourPoints
+/// Number of points in each found contour
+///
+/// @param contourStartPoints
+/// Pointers to the start point of each found contour
+///
+/// @param pointBuffer
+/// Pointer to point buffer for contour points' coordinates. It should
+/// be allocated before calling this function.
+///
+/// @param pointBufferSize
+/// Size of point buffer in terms of uint32_t
+///
+/// @param contourHandle
+/// Pointer to assistant and intermediate data. It should be allocated by
+/// fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvFindContoursListu8( uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t maxNumContours,
+ uint32_t* __restrict numContours,
+ uint32_t* __restrict numContourPoints,
+ uint32_t** __restrict contourStartPoints,
+ uint32_t* __restrict pointBuffer,
+ uint32_t pointBufferSize,
+ void* contourHandle );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds contours in a binary image and organizes them into a two-level
+/// hierarchy. At the top level, there are external boundaries of the
+/// components. At the second level, there are boundaries of the holes.
+/// If there is another contour inside a hole of a connected component,
+/// it is still put at the top level.
+///
+/// @param src
+/// Grayscale image with one byte per pixel. Non-zero pixels are treated as
+/// 1's. Zero pixels remain 0's, so the image is treated as binary.
+///
+/// @param srcWidth
+/// Image width
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param maxNumContours
+/// Maximum number of contours can be found (<= 126)
+///
+/// @param numContours
+/// Number of actually found contours
+///
+/// @param holeFlag
+/// Hole flag for each found contour to indicate whether it is a hole or not
+///
+/// @param numContourPoints
+/// Number of points in each found contour
+///
+/// @param contourStartPoints
+/// Pointers to the start point of each found contour
+///
+/// @param pointBuffer
+/// Pointer to point buffer for contour points' coordinates. It should
+/// be allocated before calling this function.
+///
+/// @param pointBufferSize
+/// Size of point buffer in terms of uint32_t
+///
+/// @param hierarchy
+/// Information about the image topology. It has numContours elements.
+/// For each contour i, the elements hierarchy[i][0], hiearchy[i][1],
+/// hiearchy[i][2], and hiearchy[i][3] are set to 0-based indices of the
+/// next and previous contours at the same hierarchical level, the first
+/// child contour and the parent contour, respectively. If for a contour i
+/// there are no next, previous, parent, or nested contours, the corresponding
+/// elements of hierarchy[i] will be negative.
+///
+/// @param contourHandle
+/// Pointer to assistant and intermediate data. It should be allocated by
+/// fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvFindContoursCcompu8( uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t maxNumContours,
+ uint32_t* __restrict numContours,
+ uint32_t* __restrict holeFlag,
+ uint32_t* __restrict numContourPoints,
+ uint32_t** __restrict contourStartPoints,
+ uint32_t* __restrict pointBuffer,
+ uint32_t pointBufferSize,
+ int32_t hierarchy[][4],
+ void* contourHandle );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds contours in a binary image and reconstructs a full hierarchy of
+/// nested contours
+///
+/// @param src
+/// Grayscale image with one byte per pixel. Non-zero pixels are treated as
+/// 1's. Zero pixels remain 0's, so the image is treated as binary.
+///
+/// @param srcWidth
+/// Image width
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @param numContours
+/// Number of actually found contours
+///
+/// @param maxNumContours
+/// Maximum number of contours can be found (<= 126)
+///
+/// @param holeFlag
+/// Hole flag for each found contour to indicate whether it is a hole or not
+///
+/// @param numContourPoints
+/// Number of points in each found contour
+///
+/// @param contourStartPoints
+/// Pointers to the start point of each found contour
+///
+/// @param pointBuffer
+/// Pointer to point buffer for contour points' coordinates. It should
+/// be allocated before calling this function.
+///
+/// @param pointBufferSize
+/// Size of point buffer in terms of uint32_t
+///
+/// @param hierarchy
+/// Information about the image topology. It has numContours elements.
+/// For each contour i, the elements hierarchy[i][0], hiearchy[i][1],
+/// hiearchy[i][2], and hiearchy[i][3] are set to 0-based indices of the
+/// next and previous contours at the same hierarchical level, the first
+/// child contour and the parent contour, respectively. If for a contour i
+/// there are no next, previous, parent, or nested contours, the corresponding
+/// elements of hierarchy[i] will be negative.
+///
+/// @param contourHandle
+/// Pointer to assistant and intermediate data. It should be allocated by
+/// fcvFindContoursAllocate() and deallocated by fcvFindContoursDelete().
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvFindContoursTreeu8( uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t maxNumContours,
+ uint32_t* __restrict numContours,
+ uint32_t* __restrict holeFlag,
+ uint32_t* __restrict numContourPoints,
+ uint32_t** __restrict contourStartPoints,
+ uint32_t* __restrict pointBuffer,
+ uint32_t pointBufferSize,
+ int32_t hierarchy[][4],
+ void* contourHandle );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Allocates assistant and intermediate data for contour
+///
+/// @param srcStride
+/// Stride of image (i.e., how many pixels between column 0 of row 1 and
+/// column 0 of row 2).
+///
+/// @return
+/// Pointer to allocated data
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+FASTCV_API void*
+fcvFindContoursAllocate( uint32_t srcStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Deallocates assistant and intermediate data for contour
+///
+/// @param contourHandle
+/// Pointer to assistant and intermediate data
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvFindContoursDelete( void* contourHandle );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Solve linear equation system
+/// Ax = b
+///
+/// @details
+///
+///
+/// @param A
+/// The matrix contains coefficients of the linear equation system
+///
+/// @param numRows
+/// The number of rows for the matrix A
+///
+/// @param numCols
+/// The number of columns for the matrix A
+///
+/// @param b
+/// The right side value
+///
+/// @param x
+/// The solution vector
+///
+///
+/// @return
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvSolvef32(const float32_t * __restrict A,
+ int32_t numCols,
+ int32_t numRows,
+ const float32_t * __restrict b,
+ float32_t * __restrict x);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Calculates a perspective transform from four pairs of the corresponding
+/// points.
+/// NOTE: in order to guarantee a valid output transform, any three points
+/// in src1 or src2 cannot be collinear.
+///
+/// @param src1
+/// Coordinates of quadrangle vertices in the source image
+///
+/// @param src2
+/// Coordinates of the corresponding quadrangle vertices in the destination
+/// image
+///
+/// @param transformCoefficient
+/// 3x3 matrix of a perspective transform
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvGetPerspectiveTransformf32( const float32_t src1[8],
+ const float32_t src2[8],
+ float32_t transformCoefficient[9] );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sets every element of a uint8_t single channel array to a given value.
+///
+/// @details
+/// A non-zero element of the mask array indicates the corresponding element
+/// of the destination array to be changed. The mask itself equals to zero means that
+/// all elements of the dst array need to be changed. The mask is assumed to
+/// have the same width and height( in terms of pixels) as the destination array.
+///
+/// @param dst
+/// The destination matrix
+///
+/// @param dstWidth
+/// Destination matrix width
+///
+/// @param dstHeight
+/// Destination matrix height
+///
+/// @param dstStride
+/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param value
+/// the input uint8_t value
+///
+/// @param mask
+/// Operation mask, 8-bit single channel array; specifies elements of the src
+/// array to be changed.
+///
+/// @param maskStride
+/// Stride for the mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @return
+/// No return value
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvSetElementsu8( uint8_t * __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ uint8_t value,
+ const uint8_t * __restrict mask,
+ uint32_t maskStride
+ );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sets every element of an int32_t single channel array to a given value.
+///
+/// @details
+/// A non-zero element of the mask array indicates the corresponding element
+/// of the destination array to be changed. The mask itself equals to zero means that
+/// all elements of the dst array need to be changed. The mask is assumed to
+/// have the same width and height( in terms of pixels) as the destination array.
+///
+/// @param dst
+/// The destination matrix
+///
+/// @param dstWidth
+/// Destination matrix width
+///
+/// @param dstHeight
+/// Destination matrix height
+///
+/// @param dstStride
+/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param value
+/// the input int32_t value
+///
+/// @param mask
+/// Operation mask, 8-bit single channel array; specifies elements of the src
+/// array to be changed
+///
+/// @param maskStride
+/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @return
+/// No return value
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvSetElementss32( int32_t * __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ int32_t value,
+ const uint8_t * __restrict mask ,
+ uint32_t maskStride
+ );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sets every element of a float32_t single channel array to a given value.
+///
+/// @details
+/// A non-zero element of the mask array indicates the corresponding element
+/// of the destination array to be changed. The mask itself equals to zero means that
+/// all elements of the dst array need to be changed. The mask is assumed to
+/// have the same width and height( in terms of pixels) as the destination array.
+///
+/// @param dst
+/// The destination matrix
+///
+/// @param dstWidth
+/// Destination matrix width
+///
+/// @param dstHeight
+/// Destination matrix height
+///
+/// @param dstStride
+/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param value
+/// the input float32_t value
+///
+/// @param mask
+/// Operation mask, 8-bit single channel array; specifies elements of the src
+/// array to be changed
+///
+/// @param maskStride
+/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @return
+/// No return value
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvSetElementsf32( float32_t * __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ float32_t value,
+ const uint8_t * __restrict mask,
+ uint32_t maskStride
+ );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sets every element of a uint8_t 4-channel array to a given 4-element scalar.
+///
+/// @details
+/// A non-zero element of the mask array indicates the corresponding element
+/// of the destination array to be changed. The mask itself equals to zero means that
+/// all elements of the dst array need to be changed. The mask is assumed to
+/// have the same width and height( in terms of pixels) as the destination array.
+///
+/// @param dst
+/// The destination matrix
+///
+/// @param dstWidth
+/// Destination matrix width
+///
+/// @param dstHeight
+/// Destination matrix height
+///
+/// @param dstStride
+/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param value1
+/// First uint8_t value of the Scalar
+///
+/// @param value2
+/// Second uint8_t value of the Scalar
+///
+/// @param value3
+/// Third uint8_t value of the Scalar
+///
+/// @param value4
+/// Fourth uint8_t value of the Scalar
+///
+/// @param mask
+/// Operation mask, 8-bit single channel array; specifies elements of the src
+/// array to be changed
+///
+/// @param maskStride
+/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @return
+/// No return value
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvSetElementsc4u8( uint8_t * __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ uint8_t value1,
+ uint8_t value2,
+ uint8_t value3,
+ uint8_t value4,
+ const uint8_t * __restrict mask,
+ uint32_t maskStride
+ );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sets every element of an int32_t 4-channel array to a given 4-element scalar.
+///
+/// @details
+/// A non-zero element of the mask array indicates the corresponding element
+/// of the destination array to be changed. The mask itself equals to zero means that
+/// all elements of the dst array need to be changed. The mask is assumed to
+/// have the same width and height( in terms of pixels) as the destination array.
+///
+/// @param dst
+/// The destination matrix
+///
+/// @param dstWidth
+/// Destination matrix width
+///
+/// @param dstHeight
+/// Destination matrix height
+///
+/// @param dstStride
+/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param value1
+/// First int32_t value of the Scalar
+///
+/// @param value2
+/// Second int32_t value of the Scalar
+///
+/// @param value3
+/// Third int32_t value of the Scalar
+///
+/// @param value4
+/// Fourth int32_t value of the Scalar
+///
+/// @param mask
+/// Operation mask, 8-bit single channel array; specifies elements of the src
+/// array to be changed.
+///
+/// @param maskStride
+/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @return
+/// No return value
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvSetElementsc4s32( int32_t * __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ int32_t value1,
+ int32_t value2,
+ int32_t value3,
+ int32_t value4,
+ const uint8_t * __restrict mask,
+ uint32_t maskStride
+ );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sets every element of a float32_t 4-channel array to a given 4-element scalar.
+///
+/// @details
+/// A non-zero element of the mask array indicates the corresponding element
+/// of the destination array to be changed. The mask itself equals to zero means that
+/// all elements of the dst array need to be changed. The mask is assumed to
+/// have the same width and height( in terms of pixels) as the destination array.
+///
+/// @param dst
+/// The destination matrix
+///
+/// @param dstWidth
+/// Destination matrix width
+///
+/// @param dstHeight
+/// Destination matrix height
+///
+/// @param dstStride
+/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param value1
+/// First float32_t value of the Scalar
+///
+/// @param value2
+/// Second float32_t value of the Scalar
+///
+/// @param value3
+/// Third float32_t value of the Scalar
+///
+/// @param value4
+/// Fourth float32_t value of the Scalar
+///
+/// @param mask
+/// Operation mask, 8-bit single channel array; specifies elements of the src
+/// array to be changed
+///
+/// @param maskStride
+/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @return
+/// No return value
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvSetElementsc4f32( float32_t * __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ float32_t value1,
+ float32_t value2,
+ float32_t value3,
+ float32_t value4,
+ const uint8_t * __restrict mask,
+ uint32_t maskStride
+ );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sets every element of a uint8_t 3-channel array to a given 3-element scalar.
+///
+/// @details
+/// A non-zero element of the mask array indicates the corresponding element
+/// of the destination array to be changed. The mask itself equals to zero means that
+/// all elements of the dst array need to be changed. The mask is assumed to
+/// have the same width and height( in terms of pixels) as the destination array.
+///
+/// @param dst
+/// The destination matrix
+///
+/// @param dstWidth
+/// Destination matrix width
+///
+/// @param dstHeight
+/// Destination matrix height
+///
+/// @param dstStride
+/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param value1
+/// First uint8_t value of the Scalar
+///
+/// @param value2
+/// Second uint8_t value of the Scalar
+///
+/// @param value3
+/// Third uint8_t value of the Scalar
+///
+/// @param mask
+/// Operation mask, 8-bit single channel array; specifies elements of the src
+/// array to be changed
+///
+/// @param maskStride
+/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @return
+/// No return value
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvSetElementsc3u8( uint8_t * __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ uint8_t value1,
+ uint8_t value2,
+ uint8_t value3,
+ const uint8_t * __restrict mask,
+ uint32_t maskStride
+ );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sets every element of an int32_t 3-channel array to a given 3-element scalar.
+///
+/// @details
+/// A non-zero element of the mask array indicates the corresponding element
+/// of the destination array to be changed. The mask itself equals to zero means that
+/// all elements of the dst array need to be changed. The mask is assumed to
+/// have the same width and height( in terms of pixels) as the destination array.
+///
+/// @param dst
+/// The destination matrix
+///
+/// @param dstWidth
+/// Destination matrix width
+///
+/// @param dstHeight
+/// Destination matrix height
+///
+/// @param dstStride
+/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param value1
+/// First int32_t value of the Scalar
+///
+/// @param value2
+/// Second int32_t value of the Scalar
+///
+/// @param value3
+/// Third int32_t value of the Scalar
+///
+/// @param mask
+/// Operation mask, 8-bit single channel array; specifies elements of the src
+/// array to be changed.
+///
+/// @param maskStride
+/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @return
+/// No return value
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvSetElementsc3s32( int32_t * __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ int32_t value1,
+ int32_t value2,
+ int32_t value3,
+ const uint8_t * __restrict mask,
+ uint32_t maskStride
+ );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Sets every element of a float32_t 3-channel array to a given 3-element scalar.
+///
+/// @details
+/// A non-zero element of the mask array indicates the corresponding element
+/// of the destination array to be changed. The mask itself equals to zero means that
+/// all elements of the dst array need to be changed. The mask is assumed to
+/// have the same width and height( in terms of pixels) as the destination array.
+///
+/// @param dst
+/// The destination matrix
+///
+/// @param dstWidth
+/// Destination matrix width
+///
+/// @param dstHeight
+/// Destination matrix height
+///
+/// @param dstStride
+/// Stride for the destination matrix, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param value1
+/// First float32_t value of the Scalar
+///
+/// @param value2
+/// Second float32_t value of the Scalar
+///
+/// @param value3
+/// Third float32_t value of the Scalar
+///
+/// @param mask
+/// Operation mask, 8-bit single channel array; specifies elements of the src
+/// array to be changed
+///
+/// @param maskStride
+/// Stride for input mask, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @return
+/// No return value
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvSetElementsc3f32( float32_t * __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ float32_t value1,
+ float32_t value2,
+ float32_t value3,
+ const uint8_t * __restrict mask,
+ uint32_t maskStride
+ );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Defines an enumeration to list threshold types used in fcvAdaptiveThreshold
+//------------------------------------------------------------------------------
+
+typedef enum {
+ FCV_THRESH_BINARY = 0, // value = value > threshold ? max_value : 0
+ FCV_THRESH_BINARY_INV // value = value > threshold ? 0 : max_value
+} fcvThreshType;
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Binarizes a grayscale image based on an adaptive threshold value calculated from 3x3 Gaussian kernel.
+///
+/// @details
+/// For each pixel, the threshold is computed adaptively based on cross-correlation with a
+/// 3x3 Gaussian kernel minus value (parameter). The standard deviation is used for Gaussian kernel.
+/// For FCV_THRESH_BINARY threshold type, the pixel is set as maxValue if it's value is greater than the threshold;
+/// else, it is set as zero. For FCV_THRESH_BINARY_INV threshold type, the pixel is set as zero if it's value is greater than the threshold;
+/// else, it is set as maxValue.
+///
+/// @param src
+/// Pointer to the 8-bit input image.
+///
+/// @param srcWidth
+/// Width of source images pointed by src.
+///
+/// @param srcHeight
+/// Height of source images pointed by src.
+///
+/// @param srcStride
+/// Stride of source image (i.e., number of bytes between column 0
+/// of row 0 and column 0 of row 1).
+///
+/// @param maxValue
+/// The maximum integer value to be used. 0>1+8) *sizeof(uint32_t)
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param integralCrStride
+/// The stride of integralCr. (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2). If left at 0 integralCrStride is default to (srcWidth>>1+8) *sizeof(uint32_t)
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @return
+/// No return value.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvIntegrateImageYCbCr420PseudoPlanaru8(
+ const uint8_t* __restrict srcY,
+ const uint8_t* __restrict srcC,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcYStride,
+ uint32_t srcCStride,
+ uint32_t* __restrict integralY,
+ uint32_t* __restrict integralCb,
+ uint32_t* __restrict integralCr,
+ uint32_t integralYStride,
+ uint32_t integralCbStride,
+ uint32_t integralCrStride);
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// This function finds the foreground.
+///
+/// @details
+/// This function tries to find a forgound in the current image (represented by: fgIntegralY,
+/// fgIntegralCb, fgIntegralCr) based on the current background model (represented by: bgIntegralY,
+/// bgIntegralCb, bgIntegralCr). For example, the tuple (bgIntegralY, bgIntegralCb, bgIntegralCr) may be
+/// from a picture shooting a wall. Then the tuple (fgIntegralY, fgIntegralCb, fgIntegralCr) may be
+/// the wall with a paint on it. Note that all the first six parameters are indicating integral images
+/// that's computed from a YUV420 image, which maybe computed from the function:
+/// fcvIntegrateImageYCbCr420PseudoPlanaru8. Generally the size of fgIntegralY and bgIntegralY are
+/// (srcWidth+1)*(srcHeight+1). And the size of fgIntegralU, fgIntegralV, bgIntegralU and bgIntegralV
+/// are (srcWidth/2+1)*(srcHeight/2+1). The value of the outputWidth and outputHeight are usually indicating
+/// the desired block size. For example, if the user wants a 20x15 blocks on a 800x480 image. Then
+/// outputWidth=800/20 and outputHeight=480/15. After return, if the value in the outputMask image is
+/// 255, then a moving block is indicated, otherwise a non-moving block is indicated.
+///
+/// @param bgIntegralY
+/// The input image/patch that's indicating the Y channel of the integral image of the background image.
+/// Size of buffer is srcYStride*srcHeight bytes
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param bgIntegralCb
+/// The input image/patch that's indicating the Cb channel of the integral image of the background image.
+/// Size of buffer is srcCbStride*srcHeight/2 bytes
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param bgIntegralCr
+/// The input image/patch that's indicating the Cr channel of the integral image of the background image.
+/// Size of buffer is srcCrStride*srcHeight/2 bytes
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param fgIntegralY
+/// The input image/patch that's indicating the Y channel of the integral image of the image
+/// on which we want to find the foreground.
+/// Size of buffer is srcYStride*srcHeight bytes
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param fgIntegralCb
+/// The input image/patch that's indicating the Cb channel of the integral image of the image
+/// on which we want to find the foreground.
+/// Size of buffer is srcCbStride*srcHeight/2 bytes
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param fgIntegralCr
+/// The input image/patch that's indicating the Cr channel of the integral image of the image
+/// on which we want to find the foreground.
+/// Size of buffer is srcCrStride*srcHeight/2 bytes
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width, the number of pixels in a row. See the details.
+/// \n\b NOTE: must be a multiple of 16.
+///
+/// @param srcHeight
+/// The height of the source image. See the details.
+/// \n\b NOTE: must be a multiple of 2.
+///
+/// @param srcYStride
+/// The stride of the input source image's Y channel. (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2). If left at 0 srcStride is default to (srcWidth+8)*sizeof(uint32_t).
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcCbStride
+/// The stride of the input source image's Cb channel. (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2). If left at 0 srcStride is default to (srcWidth>>1+8)*sizeof(uint32_t).
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcCrStride
+/// The stride of the input source image's Cr channel. (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2). If left at 0 srcStride is default to (srcWidth>>1+8)*sizeof(uint32_t).
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param outputMask
+/// The output mask image. Each pixel represent the motion condition for a block in the original image.
+/// Size of buffer is outputMaskStride*outputHeight bytes
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param outputWidth
+/// The width of the output mask image.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param outputHeight
+/// The height of the output mask image.
+///
+/// @param outputMaskStride
+/// The stride of the output mask image. (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2). If left at 0 outputMaskStride is default to outputWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param threshold
+/// The threshold that's used to decide if a block is moving or not. (recommend the value of 20).
+///
+/// @return
+/// No return value.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvFindForegroundIntegrateImageYCbCr420u32(
+ const uint32_t * __restrict bgIntegralY,
+ const uint32_t * __restrict bgIntegralCb,
+ const uint32_t * __restrict bgIntegralCr,
+ const uint32_t * __restrict fgIntegralY,
+ const uint32_t * __restrict fgIntegralCb,
+ const uint32_t * __restrict fgIntegralCr,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcYStride,
+ uint32_t srcCbStride,
+ uint32_t srcCrStride,
+ uint8_t * __restrict outputMask,
+ uint32_t outputWidth,
+ uint32_t outputHeight,
+ uint32_t outputMaskStride,
+ float32_t threshold );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// This function calculates the average value of an image.
+///
+/// @details
+/// This function sums all the pixel value in an image and divide the result by the number of pixels in the image.
+///
+/// @param src
+/// The input image/patch. Must be 32 bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width, the number of pixels in a row
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param avgValue
+/// The output average value.
+///
+/// @return
+/// No return value.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvAverages32(
+ const int32_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t* __restrict avgValue);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// This function calculates the average value of an image.
+///
+/// @details
+/// This function sums all the pixel value in an image and divide the result by the number of pixels in the image.
+///
+/// @param src
+/// 8-bit image where keypoints are detected. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width, the number of pixels in a row
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param avgValue
+/// The output average value.
+///
+/// @return
+/// No return value.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvAverageu8(
+ const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t* __restrict avgValue);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Applies the meanshift procedure and obtains the final converged position
+///
+/// @details
+/// This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position.
+/// The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.
+///
+/// @param src
+/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be 8 bit grayscale image.
+/// Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// The width of the input source image.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// The height of the input source image.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param window
+/// Pointer to the initial search window position which also returns the final converged window position.
+///
+/// @param criteria
+/// The criteria used to finish the MeanShift which consists of two termination criteria:
+/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
+///
+/// @return
+/// The actually number of iterations
+///
+/// @ingroup Motion_and_Object_Tracking
+//------------------------------------------------------------------------------
+FASTCV_API uint32_t
+fcvMeanShiftu8(const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ fcvRectangleInt* window,
+ fcvTermCriteria criteria);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Applies the meanshift procedure and obtains the final converged position
+///
+/// @details
+/// This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position.
+/// The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.
+///
+/// @param src
+/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be int 32bit grayscale image.
+/// Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// The width of the input source image.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// The height of the input source image.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param window
+/// Pointer to the initial search window position which also returns the final converged window position.
+///
+/// @param criteria
+/// The criteria used to finish the MeanShift which consists of two termination criteria:
+/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
+///
+/// @return
+/// Number of iterations
+///
+/// @ingroup Motion_and_Object_Tracking
+//------------------------------------------------------------------------------
+FASTCV_API uint32_t
+fcvMeanShifts32(const int32_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ fcvRectangleInt* window,
+ fcvTermCriteria criteria);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Applies the meanshift procedure and obtains the final converged position
+///
+/// @details
+/// This function applies the meanshift procedure to an original image (usually a probability image) and obtains the final converged position.
+/// The converged position search will stop either it has reached the required accuracy or the maximum number of iterations.
+///
+/// @param src
+/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be float 32bit grayscale image.
+/// Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// The width of the input source image.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// The height of the input source image.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param window
+/// Pointer to the initial search window position which also returns the final converged window position.
+///
+/// @param criteria
+/// The criteria used to finish the MeanShift which consists of two termination criteria:
+/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
+///
+/// @return
+/// Number of iterations
+///
+/// @ingroup Motion_and_Object_Tracking
+//------------------------------------------------------------------------------
+FASTCV_API uint32_t
+fcvMeanShiftf32(const float32_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ fcvRectangleInt* window,
+ fcvTermCriteria criteria);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Applies the ConAdaTrack procedure and find the object center, size and orientation
+///
+/// @details
+/// This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object.
+/// The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.
+///
+/// @param src
+/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be 8bit grayscale image.
+/// Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// The width of the input source image.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// The height of the input source image.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param window
+/// Pointer to the initial search window position which also returns the final converged window position.
+///
+/// @param criteria
+/// The criteria used to finish the object search which consists of two termination criteria:
+/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
+///
+/// @param circuBox
+/// The circumscribed box around the object
+///
+/// @return
+/// Number of iterations
+///
+/// @ingroup Motion_and_Object_Tracking
+//------------------------------------------------------------------------------
+FASTCV_API uint32_t
+fcvConAdaTracku8(const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ fcvRectangleInt* window,
+ fcvTermCriteria criteria,
+ fcvBox2D* circuBox);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Applies the ConAdaTrack procedure and find the object center, size and orientation
+///
+/// @details
+/// This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object.
+/// The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.
+///
+/// @param src
+/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be int 32bit grayscale image.
+/// Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// The width of the input source image.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// The height of the input source image.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param window
+/// Pointer to the initial search window position which also returns the final converged window position.
+///
+/// @param criteria
+/// The criteria used to finish the object search which consists of two termination criteria:
+/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
+///
+/// @param circuBox
+/// The circumscribed box around the object
+///
+/// @return
+/// Number of iterations
+///
+/// @ingroup Motion_and_Object_Tracking
+//------------------------------------------------------------------------------
+FASTCV_API uint32_t
+fcvConAdaTracks32(const int32_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ fcvRectangleInt* window,
+ fcvTermCriteria criteria,
+ fcvBox2D* circuBox);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Applies the ConAdaTrack procedure and find the object center, size and orientation
+///
+/// @details
+/// This function applies the ConAdaTrack procedure to an original image (usually a probability image) and obtains the final converged object.
+/// The optimal object search will stop either it has reached the required accuracy or the maximum number of iterations.
+///
+/// @param src
+/// Pointer to the original image which is usually a probability image computed based on object histogram. Must be float 32bit grayscale image.
+/// Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// The width of the input source image.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// The height of the input source image.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param window
+/// Pointer to the initial search window position which also returns the final converged window position.
+///
+/// @param criteria
+/// The criteria used to finish the object search which consists of two termination criteria:
+/// 1) epsilon: required accuracy; 2) max_iter: maximum number of iterations
+///
+/// @param circuBox
+/// The circumscribed box around the object
+///
+/// @return
+/// Number of iterations
+///
+/// @ingroup Motion_and_Object_Tracking
+//------------------------------------------------------------------------------
+FASTCV_API uint32_t
+fcvConAdaTrackf32(const float32_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ fcvRectangleInt* window,
+ fcvTermCriteria criteria,
+ fcvBox2D* circuBox);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Compute a singular value decomposition of a matrix of a float type
+/// A = U*diag[w]*Vt;
+/// It is used for solving problems like least-squares, under-determined linear systems, matrix
+/// inversion and so forth. The algorithm used here does not compute the full U and V matrices
+/// however it computes a condensed version of U and V described below which is sufficient to solve
+/// most problems which use SVD.
+///
+/// @details
+///
+///
+/// @param A
+/// The input matrix of dimensions m x n
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param m
+/// The number of rows of matrix A
+///
+/// @param n
+/// The number of columns of matrix A
+///
+/// @param w
+/// The pointer to the buffer that holds n singular values. When m>n it
+/// contains n singular values while when m 0 and less than or equal to 8.
+///
+/// @param dst
+/// Output unsigned 8-bit integer image. Size of buffer is dstStride*srcHeight bytes.
+/// The dimensions of the image are dstWidth = srcWidth - 2*radius,
+/// and dstHeight = srcHeight - 2*radius.
+
+///
+/// @param dstStride
+/// Stride of the output image in bytes.
+/// \n\b NOTE: dstWidth = srcWidth - 2*radius, dstHeight = srcHeight - 2*radius.
+/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
+///
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvGLBPu8(const uint8_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t radius,
+ uint32_t neighbors,
+ uint8_t *__restrict dst,
+ uint32_t dstStride);
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Refine corner location
+///
+/// @details
+/// Refine the detected corners location into sub-Pixels which is more precise than integer pixels
+///
+/// @param src
+/// Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+///
+/// @param srcHeight
+/// Input image height.
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param blockWidth
+/// Width of the location search window.
+///
+/// @param blockHeight
+/// Height of the location search window.
+///
+/// @param maxIterations
+/// Maximum number of iteration to refine
+///
+/// @param stopCriteria
+/// Improvement threshold, iteration stop if the corner position moves less by this value
+///
+/// @param xyInitial
+/// Pointer to the initial input array containing the interleaved x,y position of the corner
+///
+/// @param nCorners
+/// Number of the corners
+///
+/// @param xyOut
+/// Pointer to the output array containing the refined interleaved x,y position of the corner
+///
+/// @ingroup feature_detection
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvCornerRefineSubPixu8( const uint8_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t blockWidth,
+ uint32_t blockHeight,
+ uint32_t maxIterations,
+ float32_t stopCriteria,
+ const uint32_t*__restrict xyInitial,
+ uint32_t nCorners,
+ float32_t * __restrict xyOut);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Extract strong corners from image to track
+///
+/// @details
+/// Extract strong corners from image to track based on the according paper "Good Feature to Track" by J.Shi and C.Tomasi
+///
+/// @param src
+/// Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+///
+/// @param srcHeight
+/// Input image height.
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param distanceMin
+/// Minimum Euclidean distance between the found corners
+///
+/// @param border
+/// Number for pixels to ignore from top,bottom
+///
+/// @param barrier
+/// Quality threshold
+///
+/// @param xy
+/// Pointer to the output array containing the interleaved x,y position of the detected features
+///
+/// @maxnumcorners
+/// Maximum number of features to detect
+///
+/// @numcorners
+/// Pointer to integer of actual detected features number
+///
+/// @ingroup feature_detection
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvGoodFeatureToTracku8( const uint8_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t distanceMin,
+ uint32_t border,
+ float32_t barrier,
+ uint32_t * __restrict xy,
+ uint32_t maxnumcorners,
+ uint32_t * __restrict numcorners);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Find multiple maxima along the normal direction of the line
+///
+/// @param src
+/// 8-bit input image
+///
+/// @param srcWidth
+/// Input image width
+///
+/// @param srcHeight
+/// Input image height
+///
+/// @param srcStride
+/// Input image stride
+///
+/// @param pos
+/// 2D position to start searching maximas in the input image
+///
+/// @param normal
+/// Normalized line normal at pos
+///
+/// @param maxDistance
+/// Search distance along the normal direction; [-normal*maxDistance, normal*maxDistance]
+///
+/// @param maxNumMaxima
+/// Maximum maxima to find, e.g., 5
+///
+/// @param minGradient
+/// Minimum 1D gradient of the pixels on the search line (normal direction)
+///
+/// @param maxAngleDiff
+/// Cosine value threshold to filter the pixels that have large angle difference
+///
+/// @param maxima
+/// List of found maxima 1D positions; Actuall 2D position of maxima = (normal * 1D position) + pos
+///
+/// @param numMaxima
+/// Number of found maxima
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFindMultipleMaximau8(const uint8_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ const float32_t* __restrict pos,
+ const float32_t* __restrict normal,
+ uint32_t maxDistance,
+ uint32_t maxNumMaxima,
+ int32_t minGradient,
+ float32_t maxAngleDiff,
+ float32_t* __restrict maxima,
+ uint32_t* __restrict numMaxima);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Extract the straight line segments from the image
+///
+/// @param srcPyr
+/// Pointer to an array of fcvPyramidLevel_v2. Only 2 levels at max will be used
+/// to extract the straight line segments.
+///
+/// @param pyrLevel
+/// Image pyramid level, if it is set to 1, then do not use multi-scale approach.
+/// pyrLevel should be greater than or equal to 1.
+///
+/// @param doBlurImage
+/// Do image-blurring inside the function (if the image is not blurred)
+///
+/// @param maxLineAngle
+/// Cosine threshold to stop following (extending) pixels, e.g., cos(22.5 deg)
+/// maxLineAngle should be between [0.5 - 1.0]
+///
+/// @param minLineLength
+/// Minimum line segment length in pixels
+///
+/// @param minMagnitude
+/// Minimum pixel gradient magnitude, e.g., 10
+///
+/// @param maxLineNum
+/// Maximum line segments from the image
+///
+/// @param indexBuffer
+/// Optionally store the index(:= y * image_width + x) of the pixels consisting of the line segments
+/// into pointsList in fcvLineSegment structure. e.g., One can provide the buffer[maxLineNum*(image width + height)]
+/// Pass NULL if it is not necessary.
+///
+/// @param lineSegments
+/// List of the detected line segments
+///
+/// @param numLineSegments
+/// Number of found line segments
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup feature_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvImageDetectLineSegmentsu8(const fcvPyramidLevel_v2* __restrict srcPyr,
+ uint32_t pyrLevel,
+ uint32_t doBlurImage,
+ float32_t maxLineAngle,
+ uint32_t minLineLength,
+ uint32_t minMagnitude,
+ uint32_t maxLineNum,
+ uint32_t* __restrict indexBuffer,
+ fcvLineSegment* __restrict lineSegments,
+ uint32_t* __restrict numLineSegments);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Sum of squared differences of one L-byte vector against N others.
+///
+/// @details
+/// SSD of one vector (a) against N other L-byte vectors
+/// ( b[0], b[1], ..., b[n-1] )
+/// using their given inverse lengths for normalization.
+/// \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param invLenA
+/// Inverse of vector A = 1/|A|
+///
+/// @param dim
+/// Number of element of vector A
+///
+/// @param bList
+/// Vectors b[0]...b[n-1].
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param invLenB
+/// Inverse of vectors b[0]...b[n-1] = 1/|b[0]|,... 1/|b[n-1]|
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param numB
+/// Number of B vectors.
+///
+/// @param distances
+/// Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }
+/// \n\b WARNING: should be 128-bit aligned.
+///
+///
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvSumOfSquaredDiffsu8( const uint8_t* __restrict a,
+ float32_t invLenA,
+ uint32_t dim,
+ const uint8_t* const * __restrict bList,
+ const float32_t* __restrict invLenB,
+ uint32_t numB,
+ float32_t* __restrict distances );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Sum of squared differences of one floating vector of L-elements against N others.
+///
+/// @details
+/// SSD of one vector (a) against N other L-elements vectors
+/// ( b[0], b[1], ..., b[n-1] )
+/// using their given inverse lengths for normalization.
+/// \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param invLenA
+/// Inverse of vector A = 1/|A|
+///
+/// @param dim
+/// Number of element of vector A
+///
+/// @param bList
+/// Vectors b[0]...b[n-1].
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param invLenB
+/// Inverse of vectors b[0]...b[n-1] = 1/|b[0]|,... 1/|b[n-1]|
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param numB
+/// Number of B vectors.
+///
+/// @param distances
+/// Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvSumOfSquaredDiffsf32( const float32_t* __restrict a,
+ float32_t invLenA,
+ uint32_t dim,
+ const float32_t* const * __restrict bList,
+ const float32_t* __restrict invLenB,
+ uint32_t numB,
+ float32_t* __restrict distances );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// General function for computing cluster centers and cluster bindings
+/// for a set of points of dimension dim.
+///
+/// @param points
+/// Array of all points. Array size must be greater than
+/// numPoints * pointStride.
+///
+/// @param numPoints
+/// Number of points in points array.
+///
+/// @param dim
+/// dimension, e.g. 36
+///
+/// @param pointStride
+/// Byte distance between adjacent points in array
+///
+/// @param numPointsUsed
+/// Total number of points used for clustering, {0,1,...(numPointsUsed-1)}
+///
+/// @param numClusters
+/// Number of clusters
+///
+/// @param clusterCenters
+/// current cluster centers;
+/// elements are distant by clusterCenterStride
+///
+/// @param clusterCenterStride
+/// byte distance between adjacent cluster centers in array
+///
+/// @param newClusterCenters
+/// array for new cluster centers; should be numClusterCenters long
+///
+/// @param newClusterMemberCounts
+/// Element counts for each cluster; should be numClusterCenters long
+///
+/// @param clusterBindings
+/// Output indices of the clusters to which each vector belongs to, array must
+/// be numPointsUsed long.
+///
+/// @param sumOfClusterDistances
+/// the sum of distances between each cluster center to its belonging points. The
+/// size should be numClusterCenters*sizeof(float_32)
+///
+/// @return
+/// 0 if successfully clustered, otherwise error code
+///
+/// @remark
+/// This is general clusterer. There are no assumptions on points other
+/// than they belong to a vector space
+///
+/// @ingroup clustering_and_search
+//---------------------------------------------------------------------------
+
+FASTCV_API int
+fcvClusterEuclideanu8( const uint8_t* __restrict points,
+ int32_t numPoints,
+ int32_t dim,
+ int32_t pointStride,
+ int32_t numPointsUsed,
+ int32_t numClusters,
+ float32_t* __restrict clusterCenters,
+ int32_t clusterCenterStride,
+ float32_t* __restrict newClusterCenters,
+ uint32_t* __restrict clusterMemberCounts,
+ uint32_t* __restrict clusterBindings,
+ float32_t* sumOfClusterDistances );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix transpose of one uint8_t type matrix.
+///
+/// @param src
+/// Source matrix.The size of src is srcStride*srcHeight.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param srcWidth
+/// Width of the source matrix.
+///
+/// @param srcHeight
+/// Height of the source matrix.
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// Transpose of the source matrix. The size of dst is dstStride*srcWidth.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcHeight.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvTransposeu8( const uint8_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t * __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix transpose of one uint16_t type matrix.
+///
+/// @param src
+/// Source matrix. The size of src is srcStride*srcHeight.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param srcWidth
+/// Width of the source matrix.
+///
+/// @param srcHeight
+/// Height of the source matrix.
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// Transpose of the source matrix. The size of dst is dstStride*srcWidth.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcHeight*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvTransposeu16( const uint16_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint16_t * __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix transpose of one float32_t type matrix.
+///
+/// @param src
+/// Source matrix. The size of src is srcStride*srcHeight.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param srcWidth
+/// Width of the source matrix.
+///
+/// @param srcHeight
+/// Height of the source matrix.
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// Transpose of the source matrix. The size of dst is dstStride*srcWidth.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcHeight*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvTransposef32( const float32_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t * __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Flip one uint8_t type matrix. If src and dst point to the same address
+/// and srcStride equals to dstStride, it will do in-place flip.
+///
+/// @param src
+/// Source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param srcWidth
+/// Width of the source matrix.
+///
+/// @param srcHeight
+/// Height of the source matrix.
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix. If src equals to dst and srcStride equals to dstStride,
+/// it will do in-place flip.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dir
+/// Flip direction (FASTCV_FLIP_HORIZ, FASTCV_FLIP_VERT or FASTCV_FLIP_BOTH).
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFlipu8( const uint8_t * src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t * dst,
+ uint32_t dstStride,
+ fcvFlipDir dir );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Flip one uint16_t type matrix. If src and dst point to the same address,
+/// and srcStride equals to dstStride, it will do in-place flip.
+///
+/// @param src
+/// Source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param srcWidth
+/// Width of the source matrix.
+///
+/// @param srcHeight
+/// Height of the source matrix.
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix. If src equals to dst and srcStride equals to dstStride,
+/// it will do in-place flip.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dir
+/// Flip direction (FASTCV_FLIP_HORIZ, FASTCV_FLIP_VERT or FASTCV_FLIP_BOTH).
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvFlipu16( const uint16_t * src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint16_t * dst,
+ uint32_t dstStride,
+ fcvFlipDir dir );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Flips an interleaved RGB image
+///
+/// @details
+/// Flips one uint8_t type interleaved RGB image . If src and dst point to the same address
+/// and srcStride equals to dstStride, it will do in-place flip.
+///
+/// @param src
+/// Input unsigned 8-bit integer image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the image.
+///
+/// @param srcHeight
+/// Height of the source image.
+///
+/// @param srcStride
+/// Stride of the Image in bytes.
+/// \n\b NOTE: if 0, srcStride is set as 3 x srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcWidth if not 0.
+///
+/// @param dst
+/// Output unsigned 8-bit integer image. Size of buffer is dstStride*srcHeight bytes.
+/// If src equals to dst and srcStride equals to dstStride,it will do in-place flip.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of the output image in bytes.
+/// \n\b NOTE: if 0, dstStride is set as 3 x srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcWidth if not 0.
+///
+/// @param dir
+/// Flip direction (FASTCV_FLIP_HORIZ, FASTCV_FLIP_VERT or FASTCV_FLIP_BOTH).
+///
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvFlipRGB888u8(const uint8_t * src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t * dst,
+ uint32_t dstStride,
+ fcvFlipDir dir);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Rotate one uint8_t type image.
+///
+/// @param src
+/// Source image.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param srcWidth
+/// Width of the source image.
+///
+/// @param srcHeight
+/// Height of the source image.
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result image.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth
+/// (FASTCV_ROTATE_180) or srcHeight (FASTCV_ROTATE_90 or FASTCV_ROTATE_270).
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param degree
+/// Rotate degree (FASTCV_ROTATE_90, FASTCV_ROTATE_180 or FASTCV_ROTATE_270).
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvRotateImageu8( const uint8_t * src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t * dst,
+ uint32_t dstStride,
+ fcvRotateDegree degree );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Rotate one interleaved uint8_t type image (e.g. UV channel in NV21).
+///
+/// @param src
+/// Source image.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param srcWidth
+/// Number of interleaved pairs in one row.
+/// For example, srcWidth = 4 in UVUVUVUV image row.
+///
+/// @param srcHeight
+/// Height of the source image.
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to 2*srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result image.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to 2*srcWidth
+/// (FASTCV_ROTATE_180) or 2*srcHeight (FASTCV_ROTATE_90 or FASTCV_ROTATE_270).
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param degree
+/// Rotate degree (FASTCV_ROTATE_90, FASTCV_ROTATE_180 or FASTCV_ROTATE_270).
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvRotateImageInterleavedu8( const uint8_t * src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t * dst,
+ uint32_t dstStride,
+ fcvRotateDegree degree );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Element-wise multiplication of two uint8_t type matrices.
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (uint16_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvElementMultiplyu8u16( const uint8_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t * src2,
+ uint32_t src2Stride,
+ uint16_t * __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Element-wise multiplication of two float32_t type matrices.
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (float32_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvElementMultiplyf32( const float32_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const float32_t * src2,
+ uint32_t src2Stride,
+ float32_t * __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix multiplication of two int8_t type matrices.
+///
+/// @param src1
+/// First source matrix. The size of src1 is src1Stride*src1Height.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src1Width
+/// Width of the first source matrix.
+/// \n\b NOTE: src1Width should not be larger than 131072
+///
+/// @param src1Height
+/// Height of the first source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix. The size of src2 is src2Stride*src1Width.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Width
+/// Width of the second source matrix.
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (int32_t type). The size of dst is dstStride*src1Height.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to src2Width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvMatrixMultiplys8s32( const int8_t * __restrict src1,
+ uint32_t src1Width,
+ uint32_t src1Height,
+ uint32_t src1Stride,
+ const int8_t * __restrict src2,
+ uint32_t src2Width,
+ uint32_t src2Stride,
+ int32_t * __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix multiplication of two float32_t type matrices.
+///
+/// @param src1
+/// First source matrix. The size of src1 is src1Stride*src1Height.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src1Width
+/// Width of the first source matrix.
+///
+/// @param src1Height
+/// Height of the first source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix. The size of src2 is src2Stride*src1Width.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Width
+/// Width of the second source matrix.
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (int32_t type). The size of dst is dstStride*src1Height.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to src2Width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvMatrixMultiplyf32( const float32_t * __restrict src1,
+ uint32_t src1Width,
+ uint32_t src1Height,
+ uint32_t src1Stride,
+ const float32_t * __restrict src2,
+ uint32_t src2Width,
+ uint32_t src2Stride,
+ float32_t * __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Dot product of two uint8_t type blocks.
+///
+/// @param src1
+/// First source block.
+///
+/// @param blockWidth
+/// Width of the source block.
+///
+/// @param blockHeight
+/// Height of the source block.
+/// \n\b NOTE: blockWidth*blockHeight should not be larger than 65536
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source block.
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// Block dot product (uint32_t).
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API uint32_t
+fcvBlockDotProductu8( const uint8_t * __restrict src1,
+ uint32_t blockWidth,
+ uint32_t blockHeight,
+ uint32_t src1Stride,
+ const uint8_t * __restrict src2,
+ uint32_t src2Stride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Dot product of two float32_t type blocks.
+///
+/// @param src1
+/// First source block.
+///
+/// @param blockWidth
+/// Width of the source block.
+///
+/// @param blockHeight
+/// Height of the source block.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to src1Width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source block.
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to src2Width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// Block dot product (float32_t).
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API float32_t
+fcvBlockDotProductf32( const float32_t * __restrict src1,
+ uint32_t blockWidth,
+ uint32_t blockHeight,
+ uint32_t src1Stride,
+ const float32_t * __restrict src2,
+ uint32_t src2Stride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix addition of two uint8_t type matrices.
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (uint16_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvAddu8u16( const uint8_t * __restrict src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t * __restrict src2,
+ uint32_t src2Stride,
+ uint16_t * __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix addition of two int16_t type matrices with saturation.
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (int16_t type). The result will be saturated to
+/// int16_t.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvAdds16( const int16_t * __restrict src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const int16_t * __restrict src2,
+ uint32_t src2Stride,
+ int16_t * __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix addition of two float32_t type matrices.
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (float32_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API void
+fcvAddf32( const float32_t * __restrict src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const float32_t * __restrict src2,
+ uint32_t src2Stride,
+ float32_t * __restrict dst,
+ uint32_t dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Builds an integral image of the incoming 8-bit patch values and their
+/// squares. This function supports bigger size patch with u64 for squared
+/// integral output.
+/// \n\b NOTE: No extra border lines, the integral output buffer size is the same
+/// as input image buffer size.
+///
+/// @details
+/// sum (X,Y) = sum_{x<=X,y<=Y} I(x,y)
+///
+/// @param src
+/// Input image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
+///
+/// @param dstIntgrl
+/// Integral image.
+/// \n\b NOTE: Memory must be >= srcWidth*srcHeight*4 bytes
+///
+/// @param dstIntgrlSqrd
+/// Integral image of squared values.
+/// \n\b NOTE: Memory must be >= srcWidth*srcHeight*8 bytes
+///
+/// @param dstIntgrlStride
+/// dstIntgrl Image stride (in bytes).
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth*4.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
+///
+/// @param dstIntgrlSqrdStride
+/// dstIntgrlSqrd Image stride (in bytes).
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth*8.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values).
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvIntegrateImageu8u64( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t* __restrict dstIntgrl,
+ uint64_t* __restrict dstIntgrlSqrd,
+ uint32_t dstIntgrlStride,
+ uint32_t dstIntgrlSqrdStride);
+
+
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Normalize the image according to histogram value of the pixel intensity.
+///
+/// @param src
+/// Pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param dst
+/// Pointer to output image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+
+FASTCV_API void
+fcvImageHistogramEqualizeu8( const uint8_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t * __restrict dst,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Calculate histogram at image patches.
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvImageSpatialHistogramu8_v2(). In the 2.0.0 release,
+/// fcvImageSpatialHistogramu8_v2 will be renamed to fcvImageSpatialHistogramu8
+/// and the signature of fcvImageSpatialHistogramu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @param src
+/// Pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param numPatterns
+/// Number of patterns to be computed in the histogram
+///
+/// @param grid_x
+/// The number of grids along x dimension
+///
+/// @param grid_y
+/// The number of grids along y dimension
+///
+/// @param histogram
+/// Output histogram
+/// \n\b NOTE: Memory must be at least numPatterns*grid_x*grid_y*sizeof(float32_t)
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API void
+fcvImageSpatialHistogramu8(const uint8_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t numPatterns,
+ uint32_t grid_x,
+ uint32_t grid_y,
+ float32_t*__restrict histogram);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data without normalization.
+/// This function computes the gradient of the input image by convolution with the
+/// 3x3 Sobel kernel. The Sobel kernel is not normalized in this function.
+///
+/// NOTE: it will replace the fcvFilterSobel3x3u8 in fastCV 2.0.0.
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient. The number of pixels in a row.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
+/// If NULL, the horizontal gradient will not be calculated.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
+/// If NULL, the vertical gradient will not be calculated.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dxyStride
+/// Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param borderType
+/// Define the behavior at the border.
+/// See definition of fcvBorderType.
+///
+/// @param borderValue
+/// Specifies the constant value for the borderType FASTCV_BORDER_CONSTANT.
+/// Ignored otherwise.
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterSobel3x3u8s16( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int16_t* __restrict dx,
+ int16_t* __restrict dy,
+ uint32_t dxyStride,
+ fcvBorderType borderType,
+ uint8_t borderValue);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data without normalization.
+/// This function computes the gradient of the input image by convolution with the
+/// 5x5 Sobel kernel. The Sobel kernel is not normalized in this function.
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient. The number of pixels in a row.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
+/// If NULL, the horizontal gradient will not be calculated.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
+/// If NULL, the vertical gradient will not be calculated.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dxyStride
+/// Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param borderType
+/// Define the behavior at the border.
+/// See definition of fcvBorderType.
+///
+/// @param borderValue
+/// Specifies the constant value for the borderType FASTCV_BORDER_CONSTANT.
+/// Ignored otherwise.
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterSobel5x5u8s16( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int16_t* __restrict dx,
+ int16_t* __restrict dy,
+ uint32_t dxyStride,
+ fcvBorderType borderType,
+ uint8_t borderValue);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Creates a 2D gradient image from source luminance data without normalization.
+/// This function computes the gradient of the input image by convolution with the
+/// 7x7 Sobel kernel. The Sobel kernel is not normalized in this function.
+///
+/// @param src
+/// Input image/patch. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of src data to create gradient. The number of pixels in a row.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Height of src data to create gradient.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param dx
+/// Buffer to store horizontal gradient. Must be (dxyStride)*(height) bytes in size.
+/// If NULL, the horizontal gradient will not be calculated.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dy
+/// Buffer to store vertical gradient. Must be (dxyStride)*(height) bytes in size.
+/// If NULL, the vertical gradient will not be calculated.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dxyStride
+/// Stride (in bytes) of 'dx' and 'dy' gradient arrays, is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in the gradient arrays dx or dy. If left at 0 gradStride is default to 2 * srcWidth.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param borderType
+/// Define the behavior at the border.
+/// See definition of fcvBorderType.
+///
+/// @param borderValue
+/// Specifies the constant value for the borderType FASTCV_BORDER_CONSTANT.
+/// Ignored otherwise.
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterSobel7x7u8s16( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int16_t* __restrict dx,
+ int16_t* __restrict dy,
+ uint32_t dxyStride,
+ fcvBorderType borderType,
+ uint8_t borderValue);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Canny edge detection with more controls to configurate the algorithm.
+///
+/// @details
+/// Canny edge detector applied to a 8 bit grayscale image.
+/// The results are stored as a binarized image (0x0 - not an edge, 0xFF - edge).
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Stride of the input image in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param kernelSize
+/// The Sobel kernel size for calculating gradient. Supported sizes are 3, 5 and 7.
+///
+/// @param lowThresh
+/// For all the intermediate pixels along the edge, the norm of the
+/// gradient at the pixel locations should be greater than 'lowThresh'.
+///
+/// @param highThresh
+/// For an edge starting point, i.e. either the first or last
+/// pixel of the edge, the norm of the gradient at the pixel should be
+/// greater than 'highThresh'.
+///
+/// @param normType
+/// The norm definition to calculate the gradient magnitude. See fcvNormType.
+///
+/// @param dst
+/// Output 8-bit binarized image containing the edge detection results.
+/// Size of buffer is dstStride*srcHeight bytes.
+/// Edges are marked with pixels of 0xFF. The rest pixels have values of 0.
+///
+/// @param dstStride
+/// Stride of the output image in bytes.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param gx
+/// Buffer to store horizontal gradient. Must be (gradStride)*(srcHeight) bytes in size.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param gy
+/// Buffer to store vertical gradient. Must be (gradStride)*(srcHeight) bytes in size.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param gradStride
+/// Stride (in bytes) of 'gx' and 'gy' gradient arrays,
+/// is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in the gradient arrays dx or dy.
+/// If left at 0 gradStride is default to 2 * srcWidth.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterCannyu8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t kernelSize,
+ int32_t lowThresh,
+ int32_t highThresh,
+ fcvNormType normType,
+ uint8_t* __restrict dst,
+ uint32_t dstStride,
+ int16_t* __restrict gx,
+ int16_t* __restrict gy,
+ uint32_t gradStride);
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Converts the bit depth of a single-channel uint8 image to int16_t type
+///
+/// @param src
+/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param srcWidth
+/// Input image width
+///
+/// @param srcHeight
+/// Input image height
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// if srcStride is equal to 0, it will be set to srcWidth
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @param shift
+/// The number of bits to be right-shifted to adjust the output
+/// \n\b NOTE: range from 0 to 8
+///
+/// @param dst
+/// Output image which has the same dimension as the input image in int16_t type
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param dstStride
+/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// if dstStride is equal to 0, it will be set to srcWidth*2
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvConvertDepthu8s16(const uint8_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t shift,
+ int16_t *__restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Converts the bit depth of a single-channel int16_t image to uint8_t type
+///
+/// @param src
+/// Input int16_t image. The size of buffer is srcStride*srcHeight bytes
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param srcWidth
+/// Input image width
+///
+/// @param srcHeight
+/// Input image height
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// if srcStride is equal to 0, it will be set to srcWidth*2
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @param shift
+/// The number of bits to be left-shifted to adjust the output
+/// \n\b NOTE: range from 0 to 15
+///
+/// @param policy
+/// Conversion policy that decides how data overflow should be handled
+///
+/// @param dst
+/// Output image which has the same dimension as the input image in uint8_t type
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param dstStride
+/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// if dstStride is equal to 0, it will be set to srcWidth
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvConvertDepths16u8(const int16_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t shift,
+ fcvConvertPolicy policy,
+ uint8_t *__restrict dst,
+ uint32_t dstStride );
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Recursive Bilateral Filtering
+///
+/// @details
+/// The algorithm is described in paper Recursive Bilateral Filtering, ECCV2012 by Prof Yang Qingxiong
+/// Different from traditional bilateral filtering, the bilateral filtering in this algorithm is actually performed in gradient domain.
+/// The results are ususally better than tradition bilateral filters. Filtering is carried out in a recursive way, and it is efficient.
+///
+/// @param src
+/// Input uint8_t image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+///
+/// @param srcHeight
+/// Input image height.
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param dst
+/// Output uint8_t image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param sigmaColor
+/// Filter sigma in the color space. Typical value 0.03f. Increasing this value means increasing the influence of the neighboring
+///pixels of more different Color to the smoothing result.
+///
+/// @param sigmaSpace
+/// Filter sigma in the coordinate space. Typical value 0.1f. Increasing this value means increasing the influence of farther
+/// pixels to the smoothing result.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvBilateralFilterRecursiveu8(const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride,
+ float32_t sigmaColor,
+ float32_t sigmaSpace );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Grow the seeds within the image to meaningful regions,
+/// depending on the color or gray scale uniformity of the neighborhood pixels from the seeds.
+///
+/// @param src
+/// Pointer to 16-bit color (3-channel) or grayscale (1-channel) image.
+///
+/// @param srcWidth
+/// Width of src image, measured by pixels.
+///
+/// @param srcHeight
+/// Height of src image, measured by pixels.
+///
+/// @param srcStride
+/// Stride of src image, measured by bytes.
+/// WARNING: should be multiple of 8, and at least as much as srcWidth*numChannel if not 0.
+///
+/// @param numChannel
+/// Number of channels of src image. 1 for gray scale and 3 for color image.
+///
+/// @param threshGrow
+/// Threshold to grow the seed into a region. Higher value: larger uniform region grown.
+/// Range of 3-channel image segmentation: 10~150.
+/// Range of 1-channel image segmentation: 3~25.
+///
+/// @param pointVector
+/// A 2D point vector of seeds (provided by user) within the image. For N seeds, it is saved as [x0,y0,x1,y1,...,xN-1,yN-1].
+///
+/// @param numSeed
+/// Number of seed points, equal to N used in pointVector.
+///
+/// @param mode
+/// Mode of seed grow. 0: distance measured with neighborhood pixel. 1: distance measured with seed pixel only.
+///
+/// @param segLabel
+/// Segmented labels. 1 channel with same size of src. Pixel belonging to the same region is uniformly labeled by a non-zero number. Pixels not grown from any seeds are labeled 0.
+///
+/// @param segLabelStride
+/// Stride of segmented labels, measured by bytes.
+/// WARNING: should be multiple of 8, and at least as much as srcWidth*4 if not 0.
+///
+/// @return
+/// 0 if successful.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvImageSegmentationSeedRegionGrows16( const int16_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t numChannel,
+ uint32_t threshGrow,
+ const uint32_t* __restrict pointVector,
+ uint32_t numSeed,
+ uint8_t mode,
+ uint32_t* __restrict segLabel,
+ uint32_t segLabelStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Calculate the local subtractive and contrastive normalization of the image.
+/// For each pixel of the image, the mean and optionally standard deviation
+/// is calculated for the patch centered around the pixel. Then the pixel is
+/// normalized by the local mean and optionally standard deviation.
+///
+/// @param src
+/// The input image. Must be 8 bit grayscale image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE:should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width, the number of pixels in a row
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Stride of src image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory.
+/// \n\b NOTE: should be a multiple of 8. If left at 0 srcStride is default to srcWidth.
+///
+/// @param patchWidth
+/// Width in pixels of the patch to calculate local mean and standard deviation.
+///
+/// @param patchHeight
+/// Height in pixels of the patch to calculate local mean and standard deviation.
+///
+/// @param useStdDev (0 or 1)
+/// if 1, the dst will be normalized with standard deviation.
+///
+/// @param dst
+/// The output image.
+/// Size of buffer is dstStride*srcHeight bytes.
+/// \n\b NOTE:should be 128-bit aligned.
+///
+/// @param dstStride
+/// The stride of the output image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: should be a multiple of 8. If left at 0 dstStride is default to srcWidth.
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvNormalizeLocalBoxu8( const uint8_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t patchWidth,
+ uint32_t patchHeight,
+ uint32_t useStdDev,
+ int8_t * __restrict dst,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Calculate the local subtractive and contrastive normalization of the image.
+/// For each pixel of the image, the mean and optionally standard deviation
+/// is calculated for the patch centered around the pixel. Then the pixel is
+/// normalized by the local mean and optionally standard deviation.
+///
+/// @param src
+/// The input image. Must be 32-bit float image. Size of buffer is
+/// srcStride*srcHeight*sizeof(float32_t) bytes.
+/// \n\b NOTE:should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width, the number of pixels in a row
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Stride of src image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory.
+/// \n\b NOTE: should be a multiple of 8. If left at 0 srcStride is default to srcWidth*sizeof(float32_t).
+///
+/// @param patchWidth
+/// Width in pixels of the patch to calculate local mean and standard deviation.
+///
+/// @param patchHeight
+/// Height in pixels of the patch to calculate local mean and standard deviation.
+///
+/// @param useStdDev (0 or 1)
+/// if 1, the dst will be normalized with standard deviation.
+///
+/// @param dst
+/// The output image.
+/// Size of buffer is dstStride*srcHeight*sizeof(float32_t) bytes.
+/// \n\b NOTE:should be 128-bit aligned.
+///
+/// @param dstStride
+/// The stride of the output image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: should be a multiple of 8. If left at 0 dstStride is default to srcWidth*sizeof(float32_t).
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvNormalizeLocalBoxf32( const float32_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t patchWidth,
+ uint32_t patchHeight,
+ uint32_t useStdDev,
+ float32_t * __restrict dst,
+ uint32_t dstStride);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Combine two channels in an interleaved fashion
+///
+/// @details
+/// Interleave data from src1 and src2 to dst.
+/// Data in src1 [d0 d1 d2 d3...]
+/// Data in src2 [t0 t1 t2 t3...]
+/// Results in dst [d0 t0 d1 t1 d2 t2 d3 t3...]
+/// \n\b NOTE: Perform the same functionality as fcvInterleaveu8.
+///
+/// @param src1
+/// One of the input images ( For example, Cb or Cr component)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source image.
+///
+/// @param height
+/// Height of the source image.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// One of the input images ( For example, Cb or Cr component)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// The result image (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvChannelCombine2Planesu8( const uint8_t *__restrict src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t *__restrict src2,
+ uint32_t src2Stride,
+ uint8_t *__restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Combine three channels in an interleaved fashion
+///
+/// @details
+/// Interleave data from src1, src2 and src3 to dst.
+/// Data in src1 [d0 d1 d2 d3...]
+/// Data in src2 [t0 t1 t2 t3...]
+/// Data in src3 [s0 s1 s2 s3...]
+/// Results in dst [d0 t0 s0 d1 t1 s1 d2 t2 s2 d3 t3 s3...]
+///
+/// @param src1
+/// One of the input images ( For example, R or G or B component)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source image.
+///
+/// @param height
+/// Height of the source image.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// One of the input images ( For example, R or G or B component)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src3
+/// One of the input images ( For example, R or G or B component)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src3Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src3Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// The result image (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*3.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvChannelCombine3Planesu8(const uint8_t *__restrict src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t *__restrict src2,
+ uint32_t src2Stride,
+ const uint8_t *__restrict src3,
+ uint32_t src3Stride,
+ uint8_t *__restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Combine four channels in an interleaved fashion
+///
+/// @details
+/// Interleave data from src1, src2, src3 and src4 to dst.
+/// Data in src1 [d0 d1 d2 d3...]
+/// Data in src2 [t0 t1 t2 t3...]
+/// Data in src3 [s0 s1 s2 s3...]
+/// Data in src3 [r0 r1 r2 r3...]
+/// Results in dst [d0 t0 s0 r0 d1 t1 s1 r1 d2 t2 s2 r2 d3 t3 s3 r3...]
+///
+/// @param src1
+/// One of the input images ( For example, R or G or B or A component)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source image.
+///
+/// @param height
+/// Height of the source image.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// One of the input images ( For example, R or G or B or A component)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src3
+/// One of the input images ( For example, R or G or B or A component)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src3Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src3Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src4
+/// One of the input images ( For example, R or G or B or A component)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src4Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src4Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// The result image (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*4.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvChannelCombine4Planesu8(const uint8_t *__restrict src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t *__restrict src2,
+ uint32_t src2Stride,
+ const uint8_t *__restrict src3,
+ uint32_t src3Stride,
+ const uint8_t *__restrict src4,
+ uint32_t src4Stride,
+ uint8_t *__restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Extract channel as a single uint8_t type plane from an interleaved or multi-planar image format
+///
+/// @details
+///
+///
+/// @param src1
+/// The first plane in source image. For example, an intervealved RGB/RGBA plane or the Y plane.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source image.
+///
+/// @param height
+/// Height of the source image.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
+/// If left at 0 src1Stride is default to the size required by corresponding image format.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// The second plane in souce image if available; otherwise, left at 0.
+/// For example, the intervealved CbCr plane in FASTCV_NV12/FASTCV_NV21; or the Cb plane in FASTCV_IYUV/FASTCV_YUV4.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
+/// If left at 0, src2Stride is default to width for FASTCV_NV12/FASTCV_NV21/FASTCV_YUV4 and width/2 for FASTCV_IYUV.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src3
+/// The third plane in souce image if available; otherwise, left at 0.
+/// For example, the Cr plane in FASTCV_IYUV/FASTCV_YUV4.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src3Stride
+/// Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
+/// If left at 0 src3Stride is default to width for FASTCV_YUV4, and width/2 for FASTCV_IYUV.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param srcChannel
+/// The index of the image channel to be extracted. Refer to fcvChannelType for details.
+///
+/// @param srcFormat
+/// The format of the source image. Different image formats require different src
+/// and dst size. Refer to fcvImageFormat for details.
+///
+/// @param dst
+/// The result image (a uint8_t type plane).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
+/// If left at 0, dstStride is default to the size required by corresponding image format.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvChannelExtractu8( const uint8_t *__restrict src1,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t src1Stride,
+ const uint8_t *__restrict src2,
+ uint32_t src2Stride,
+ const uint8_t *__restrict src3,
+ uint32_t src3Stride,
+ fcvChannelType srcChannel,
+ fcvImageFormat srcFormat,
+ uint8_t *__restrict dst,
+ uint32_t dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with MxN median filter (M,N have to be odd numbers)
+///
+/// @details
+/// Borders of m pixels in horizontal direction and n in vertical direction
+/// are replaced with the source pixels, where m = (M-1)/2, n = (N-1)/2
+/// The NxN median filter applies on the image area
+/// | a(n,m) , a(n,m+1), ..., a(n,srcWidth-m-1) |\n
+/// | ... , ..., ..., ... |\n
+/// | a(srcHeight-n-1,m), ..., ..., a(srcHeight-n-1,srcWidth-m-1) |\n
+///
+/// @param src
+/// Input 16-bit signed image. Size of buffer is srcStride*srcHeight byte.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth * 2.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
+///
+/// @param M
+/// Filter kernel width
+/// \n\b NOTE: kernel width should be an odd number
+///
+/// @param N
+/// Filter kernel height
+/// \n\b NOTE: kernel height should be an odd number
+///
+/// @param dst
+/// Output 16-bit image. Size of buffer is dstStride*srcHeight byte.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth * 2
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*2 if not 0.
+///
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterMedianMxNs16( const int16_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t M,
+ uint32_t N,
+ int16_t* __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Computes the convolution of an image with an M x N Kernel
+///
+/// @details
+/// The function computes the convolution of an unsigned char input image
+/// with an M x N kernel of type short. The output is of type short
+/// and is of the same size as the input image. The convolution is computed
+/// based on the type of Border handling selected.
+///
+///
+/// @param kernel
+/// Input M x N short kernel matrix. The size of buffer is M*N*sizeof(int16_t) bytes
+/// The kernel can be normalized before passing in by making use of the shift parameter.
+///
+///
+/// @param M
+/// Width of the kernel
+///
+/// @param N
+/// Height of the kernel
+///
+/// @param shift
+/// This parameter can be used to normalize the input kernel by converting the data into
+/// fixed point values. Shift can be considered as Q factor of kernel.
+///
+/// @param src
+/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param srcWidth
+/// Input image width
+///
+/// @param srcHeight
+/// Input image height
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element
+/// of a row and that of the successive row. If srcStride is equal to 0,
+/// it will be set to srcWidth.
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @param dst
+/// Output image which has the same dimensions as the input matrix.
+/// The output is of type short, and must be allocated as dstStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param dstStride
+/// Output image stride, i.e. the gap (in terms of bytes) between the first element
+/// of a row and that of the successive row. If dstStride is equal to 0,
+/// it will be set to srcWidth * sizeof(int16_t).
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @param borderType
+/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
+/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
+/// border values will be set to 0.
+///
+/// @param borderValue
+/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
+/// set this value as 0. Can take values between 0 to 255.
+///
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterConvolveMxNu8s16( const int16_t* __restrict kernel,
+ uint32_t M,
+ uint32_t N,
+ int8_t shift,
+ const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int16_t* __restrict dst,
+ uint32_t dstStride,
+ fcvBorderType borderType,
+ uint8_t borderValue );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Computes the convolution of a image with an M x N Kernel
+///
+/// @details
+/// The function computes the convolution of an unsigned char input image
+/// with an M x N kernel of type short. The output is of type unsigned char
+/// and is of the same size as the input image. The convolution is computed
+/// based on the type of Border handling selected.
+///
+///
+/// @param kernel
+/// Input M x N short kernel matrix. The size of buffer is M*N*sizeof(int16_t) bytes
+/// The kernel can be normalized before passing in by making use of the shift parameter.
+///
+///
+/// @param M
+/// Width of the kernel
+///
+/// @param N
+/// Height of the kernel
+///
+/// @param shift
+/// This parameter can be used to normalize the input kernel by converting the data into
+/// fixed point values. Shift can be considered as Q factor of kernel.
+///
+/// @param src
+/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param srcWidth
+/// Input image width
+///
+/// @param srcHeight
+/// Input image height
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element
+/// of a row and that of the successive row. If srcStride is equal to 0,
+/// it will be set to srcWidth.
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @param dst
+/// Output image which has the same dimensions as the input matrix.
+/// The output is of type unsigned char, and must be allocated as dstStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param dstStride
+/// Output image stride, i.e. the gap (in terms of bytes) between the first element
+/// of a row and that of the successive row. If dstStride is equal to 0,
+/// it will be set to srcWidth.
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @param borderType
+/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
+/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
+/// border values will be set to 0.
+///
+/// @param borderValue
+/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
+/// set this value as 0. Can take values between 0 and 255.
+///
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterConvolveMxNu8(const int16_t* __restrict kernel,
+ uint32_t M,
+ uint32_t N,
+ int8_t shift,
+ const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride,
+ fcvBorderType borderType,
+ uint8_t borderValue);
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Smooth a uint8_t image with a 3x3 box filter with border handling scheme specified by user
+///
+/// @details
+/// smooth with 3x3 box kernel and normalize:
+/// \n[ 1 1 1
+/// \n 1 1 1
+/// \n 1 1 1 ]/9
+///
+/// @param src
+/// Input uint8_t image.
+///
+/// @param srcWidth
+/// Input image width.
+///
+/// @param srcHeight
+/// Input image height.
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param dst
+/// Output image which has the same type, and size as the input image.
+///
+/// @param dstStride
+/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+///
+/// @param borderType
+/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
+/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
+/// border values will be set to 0.
+///
+/// @param borderValue
+/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
+/// set this value as 0. Can take values between 0 and 255.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvBoxFilter3x3u8_v2( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride,
+ fcvBorderType borderType,
+ uint8_t borderValue);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Erode a grayscale image by taking the local minima of 3x3 nbhd window
+/// with border handling scheme specified by user
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterErode3x3u8_v2() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterErode3x3u8,
+/// \a fcvFilterErode3x3u8_v2 will be removed, and the current signature
+/// for \a fcvFilterErode3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterErode3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit eroded image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param borderType
+/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
+/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
+/// border values will be set to 255.
+///
+/// @param borderValue
+/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
+/// set this value as 0. Can take values between 0 and 255.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterErode3x3u8_v3( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride,
+ fcvBorderType borderType,
+ uint8_t borderValue);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Erode a grayscale image by taking the local minima of NxN neighborhood window.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param N
+/// Dimension of the neighborhood window.
+/// \n\b WARNING: must be an odd number
+///
+/// @param dst
+/// Output 8-bit eroded image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterErodeNxNu8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t N,
+ uint8_t* __restrict dst,
+ uint32_t dstStride);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dilate a grayscale image by taking the local maxima of 3x3 neighborhood window
+/// with border handling scheme specified by user
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterDilate3x3u8_v2() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterDilate3x3u8,
+/// \a fcvFilterDilate3x3u8_v2 will be removed, and the current signature
+/// for \a fcvFilterDilate3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterDilate3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit dilated image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param borderType
+/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
+/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
+/// border values will be set to 0.
+///
+/// @param borderValue
+/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
+/// set this value as 0. Can take values between 0 and 255.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterDilate3x3u8_v3( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride,
+ fcvBorderType borderType,
+ uint8_t borderValue);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Dilate a grayscale image by taking the local maxima of NxN neighborhood window.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param N
+/// Dimension of the neighborhood window.
+/// \n\b WARNING: must be an odd number
+///
+/// @param dst
+/// Output 8-bit dilated image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of output image.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param tmp
+/// Temporary image scratch space used internally.
+/// \n\b NOTE: Size = width * height
+/// \n\b NOTE: data should be 128-bit aligned
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterDilateNxNu8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t N,
+ uint8_t* __restrict dst,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with 3x3 Gaussian filter
+/// with border handling scheme specified by user
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterGaussian3x3u8_v2() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterGaussian3x3u8,
+/// \a fcvFilterGaussian3x3u8_v2 will be removed, and the current signature
+/// for \a fcvFilterGaussian3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterGaussian3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Convolution with 3x3 Gaussian kernel:
+/// \n 1 2 1
+/// \n 2 4 2
+/// \n 1 2 1
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride.
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as dstWidth if not 0.
+///
+/// @param borderType
+/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
+/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
+/// border is blurred by 0-padding adjacent values.
+///
+/// @param borderValue
+/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
+/// set this value as 0. Can take values between 0 and 255.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterGaussian3x3u8_v3( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride,
+ fcvBorderType borderType,
+ uint8_t borderValue);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Blurs an image with 3x3 median filter
+/// with border handling scheme specified by user
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvFilterMedian3x3u8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvFilterMedian3x3u8,
+/// \a fcvFilterMedian3x3u8_v2 will be removed, and the current signature
+/// for \a fcvFilterMedian3x3u8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvFilterMedian3x3u8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Border values are extrapolated according to borderType.
+/// The 3x3 mask convolves with the whole image area.
+///
+/// @param srcImg
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight byte.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param srcHeight
+/// Image height.
+///
+/// @param srcStride
+/// Image stride.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param dstImg
+/// Output 8-bit image. Size of buffer is dstStride*srcHeight byte.
+/// \n\b NOTE: data should be 128-bit aligned.
+///
+/// @param dstStride
+/// Output stride.
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param borderType
+/// This parameter specifies how the border is handled. Can be set to FASTCV_BORDER_CONSTANT,
+/// FASTCV_BORDER_REPLICATE or FASTCV_BORDER_UNDEFINED. In the case of FASTCV_BORDER_UNDEFINED,
+/// border values are ignored. The 3x3 mask convolves with the following image area
+/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
+/// | ... , ..., ..., ... |\n
+/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
+///
+/// @param borderValue
+/// Used to define the border value in case FASTCV_BORDER_CONSTANT is chosen. For other modes,
+/// set this value as 0. Can take values between 0 and 255.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFilterMedian3x3u8_v3( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride,
+ fcvBorderType borderType,
+ uint8_t borderValue);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Calculate histogram at image patches.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvImageSpatialHistogramu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvImageSpatialHistogramu8,
+/// \a fcvImageSpatialHistogramu8_v2 will be removed, and the current signature
+/// for \a fcvImageSpatialHistogramu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvImageSpatialHistogramu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src
+/// Pointer to grayscale image with one byte per pixel
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Image width
+///
+/// @param srcHeight
+/// Image height
+///
+/// @param srcStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param numPatterns
+/// Number of patterns to be computed in the histogram
+///
+/// @param grid_x
+/// The number of grids along x dimension
+///
+/// @param grid_y
+/// The number of grids along y dimension
+///
+/// @param histogram
+/// Output histogram
+/// \n\b NOTE: Memory must be at least numPatterns*grid_x*grid_y*sizeof(float32_t)
+///
+/// @param normalize_factor
+/// Scale factor with float32_t type to normalize result. When set to 0, the result is
+/// normalized by (srcWidth/grid_x) * (srcHeight/grid_y)
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_processing
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvImageSpatialHistogramu8_v2( const uint8_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t numPatterns,
+ uint32_t grid_x,
+ uint32_t grid_y,
+ float32_t*__restrict histogram,
+ float32_t normalize_factor);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Image downscaling using bilinear method
+///
+/// @param src
+/// Input image
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width
+///
+/// @param srcHeight
+/// Input image height
+///
+/// @param srcStride
+/// Stride of input image (i.e., number of bytes between column 0
+/// of row 0 and column 0 of row 1).
+/// If left at 0, srcStride is default to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param dst
+/// Output image
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Output image width
+///
+/// @param dstHeight
+/// Output image height
+///
+/// @param dstStride
+/// Stride of image (i.e., number of bytes between column 0
+/// of row 0 and column 0 of row 1).
+/// If left at 0, dstStride is default to dstWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @return
+/// No return value.
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvScaleDownBLu8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Applies a Table Look-up transformation to a single-channel uint8 image
+///
+/// @details
+/// Each pixel in the input image is used to index into a look-up table and the indexed look-up table
+/// value is then put into the output image
+///
+/// @param src
+/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param srcWidth
+/// Input image width
+///
+/// @param srcHeight
+/// Input image height
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// if srcStride is equal to 0, it will be set to srcWidth
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @param lut
+/// The Look-up Table given as a 256-element array of type uint8_t
+///
+/// @param dst
+/// Output image which has the same dimension as the input image in uint8_t type
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param dstStride
+/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// if dstStride is equal to 0, it will be set to srcWidth
+/// \n\b NOTE: should be a multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvTableLookupu8( const uint8_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ const uint8_t *__restrict lut,
+ uint8_t *__restrict dst,
+ uint32_t dstStride );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Warps a grayscale image using the a perspective projection transformation
+/// matrix (also known as a homography). This type of transformation is an
+/// invertible transformation which maps straight lines to straight lines.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvWarpPerspectiveu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvWarpPerspectiveu8,
+/// \a fcvWarpPerspectiveu8_v3 will be removed, and the current signature
+/// for \a fcvWarpPerspectiveu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Warps an image taking into consideration the perspective scaling.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Input image height.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcStride
+/// Input image stride (in bytes).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Warped output image. Size of buffer is dstStride*dstHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Dst image width.
+/// \n\b NOTE: data should be multiple of 8.
+///
+/// @param dstHeight
+/// Dst image height.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param dstStride
+/// Output image stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
+///
+/// @param projectionMatrix
+/// 3x3 perspective transformation matrix (generally a homography). The
+/// matrix stored in homography is row major ordering: \n
+/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
+/// | a11, a12, a13 |\n
+/// | a21, a22, a23 |\n
+/// | a31, a32, a33 |\n
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// Note:
+/// The projection matrix follows the so-called inverse mapping convention.
+/// It is applied to the dst coordinates to produce the corresponding
+/// src coordinates. In other 3rd party tools, the so-called forward mapping
+/// convention may be used, where the projection matrix refers to the one
+/// applied to the src coordinates to produce the dst coordinates.
+/// When comparing with 3rd party results, please make sure
+/// the same convention of projection matrices are assumed. If not,
+/// please transform the projection matrix into an equivalent form under
+/// the forward mapping convention before feeding it into 3rd party tools.
+///
+/// @interpolation
+/// Specifies the interpolation method to be used.
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvWarpPerspectiveu8_v3( const uint8_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t *__restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ float *__restrict projectionMatrix,
+ fcvInterpolationType interpolation );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Warps a grayscale image using the a perspective projection transformation
+/// matrix (also known as a homography). This type of transformation is an
+/// invertible transformation which maps straight lines to straight lines.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvWarpPerspectiveu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvWarpPerspectiveu8,
+/// \a fcvWarpPerspectiveu8_v4 will be removed, and the current signature
+/// for \a fcvWarpPerspectiveu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Warps an image taking into consideration the perspective scaling.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Input image height.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcStride
+/// Input image stride (in bytes).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Warped output image. Size of buffer is dstStride*dstHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Dst image width.
+/// \n\b NOTE: data should be multiple of 8.
+///
+/// @param dstHeight
+/// Dst image height.
+/// \n\b NOTE: should be multiple of 8
+///
+/// @param dstStride
+/// Output image stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as dstWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as dstWidth if not 0.
+///
+/// @param projectionMatrix
+/// 3x3 perspective transformation matrix (generally a homography). The
+/// matrix stored in homography is row major ordering: \n
+/// a11, a12, a13, a21, a22, a23, a31, a32, a33 where the matrix is: \n
+/// | a11, a12, a13 |\n
+/// | a21, a22, a23 |\n
+/// | a31, a32, a33 |\n
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// Note:
+/// The projection matrix follows the so-called inverse mapping convention.
+/// It is applied to the dst coordinates to produce the corresponding
+/// src coordinates. In other 3rd party tools, the so-called forward mapping
+/// convention may be used, where the projection matrix refers to the one
+/// applied to the src coordinates to produce the dst coordinates.
+/// When comparing with 3rd party results, please make sure
+/// the same convention of projection matrices are assumed. If not,
+/// please transform the projection matrix into an equivalent form under
+/// the forward mapping convention before feeding it into 3rd party tools.
+///
+/// @interpolation
+/// Specifies the interpolation method to be used.
+///
+/// @param borderType
+/// The border mode for dst pixels not mapped to the src image.
+/// Supported modes are FASTCV_BORDER_UNDEFINED and FASTCV_BORDER_CONSTANT.
+///
+/// @param borderValue
+/// The user-specified constant pixel value,
+/// in case FASTCV_BORDER_CONSTANT is chosen for borderType.
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvWarpPerspectiveu8_v4( const uint8_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t *__restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ float *__restrict projectionMatrix,
+ fcvInterpolationType interpolation,
+ fcvBorderType borderType,
+ uint8_t borderValue
+);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Applies a generic geometrical transformation to a greyscale uint8 image.
+/// The interpolation method is specified through a parameter.
+///
+/// @details
+/// The greyscale of each pixel in the destination image is obtained from a location of the source image
+/// through a per-element mapping as defined in the mapping matrices. The mapping has subpixel precision,
+/// thus interpolations are involved.
+///
+/// @param src
+/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Input image height.
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// if srcStride is equal to 0, it will be set to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param dst
+/// Output image which has the same type, and size as the input image. The size of buffer is dstStride*dstHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Output image width.
+///
+/// @param dstHeight
+/// Output image height.
+///
+/// @param dstStride
+/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// if dstStride is equal to 0, it will be set to dstWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param mapX
+/// a floating point matrix, each element is the column coordinate of the mapped location in the src image. E.g. if dst(i,j) is
+/// mapped to src(ii,jj), then mapX(i,j) =jj.
+/// the matrix has the same width, height as the dst image. The size of buffer is mapStride*dstHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param mapY
+/// a floating point matrix, each element is the row coordinate of the mapped location in the src image.E.g. if dst(i,j) is
+/// mapped to src(ii,jj), then mapY(i,j) =ii.
+/// the matrix has the same width, height as the dst image. The size of buffer is mapStride*dstHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param mapStride
+/// the stride of the mapX and mapY
+/// if mapStride is equal to 0, it will be set to dstWidth*sizeof(float32_t).
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param interpolation
+/// the interpolation method to derive the dst pixel value.
+/// supported methods are nearest neighbor, bilinear and area.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvRemapu8(const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ const float32_t* __restrict mapX,
+ const float32_t* __restrict mapY,
+ uint32_t mapStride,
+ fcvInterpolationType interpolation
+);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Applies a generic geometrical transformation to a greyscale uint8 image.
+/// The interpolation method is specified through a parameter.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvRemapu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvRemapu8,
+/// \a fcvRemapu8_v2 will be removed, and the current signature
+/// for \a fcvRemapu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvRemapu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// The greyscale of each pixel in the destination image is obtained from a location of the source image
+/// through a per-element mapping as defined in the mapping matrices. The mapping has subpixel precision,
+/// thus interpolations are involved.
+///
+/// @param src
+/// Input uint8_t image. The size of buffer is srcStride*srcHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Input image width.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param srcHeight
+/// Input image height.
+///
+/// @param srcStride
+/// Input image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// if srcStride is equal to 0, it will be set to srcWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param dst
+/// Output image which has the same type, and size as the input image. The size of buffer is dstStride*dstHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Output image width.
+///
+/// @param dstHeight
+/// Output image height.
+///
+/// @param dstStride
+/// Output image stride, i.e. the gap (in terms of bytes) between the first element of a row and that of the successive row
+/// if dstStride is equal to 0, it will be set to dstWidth.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param mapX
+/// a floating point matrix, each element is the column coordinate of the mapped location in the src image. E.g. if dst(i,j) is
+/// mapped to src(ii,jj), then mapX(i,j) =jj.
+/// the matrix has the same width, height as the dst image. The size of buffer is mapStride*dstHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param mapY
+/// a floating point matrix, each element is the row coordinate of the mapped location in the src image.E.g. if dst(i,j) is
+/// mapped to src(ii,jj), then mapY(i,j) =ii.
+/// the matrix has the same width, height as the dst image. The size of buffer is mapStride*dstHeight bytes.
+/// \n\b NOTE: should be 128-bit aligned.
+///
+/// @param mapStride
+/// the stride of the mapX and mapY
+/// if mapStride is equal to 0, it will be set to dstWidth*sizeof(float32_t).
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param interpolation
+/// the interpolation method to derive the dst pixel value.
+/// supported methods are nearest neighbor, bilinear and area.
+///
+/// @param borderType
+/// The border mode for dst pixels not mapped to the src image.
+/// Supported modes are FASTCV_BORDER_UNDEFINED and FASTCV_BORDER_CONSTANT.
+///
+/// @param borderValue
+/// The user-specified constant pixel value,
+/// in case FASTCV_BORDER_CONSTANT is chosen for borderType.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvRemapu8_v2(const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ const float32_t* __restrict mapX,
+ const float32_t* __restrict mapY,
+ uint32_t mapStride,
+ fcvInterpolationType interpolation,
+ fcvBorderType borderType,
+ uint8_t borderValue
+);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Gradient Magnitude Computation from two int16_t type matrices.
+///
+/// @details
+/// The function takes two gradient matrices in int16_t and computes the
+/// magnitude in int16_t.
+/// \n\b NOTE: Saturation is used when computed magnitude value is larger than max limit of int16_t.
+///
+/// @param src1
+/// The gradient matrix in X direction.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// The gradient matrix in Y direction.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (int16_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvMagnitudes16( const int16_t *__restrict src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const int16_t *__restrict src2,
+ uint32_t src2Stride,
+ int16_t *__restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Gradient Phase Computation from two int16_t type matrices.
+///
+/// @details
+/// The function takes two gradient matrices in int16_t and computes the
+/// phase for each pixel, storing results in a uint8_t matrix. The phase angle is translated
+/// to [0, 2*PI) and then mapped to range [0, 255).
+///
+/// @param src1
+/// The gradient matrix in X direction.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// The gradient matrix in Y direction.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvPhases16 ( const int16_t *__restrict src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const int16_t *__restrict src2,
+ uint32_t src2Stride,
+ uint8_t *__restrict dst,
+ uint32_t dstStride );
+
+
+//--------------------------------------------------------------------------------
+/// Computes the 1D or 2D Fast Fourier Transform of a matrix.
+///
+/// @details
+/// Computes the 1D or 2D Fast Fourier Transform of a real valued matrix. For the
+/// 2D case, The width and height of the input and output matrix must be powers of 2.
+/// For the 1D case, the height of the matrices must be 1, while the width must be a power of 2.
+///
+/// @param src
+/// An 8 bit unsigned real valued input matrix. The dimensions of the matrix must be powers
+/// of 2 for the 2D case, and in the 1D case, the height must be 1, while the width must be
+/// a power of 2.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param srcWidth
+/// Width of the source matrix.
+/// \n\b NOTE: Must be a power of 2
+///
+/// @param srcHeight
+/// Height of the source matrix.
+/// \n\b NOTE: Must be a power of 2 for the 2D case, and must be set to 1 for the 1D case
+///
+/// @param srcStride
+/// Stride of the input matrix. Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is set to srcWidth.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// The computed FFT matrix. The FFT coefficients are stored in interleaved fashion, i.e.,
+/// Re1 Im1 Re2 Im2 and so on. Hence the dimensions of the dst are (2 x srcWidth, srcHeight)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride of the output matrix. Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0, dstStride is set to 2 x srcWidth x sizeof(float32_t).
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvFFTu8(const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t* __restrict dst,
+ uint32_t dstStride);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Computes the 1D or 2D Inverse Fast Fourier Transform of a matrix.
+///
+/// @details
+/// Computes the 1D or 2D Inverse Fast Fourier Transform of a complex valued matrix. For the
+/// 2D case, The width and height of the input and output matrix must be powers of 2.
+/// For the 1D case, the height of the matrices must be 1, while the width must be a power of 2.
+///
+/// @param src
+/// An 32 bit floating point complex valued input matrix. The data in the matrix must be stored
+/// in an interleaved fashion, i.e., Re1 Im1 Re2 Im2 and so on. The dimensions of the matrix must
+/// be powers of 2 for the 2D case, and in the 1D case, the height must be 1, while the width must be
+/// a power of 2.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param srcWidth
+/// Width of the source matrix. The width here is the number of floating point units in the matrix. Since
+/// the data is interleaved fashion, i.e., Re1 Im1 Re2 Im2 and so on, the width is the total number of real
+/// and complex units in the matrix. For example, if the Matrix has data values Re1 Im1 Re2 Im2 Re3 Im3 Re4 Im4,
+/// then the width here is 8 units.
+/// \n\b NOTE: Must be a power of 2
+///
+/// @param srcHeight
+/// Height of the source matrix.
+/// \n\b NOTE: Must be a power of 2 for the 2D case, and must be set to 1 for the 1D case
+///
+/// @param srcStride
+/// Stride of the input matrix. Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is set to srcWidth x sizeof(float32_t).
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// The computed IFFT matrix. The matrix is real valued and has no imaginary components.
+/// Hence the dimensions of the dst are (srcWidth / 2 , srcHeight)
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride of the output matrix. Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0, dstStride is set to (srcWidth / 2).
+/// \n\b WARNING: should be multiple of 8
+///
+/// @ingroup image_transform
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvIFFTf32( const float32_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Scale an image Horizontaly and/or Vertically by arbitrary ratio.
+/// The scaling ratios are automatically determined from the specified
+/// source image size and destination image size.
+///
+/// @details
+/// Scale up or down the source image of size srcWidth-by-srcHeight
+/// to the destination image of size dstWidth-by-dstHeight.
+/// NOTE: dstWidth > 0 && dstHeight > 0.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Source Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Source Image height.
+///
+/// @param srcStride
+/// Stride of source image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// If set to 0, srcStride=srcWidth as default
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is dstStride*dstHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Destination Image width.
+///
+/// @param dstHeight
+/// Destination Image height.
+///
+/// @param dstStride
+/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// If set to 0, dstStride=dstWidth as default
+///
+/// @param interpolation
+/// The interpolation method used for scaling. Please see fcvInterpolationType.
+/// FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR:
+/// Nearest neighbor interpolation.
+/// FASTCV_INTERPOLATION_TYPE_BILINEAR:
+/// Bilinear interpolation.
+/// FASTCV_INTERPOLATION_TYPE_AREA:
+/// Interpolation by area. Output values are determined by weighted averages of
+/// the source pixels covered by the destination pixel. The averaging weight
+/// for each source pixel is proportional to its area overlapping with
+/// the destination pixel. Interpolation by area may produce more precise
+/// images for scale down operations.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other values otherwise.
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvScaleu8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ fcvInterpolationType interpolation);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Scale an image Horizontaly and/or Vertically by arbitrary ratio.
+/// The scaling ratios are automatically determined from the specified
+/// source image size and destination image size.
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvScaleu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvScaleu8,
+/// \a fcvScaleu8_v2 will be removed, and the current signature
+/// for \a fcvScaleu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvWarpPerspectiveu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @details
+/// Scale up or down the source image of size srcWidth-by-srcHeight
+/// to the destination image of size dstWidth-by-dstHeight.
+/// NOTE: dstWidth > 0 && dstHeight > 0.
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Source Image width.
+/// \n\b WARNING: should be multiple of 8.
+///
+/// @param srcHeight
+/// Source Image height.
+///
+/// @param srcStride
+/// Stride of source image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// If set to 0, srcStride=srcWidth as default
+///
+/// @param dst
+/// Output 8-bit image. Size of buffer is dstStride*dstHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstWidth
+/// Destination Image width.
+///
+/// @param dstHeight
+/// Destination Image height.
+///
+/// @param dstStride
+/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// If set to 0, dstStride=dstWidth as default
+///
+/// @param interpolation
+/// The interpolation method used for scaling. Please see fcvInterpolationType.
+/// FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR:
+/// Nearest neighbor interpolation.
+/// FASTCV_INTERPOLATION_TYPE_BILINEAR:
+/// Bilinear interpolation.
+/// FASTCV_INTERPOLATION_TYPE_AREA:
+/// Interpolation by area. Output values are determined by weighted averages of
+/// the source pixels covered by the destination pixel. The averaging weight
+/// for each source pixel is proportional to its area overlapping with
+/// the destination pixel. Interpolation by area may produce more precise
+/// images for scale down operations.
+///
+/// @param borderType
+/// The border mode for dst pixels not mapped to the src image.
+/// Supported modes are FASTCV_BORDER_UNDEFINED, FASTCV_BORDER_CONSTANT
+/// and FASTCV_BORDER_REPLICATE.
+///
+/// @param borderValue
+/// The user-specified constant pixel value,
+/// in case FASTCV_BORDER_CONSTANT is chosen for borderType.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other values otherwise.
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvScaleu8_v2( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dstStride,
+ fcvInterpolationType interpolation,
+ fcvBorderType borderType,
+ uint8_t borderValue);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Perspective warp two images using the same transformation.
+/// Bi-linear interpolation is used where applicable.
+///
+/// @details
+/// Perspective warp two images (or buffer) using the same transformation in one function
+/// call. This can be used, for example, to warp a grayscale image and an alpha image at
+/// the same time, or warp two color channels (for example u and v de-interleaved for YUV).
+///
+/// @param src1
+/// First input 8-bit image. Size of buffer is src1Stride*srcHeight bytes.
+///
+/// @param src2
+/// Second input 8-bit image. Size of buffer is src2Stride*srcHeight bytes.
+///
+/// @param srcWidth
+/// Input image width.
+///
+/// @param srcHeight
+/// Input image height.
+///
+/// @param src1Stride
+/// Input image 1 stride, i.e. the gap (in terms of bytes) between the first element
+/// of a row and that of the successive row. If srcStride is equal to 0,
+/// it will be set to srcWidth.
+///
+/// @param src2Stride
+/// Input image 2 stride, i.e. the gap (in terms of bytes) between the first element
+/// of a row and that of the successive row. If srcStride is equal to 0,
+/// it will be set to srcWidth.
+///
+/// @param dst1
+/// First warped output image (correspond to src1). Size of buffer is dst1Stride*dstHeight bytes.
+///
+/// @param dst2
+/// Second warped output image (correspond to src2). Size of buffer is dst2Stride*dstHeight bytes.
+///
+/// @param dstWidth
+/// Dst image width.
+///
+/// @param dstHeight
+/// Dst image height.
+///
+/// @param dst1Stride
+/// Output image 1 stride, i.e. the gap (in terms of bytes) between the first element
+/// of a row and that of the successive row. If srcStride is equal to 0,
+/// it will be set to dstWidth.
+///
+/// @param dst2Stride
+/// Output image 2 stride, i.e. the gap (in terms of bytes) between the first element
+/// of a row and that of the successive row. If srcStride is equal to 0,
+/// it will be set to dstWidth.
+///
+/// @param warpmatrix
+/// 3x3 perspective transformation matrix (generally a homography).
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcv2PlaneWarpPerspectiveu8( const uint8_t* __restrict src1,
+ const uint8_t* __restrict src2,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t src1Stride,
+ uint32_t src2Stride,
+ uint8_t* __restrict dst1,
+ uint8_t* __restrict dst2,
+ uint32_t dstWidth,
+ uint32_t dstHeight,
+ uint32_t dst1Stride,
+ uint32_t dst2Stride,
+ float32_t* __restrict warpmatrix );
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Downscale a grayscale image by a factor of two using a 3x3 Gaussian filter kernel
+///
+/// @details
+/// This function first blurs the input image using a 3x3 Gaussian kernel, and then downsamples
+/// the image by selecting every other row and column. The dimensions of the destination image are
+/// computed as follows : dstWidth = (srcWidth + 1)/2 , dstHeight = (srcHeight + 1)/2
+///
+/// @param src
+/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
+///
+/// @param srcWidth
+/// Width of the input image.
+///
+/// @param srcHeight
+/// Height of the input image
+///
+/// @param srcStride
+/// Image stride (in bytes).
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as srcWidth if not 0.
+///
+/// @param dst
+/// Output 8-bit downscale image of size (srcWidth + 1) / 2 x (srcHeight + 1) / 2.
+/// \n\b NOTE: border values have been taken care of w.r.t. the pixel coordinate.
+///
+/// @param dstStride
+/// Output stride (in bytes).
+/// \n\b NOTE: if 0, dstStride is set as (srcWidth+1)/2.
+/// \n\b WARNING: should be multiple of 8 (8 * 1-byte values), and at least as much as (srcWidth+1)/2 if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup image_transform
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvScaleDownBy2Gaussian3x3u8(const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride);
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Sum of squared differences of one L-byte vector against N others.
+///
+/// @details
+/// SSD of one vector (a) against N other L-byte vectors
+/// ( b[0], b[1], ..., b[n-1] )
+/// using their given inverse lengths for normalization.
+/// \n\n SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1])
+///
+/// @param a
+/// Vector.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param invLenA
+/// Inverse of vector A = 1/|A|
+///
+/// @param dim
+/// Number of element of vector A
+///
+/// @param bList
+/// Vectors b[0]...b[n-1].
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param invLenB
+/// Inverse of vectors b[0]...b[n-1] = 1/|b[0]|,... 1/|b[n-1]|
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param numB
+/// Number of B vectors.
+///
+/// @param distances
+/// Output of the N results { SSD(a,b[0]), SSD(a,b[1]), ..., SSD(a,b[n-1]) }.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvSumOfSquaredDiffss8( const int8_t* __restrict a,
+ float32_t invLenA,
+ uint32_t dim,
+ const int8_t* const * __restrict bList,
+ const float32_t* __restrict invLenB,
+ uint32_t numB,
+ float32_t* __restrict distances );
+
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Adds a scalar value to every element of a Matrix.
+///
+/// @details
+/// Adds a floating point scalar value to each element of the source Matrix
+/// and stores the result of the addition in the corresponding element
+/// of the destination matrix.
+///
+/// @param src
+/// Input floating point matrix. Size of buffer is srcStride*srcHeight bytes.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param scalar
+/// The floating point scalar to be added to the source matrix.
+///
+/// @param dst
+/// Output 32-bit floating point matrix. Size of buffer is dstStride*srcHeight bytes.
+///
+/// @param dstStride
+/// Stride of the output matrix in bytes.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvAddScalarf32(const float32_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t scalar,
+ float32_t * __restrict dst,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Adds a scalar value to every element of a Matrix.
+///
+/// @details
+/// Adds a signed 16-bit integer scalar value to each element of the source Matrix
+/// and stores the result of the addition in the corresponding element
+/// of the destination matrix.
+/// \n\b NOTE : If the sum of the scalar and matrix element exceeds the maximum value
+/// of a signed 16-bit integer, the result is clipped to this maximum value, while
+/// if the sum goes below the minimum value of a signed 16-bit integer, it is clipped
+/// to this minimum value.
+///
+/// @param src
+/// Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param scalar
+/// The signed 16-bit integer scalar to be added to the source matrix.
+///
+/// @param dst
+/// Output 16-bit signed integer matrix. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of the output matrix in bytes.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvAddScalars16(const int16_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int16_t scalar,
+ int16_t * __restrict dst,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Multiplies a scalar value to every element of a Matrix.
+///
+/// @details
+/// Multiplies a floating point scalar value to each element of the source Matrix
+/// and stores the result of the multiplication in the corresponding element
+/// of the destination matrix.
+///
+/// @param src
+/// Input floating point matrix. Size of buffer is srcStride*srcHeight bytes.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param scalar
+/// The floating point scalar to be multiplied to the source matrix.
+///
+/// @param dst
+/// Output 32-bit floating point matrix. Size of buffer is dstStride*srcHeight bytes.
+///
+/// @param dstStride
+/// Stride of the output matrix in bytes.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvMultiplyScalarf32(const float32_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t scalar,
+ float32_t * __restrict dst,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Multiplies a scalar value to every element of a Matrix.
+///
+/// @details
+/// Multiplies a signed 16-bit scalar value to each element of the source Matrix
+/// and stores the result of the multiplication in the corresponding element
+/// of the destination matrix.
+/// \n\b NOTE : If the product of the scalar and matrix element exceeds the maximum value
+/// of a signed 16-bit integer, the result is clipped to this maximum value, while
+/// if the product goes below the minimum value of a signed 16-bit integer, it is clipped
+/// to this minimum value. The API can also handle fractional scalars. Use fixed point conversion
+/// and use the shift parameter to decide the number of bits by which the result is shifted by. This
+/// affects the precision of the result. If you wish to perform pure integer multiplication, set the
+/// shift parameter to 0.
+///
+/// @param src
+/// Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param scalar
+/// The signed 8-bit integer scalar to be multiplied to the source matrix.
+///
+/// @param shift
+/// The number of bits that the result has to be shifted by. Used to handle fractional scalar multiplication.
+/// If your input scalar is a pure integer, set shift to 0.
+///
+/// @param dst
+/// Output signed 16-bit integer matrix. Size of buffer is dstStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of the output matrix in bytes.
+/// \n\b NOTE: if 0, dstStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvMultiplyScalars16( const int16_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int8_t scalar,
+ int8_t shift,
+ int16_t * __restrict dst,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their location in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocu8_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocu8_v2 will be renamed to fcvMinMaxLocu8
+/// and the signature of fcvMinMaxLocu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found.
+///
+/// @param src
+/// Input unsigned 8-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// The X coordinate of the minimum value's location returned by the function
+///
+/// @param minLocY
+/// The Y coordinate of the minimum value's location returned by the function
+///
+/// @param maxLocX
+/// The X coordinate of the maximum value's location returned by the function
+///
+/// @param maxLocY
+/// The Y coordinate of the maximum value's location returned by the function
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvMinMaxLocu8(const uint8_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t *__restrict minVal,
+ uint8_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their location in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocu16_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocu16_v2 will be renamed to fcvMinMaxLocu16
+/// and the signature of fcvMinMaxLocu16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found.
+///
+/// @param src
+/// Input unsigned 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// The X coordinate of the minimum value's location returned by the function
+///
+/// @param minLocY
+/// The Y coordinate of the minimum value's location returned by the function
+///
+/// @param maxLocX
+/// The X coordinate of the maximum value's location returned by the function
+///
+/// @param maxLocY
+/// The Y coordinate of the maximum value's location returned by the function
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvMinMaxLocu16(const uint16_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint16_t *__restrict minVal,
+ uint16_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their location in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocs16_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocs16_v2 will be renamed to fcvMinMaxLocs16
+/// and the signature of fcvMinMaxLocs16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found.
+///
+/// @param src
+/// Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// The X coordinate of the minimum value's location returned by the function
+///
+/// @param minLocY
+/// The Y coordinate of the minimum value's location returned by the function
+///
+/// @param maxLocX
+/// The X coordinate of the maximum value's location returned by the function
+///
+/// @param maxLocY
+/// The Y coordinate of the maximum value's location returned by the function
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvMinMaxLocs16(const int16_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int16_t *__restrict minVal,
+ int16_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their location in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocu32_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocu32_v2 will be renamed to fcvMinMaxLocu32
+/// and the signature of fcvMinMaxLocu32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found.
+///
+/// @param src
+/// Input unsigned 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// The X coordinate of the minimum value's location returned by the function
+///
+/// @param minLocY
+/// The Y coordinate of the minimum value's location returned by the function
+///
+/// @param maxLocX
+/// The X coordinate of the maximum value's location returned by the function
+///
+/// @param maxLocY
+/// The Y coordinate of the maximum value's location returned by the function
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvMinMaxLocu32(const uint32_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t *__restrict minVal,
+ uint32_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their location in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocs32_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocs32_v2 will be renamed to fcvMinMaxLocs32
+/// and the signature of fcvMinMaxLocs32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found.
+///
+/// @param src
+/// Input signed 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// The X coordinate of the minimum value's location returned by the function
+///
+/// @param minLocY
+/// The Y coordinate of the minimum value's location returned by the function
+///
+/// @param maxLocX
+/// The X coordinate of the maximum value's location returned by the function
+///
+/// @param maxLocY
+/// The Y coordinate of the maximum value's location returned by the function
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvMinMaxLocs32(const int32_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int32_t *__restrict minVal,
+ int32_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their location in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocf32_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocf32_v2 will be renamed to fcvMinMaxLocf32
+/// and the signature of fcvMinMaxLocf32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found.
+///
+/// @param src
+/// Input unsigned 32-bit floating point matrix. Size of buffer is srcStride*srcHeight bytes.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// The X coordinate of the minimum value's location returned by the function
+///
+/// @param minLocY
+/// The Y coordinate of the minimum value's location returned by the function
+///
+/// @param maxLocX
+/// The X coordinate of the maximum value's location returned by the function
+///
+/// @param maxLocY
+/// The Y coordinate of the maximum value's location returned by the function
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvMinMaxLocf32(const float32_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t *__restrict minVal,
+ float32_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their locations in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocf32_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocf32_v2 will be renamed to fcvMinMaxLocf32
+/// and the signature of fcvMinMaxLocf32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found. If there are multiple minima/maxima, the function returns them all. If the
+/// the number of minima and maxima are greater than the capacity of the minLoc and
+/// maxLoc arrays, then the function returns as many locations as the capacity of these
+/// arrays.
+///
+/// @param src
+/// Input 32-bit floating point matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(float32_t) if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// An array of X coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param minLocY
+/// An array of Y coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param maxLocX
+/// An array of X coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param maxLocY
+/// An array of Y coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param minCount
+/// The number of minima found by the function
+///
+/// @param maxCount
+/// The number of maxima found by the function
+///
+/// @param nMinLocSize
+/// The maximum number of minima requested by the user to be found in the input image src.
+/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
+///
+/// @param nMaxLocSize
+/// The maximum number of maxima requested by the user to be found in the input image src.
+/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvMinMaxLocf32_v2(const float32_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ float32_t *__restrict minVal,
+ float32_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY,
+ uint32_t *__restrict minCount,
+ uint32_t *__restrict maxCount,
+ uint32_t nMinLocSize,
+ uint32_t nMaxLocSize);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their locations in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocu8_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocu8_v2 will be renamed to fcvMinMaxLocu8
+/// and the signature of fcvMinMaxLocu8 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found. If there are multiple minima/maxima, the function returns them all. If the
+/// the number of minima and maxima are greater than the capacity of the minLoc and
+/// maxLoc arrays, then the function returns as many locations as the capacity of these
+/// arrays.
+///
+/// @param src
+/// Input unsigned 8-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(uint8_t) if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// An array of X coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param minLocY
+/// An array of Y coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param maxLocX
+/// An array of X coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param maxLocY
+/// An array of Y coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param minCount
+/// The number of minima found by the function
+///
+/// @param maxCount
+/// The number of maxima found by the function
+///
+/// @param nMinLocSize
+/// The maximum number of minima requested by the user to be found in the input image src.
+/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
+///
+/// @param nMaxLocSize
+/// The maximum number of maxima requested by the user to be found in the input image src.
+/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvMinMaxLocu8_v2(const uint8_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t *__restrict minVal,
+ uint8_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY,
+ uint32_t *__restrict minCount,
+ uint32_t *__restrict maxCount,
+ uint32_t nMinLocSize,
+ uint32_t nMaxLocSize);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their locations in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocu16_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocu16_v2 will be renamed to fcvMinMaxLocu16
+/// and the signature of fcvMinMaxLocu16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found. If there are multiple minima/maxima, the function returns them all. If the
+/// the number of minima and maxima are greater than the capacity of the minLoc and
+/// maxLoc arrays, then the function returns as many locations as the capacity of these
+/// arrays.
+///
+/// @param src
+/// Input unsigned 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(uint16_t) if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// An array of X coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param minLocY
+/// An array of Y coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param maxLocX
+/// An array of X coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param maxLocY
+/// An array of Y coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param minCount
+/// The number of minima found by the function
+///
+/// @param maxCount
+/// The number of maxima found by the function
+///
+/// @param nMinLocSize
+/// The maximum number of minima requested by the user to be found in the input image src.
+/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
+///
+/// @param nMaxLocSize
+/// The maximum number of maxima requested by the user to be found in the input image src.
+/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvMinMaxLocu16_v2(const uint16_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint16_t *__restrict minVal,
+ uint16_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY,
+ uint32_t *__restrict minCount,
+ uint32_t *__restrict maxCount,
+ uint32_t nMinLocSize,
+ uint32_t nMaxLocSize);
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their locations in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocs16_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocs16_v2 will be renamed to fcvMinMaxLocs16
+/// and the signature of fcvMinMaxLocs16 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found. If there are multiple minima/maxima, the function returns them all. If the
+/// the number of minima and maxima are greater than the capacity of the minLoc and
+/// maxLoc arrays, then the function returns as many locations as the capacity of these
+/// arrays.
+///
+/// @param src
+/// Input signed 16-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(int16_t) if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// An array of X coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param minLocY
+/// An array of Y coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param maxLocX
+/// An array of X coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param maxLocY
+/// An array of Y coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param minCount
+/// The number of minima found by the function
+///
+/// @param maxCount
+/// The number of maxima found by the function
+///
+/// @param nMinLocSize
+/// The maximum number of minima requested by the user to be found in the input image src.
+/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
+///
+/// @param nMaxLocSize
+/// The maximum number of maxima requested by the user to be found in the input image src.
+/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvMinMaxLocs16_v2(const int16_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int16_t *__restrict minVal,
+ int16_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY,
+ uint32_t *__restrict minCount,
+ uint32_t *__restrict maxCount,
+ uint32_t nMinLocSize,
+ uint32_t nMaxLocSize);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their locations in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocu32_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocu32_v2 will be renamed to fcvMinMaxLocu32
+/// and the signature of fcvMinMaxLocu32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found. If there are multiple minima/maxima, the function returns them all. If the
+/// the number of minima and maxima are greater than the capacity of the minLoc and
+/// maxLoc arrays, then the function returns as many locations as the capacity of these
+/// arrays.
+///
+/// @param src
+/// Input unsigned 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(uint32_t) if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// An array of X coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param minLocY
+/// An array of Y coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param maxLocX
+/// An array of X coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param maxLocY
+/// An array of Y coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param minCount
+/// The number of minima found by the function
+///
+/// @param maxCount
+/// The number of maxima found by the function
+///
+/// @param nMinLocSize
+/// The maximum number of minima requested by the user to be found in the input image src.
+/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
+///
+/// @param nMaxLocSize
+/// The maximum number of maxima requested by the user to be found in the input image src.
+/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvMinMaxLocu32_v2(const uint32_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint32_t *__restrict minVal,
+ uint32_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY,
+ uint32_t *__restrict minCount,
+ uint32_t *__restrict maxCount,
+ uint32_t nMinLocSize,
+ uint32_t nMaxLocSize);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Finds the minimum and maximum values, and their locations in a matrix
+///
+/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
+/// release of this library (2.0.0). The new interface is specified in the
+/// function: fcvMinMaxLocs32_v2(). In the 2.0.0 release,
+/// fcvMinMaxLocs32_v2 will be renamed to fcvMinMaxLocs32
+/// and the signature of fcvMinMaxLocs32 as it appears now,
+/// will be removed.
+/// \n\n
+///
+/// @details
+/// Finds the minimum and maximum values in a matrix, and returns them. In addition
+/// to this, it also returns the location (x,y) of the minimum and maximum values thus
+/// found. If there are multiple minima/maxima, the function returns them all. If the
+/// the number of minima and maxima are greater than the capacity of the minLoc and
+/// maxLoc arrays, then the function returns as many locations as the capacity of these
+/// arrays.
+///
+/// @param src
+/// Input signed 32-bit integer matrix. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Matrix.
+///
+/// @param srcHeight
+/// Height of the Matrix.
+///
+/// @param srcStride
+/// Stride of the Matrix in bytes.
+/// \n\b NOTE: if 0, srcStride is set as srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as srcWidth*sizeof(int32_t) if not 0.
+///
+/// @param minVal
+/// This variable stores the minimum value of the src matrix found by the function
+///
+/// @param maxVal
+/// This variable stores the maximum value of the src matrix found by the function
+///
+/// @param minLocX
+/// An array of X coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param minLocY
+/// An array of Y coordinates of the minimum value's location returned by the function
+/// Must have @param nMinLocSize elements, i.e., allocated as nMinLocSize*sizeof(uint32_t)
+///
+/// @param maxLocX
+/// An array of X coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param maxLocY
+/// An array of Y coordinates of the maximum value's location returned by the function
+/// Must have @param nMaxLocSize elements, i.e., allocated as nMaxLocSize*sizeof(uint32_t)
+///
+/// @param minCount
+/// The number of minima found by the function
+///
+/// @param maxCount
+/// The number of maxima found by the function
+///
+/// @param nMinLocSize
+/// The maximum number of minima requested by the user to be found in the input image src.
+/// The minLocX and minLocY arrays MUST be allocated to have atleast nMinLocSize elements.
+///
+/// @param nMaxLocSize
+/// The maximum number of maxima requested by the user to be found in the input image src.
+/// The maxLocX and maxLocY arrays MUST be allocated to have atleast nMaxLocSize elements.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvMinMaxLocs32_v2(const int32_t *__restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ int32_t *__restrict minVal,
+ int32_t *__restrict maxVal,
+ uint32_t *__restrict minLocX,
+ uint32_t *__restrict minLocY,
+ uint32_t *__restrict maxLocX,
+ uint32_t *__restrict maxLocY,
+ uint32_t *__restrict minCount,
+ uint32_t *__restrict maxCount,
+ uint32_t nMinLocSize,
+ uint32_t nMaxLocSize);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Transposes an interleaved RGB image
+///
+/// @details
+/// Computes the transpose of an interleaved RGB image src, and stores the result in
+/// dst
+///
+/// @param src
+/// Input unsigned 8-bit integer image. Size of buffer is srcStride*srcHeight bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Width of the Image.
+///
+/// @param srcHeight
+/// Height of the Image.
+///
+/// @param srcStride
+/// Stride of the Image in bytes.
+/// \n\b NOTE: if 0, srcStride is set as 3 x srcWidth.
+/// \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcWidth if not 0.
+///
+/// @param dst
+/// Output unsigned 8-bit integer image. Size of buffer is dstStride*srcWidth bytes.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of the output image in bytes.
+/// \n\b NOTE: if 0, srcStride is set as 3 x srcHeight.
+/// \n\b WARNING: should be multiple of 8, and at least as much as 3 x srcHeight if not 0.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvTransposeRGB888u8(const uint8_t * __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t * __restrict dst,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Computes the cross-product of N pairs of 3x1 vectors
+///
+/// @details
+/// Computes the cross-product of N pairs of 3x1 vectors. For each pair of 3x1 vectors,
+/// ai and bi, the output vector ci is given by ci = ai x bi
+///
+/// @param a
+/// Input buffer containing "N" 3x1 Vectors. Must be of length N * 3. The layout of the array is
+/// as follows x0 y0 z0 x1 y1 z1 .......
+///
+/// @param b
+/// Input buffer containing "N" 3x1 Vectors. Must be of length N * 3. The layout of the array is
+/// as follows x0 y0 z0 x1 y1 z1 .......
+///
+/// @param c
+/// Output buffer containing the resultant "N" 3x1 Vectors. Each 3 x 1 Vector in c is computed from the corresponding
+/// 3 x 1 pairs in a & b. Must be of length N * 3.
+///
+/// @param N
+/// Number of vector pairs. For example if N = 10, then a, b and c will have to be 10 x 3 in length
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvCrossProduct3x1f32(const float32_t * __restrict a,
+ const float32_t * __restrict b,
+ float32_t * __restrict c,
+ uint32_t N);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Solves a Linear System of Equations using LU-Decomposition
+///
+/// @details
+/// Solves a Linear System of Equations using LU Decomposition. Given
+/// a system defined by A x = b, the function decomposes A into a lower
+/// triangular matrix L and an upper triangular matrix U. It then computes x
+/// by first solving L y = B by forward substitution for y, and then solving
+/// the system of linear equations U x = y by backward substitution for x.
+/// \n\b NOTE : Pivoting is used here to ensure that any non singular matrix
+/// can be solved. This is because not all Matrices have a LU decomposition.
+/// Pivoting helps to overcome this issue.
+///
+/// @param A
+/// Input coefficient matrix of the linear system of dimension N x N
+/// \n\b WARNING: must be square.
+///
+/// @param b
+/// Component vector of the linear system of dimension N x 1
+///
+/// @param N
+/// Dimension of the input Matrix A and component vector b
+///
+/// @param pivot
+/// An N x 1 pivot array which is populated as follows : For each k = 0, 1,...., N-1
+/// The ith element of pivot contains the row interchanged with row i when k = i.
+/// Pivoting is used both for numerical stability and also ensuring that an LU factorization
+/// exists for the input matrix A.
+///
+/// @param x
+/// The solution of the linear system, an N x 1 Vector.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvSolveLUf32(float32_t* __restrict A,
+ float32_t* __restrict b,
+ uint32_t N,
+ uint8_t* __restrict pivot,
+ float32_t* __restrict x);
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Bitwise AND operation for each element of two uint8_t matrices
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvBitwiseAndu8(const uint8_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t *__restrict src2,
+ uint32_t src2Stride,
+ uint8_t * dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Bitwise Exclusive Or operation for each element of two uint8_t matrices
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvBitwiseXoru8( const uint8_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t *__restrict src2,
+ uint32_t src2Stride,
+ uint8_t * dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Bitwise Not operation for each element of two uint8_t matrices
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvBitwiseNotu8(const uint8_t * src,
+ uint32_t width,
+ uint32_t height,
+ uint32_t srcStride,
+ uint8_t * dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix addition of two uint8_t type matrices to one uint8_t matrix
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param policy
+/// Conversion policy that decides how data overflow should be handled
+///
+/// @param dst
+/// the result matrix (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvAddu8(const uint8_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t * __restrict src2,
+ uint32_t src2Stride,
+ fcvConvertPolicy policy,
+ uint8_t * dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix addition of two int16_t type matrices which allows in-place operation
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param policy
+/// Conversion policy that decides how data overflow should be handled
+///
+/// @param dst
+/// the result matrix (int16_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvAdds16_v2( const int16_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const int16_t * __restrict src2,
+ uint32_t src2Stride,
+ fcvConvertPolicy policy,
+ int16_t * dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix addition of one uint16_t type matrix and one uint8_t matrix
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param policy
+/// Conversion policy that decides how data overflow should be handled
+///
+/// @param dst
+/// the result matrix (uint16_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvAddu16u8u16 (const uint16_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t * __restrict src2,
+ uint32_t src2Stride,
+ fcvConvertPolicy policy,
+ uint16_t * dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix substration of two uint8_t type matrices
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param policy
+/// Conversion policy that decides how data overflow should be handled
+///
+/// @param dst
+/// the result matrix (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvSubtractu8 ( const uint8_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t * __restrict src2,
+ uint32_t src2Stride,
+ fcvConvertPolicy policy,
+ uint8_t * dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix substration of two uint16_t type matrices
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param policy
+/// Conversion policy that decides how data overflow should be handled
+///
+/// @param dst
+/// the result matrix (int16_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvSubtracts16 (const int16_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const int16_t * __restrict src2,
+ uint32_t src2Stride,
+ fcvConvertPolicy policy,
+ int16_t * dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Matrix substration of two uint8_t type matrices
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param dst
+/// the result matrix (int16_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvSubtractu8s16 ( const uint8_t * __restrict src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t * __restrict src2,
+ uint32_t src2Stride,
+ int16_t * __restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Element-wise multiplication of two int16_t type matrices
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param scaleFactor
+/// The number of bits to be shifted to scale the result. When scaleFactor > 0, results
+/// are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
+/// of scaleFactor
+///
+/// @param policy
+/// Conversion policy that decides how data overflow should be handled
+///
+/// @param dst
+/// the result matrix (int16_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvElementMultiplys16( const int16_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const int16_t * src2,
+ uint32_t src2Stride,
+ int8_t scaleFactor,
+ fcvConvertPolicy policy,
+ int16_t *__restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Element-wise multiplication of two uint8_t type matrices
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param scaleFactor
+/// The number of bits to be shifted to scale the result. When scaleFactor > 0, results
+/// are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
+/// of scaleFactor
+///
+/// @param policy
+/// Conversion policy that decides how data overflow should be handled
+///
+/// @param dst
+/// the result matrix (int16_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvElementMultiplyu8s16( const uint8_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t * src2,
+ uint32_t src2Stride,
+ int8_t scaleFactor,
+ fcvConvertPolicy policy,
+ int16_t *__restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Element-wise multiplication of two uint8_t type matrices
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param scaleFactor
+/// The number of bits to be shifted to scale the result. When scaleFactor > 0, results
+/// are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
+/// of scaleFactor
+///
+/// @param policy
+/// Conversion policy that decides how data overflow should be handled
+///
+/// @param dst
+/// the result matrix (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvElementMultiplyu8( const uint8_t * src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint8_t * src2,
+ uint32_t src2Stride,
+ int8_t scaleFactor,
+ fcvConvertPolicy policy,
+ uint8_t *__restrict dst,
+ uint32_t dstStride );
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Calculate the weighted sum of two uint8_t type matrices
+///
+/// @details
+/// Specifically, when 0 <= alpha <= 1 and beta = 1-alpha, the function accumulates a weighted value from
+/// an input image to an output image
+/// \n\b NOTE: alpha and beta should be within the range of (-128.0, 127.996) and have up to three digits decimal precision
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param alpha
+/// The weight value applied to src1 matrix, provided by float32_t type
+///
+/// @param beta
+/// The weight value applied to src2 matrix, provided by float32_t type
+///
+/// @param dst
+/// the result matrix (uint8_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success,
+/// other values upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvAddWeightedu8(const uint8_t * src1,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t src1Stride,
+ const uint8_t *__restrict src2,
+ uint32_t src2Stride,
+ float32_t alpha,
+ float32_t beta,
+ uint8_t * dst,
+ uint32_t dstStride);
+
+
+//---------------------------------------------------------------------------
+/// @brief
+/// Add a squared value of one type uint8 matrix to the other type uint16 type matrix
+///
+/// @param src1
+/// First source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param width
+/// Width of the source matrix.
+///
+/// @param height
+/// Height of the source matrix.
+///
+/// @param src1Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src1Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param src2
+/// Second source matrix.
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param src2Stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 src2Stride is default to width.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param scaleFactor
+/// The number of bits to be shifted to scale the result. When scaleFactor > 0, results
+/// are right-shifted; when scaleFactor < 0, results are left-shifted by absolute value
+/// of scaleFactor
+///
+/// @param dst
+/// the result matrix (uint16_t type).
+/// \n\b NOTE: array should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 dstStride is default to width*2.
+/// \n\b WARNING: should be multiple of 8
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup math_vector
+//---------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvAddSquaredu8u16(const uint8_t *__restrict src1,
+ uint32_t width,
+ uint32_t height,
+ uint32_t src1Stride,
+ const uint16_t * src2,
+ uint32_t src2Stride,
+ int8_t scaleFactor,
+ uint16_t * dst,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Swap Chroma component order.
+///
+/// @details
+/// This function swaps the interleaved Chroma component order from CbCr to
+/// CrCb or from CrCb to CbCr.
+///
+/// @param src
+/// Pointer to the input image
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param srcWidth
+/// Input image width in the number of CbCr or CrCb pairs.
+///
+/// @param srcHeight
+/// The Chroma component height.
+///
+/// @param srcStride
+/// Stride of input image in bytes (i.e., number of bytes between column 0 of row 0
+/// and column 0 of row 1). If left at 0, srcStride is default to srcWidth * 2.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @param dst
+/// Pointer to the output image
+/// \n\b WARNING: size must match input image.
+/// \n\b NOTE: should be 128-bit aligned
+///
+/// @param dstStride
+/// Stride of output image in bytes (i.e., number of bytes between column 0 of
+/// row 0 and column 0 of row 1). If left at 0, dstStride is default to
+/// srcWidth * 2.
+/// \n\b NOTE: should be a multiple of 8.
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+
+FASTCV_API void
+fcvColorCbCrSwapu8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride );
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Converts an image from RGB space to HSV space.
+///
+/// @details
+///
+/// @param src
+/// Source 24-bit image, RGB888 format (R is MSB byte for the pixel)
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param srcWidth
+/// Source image width.
+///
+/// @param srcHeight
+/// Source image height.
+///
+/// @param srcStride
+/// Stride of source image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// If set to 0, srcStride=srcWidth*3 as default
+///
+/// @param dst
+/// Destination 24-bit image. HSV888 format (H is MSB byte for the pixel)
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param dstStride
+/// Stride of destination image (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// If set to 0, dstStride=srcWidth*3 as default
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup color_conversion
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvColorRGB888ToHSV888u8( const uint8_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ uint8_t* __restrict dst,
+ uint32_t dstStride);
+
+
+//------------------------------------------------------------------------------/
+/// @brief
+/// SVM prediction for two classes
+///
+/// @details
+/// The function returns the confidence scores for test vectors using the equation:
+/// confidence(i) = sum_j( svCoef[j] * Kernel(vec_i, sv_j) - rho;
+/// The SVM model(svCoef, sv, rho) can be obtained using the training function of libSVM or openCV.
+///
+/// @param kernelType
+/// kernelType options: 'FASTCV_SVM_LINEAR','FASTCV_SVM_POLY','FASTCV_SVM_RBF','FASTCV_SVM_SIGMOID'.
+/// FASTCV_SVM_LINEAR: Kernel(xi, xj) = xi'*xj
+/// FASTCV_SVM_POLY: Kernel(xi, xi) = (gamma * xi' * xj + coef0)^degree, (gamma>0 , degree is positive integer).
+/// FASTCV_SVM_RBF: Kernel(xi,xj) = exp(-gamma*||xi-xj||^2), (gamma>0).
+/// FASTCV_SVM_SIGMOID: Kernel(xi, xj) = tanh(gamma * xi' * xj + coef0)
+///
+/// @param degree
+/// Parameter degree of a kernel function (FASTCV_SVM_POLY).
+/// \n\b NOTE: Degree should be positive integer.
+///
+/// @param gamma
+/// Parameter of a kernel function (FASTCV_SVM_POLY / FASTCV_SVM_RBF / FASTCV_SVM_SIGMOID).
+/// \n\b NOTE: gamma > 0 for FASTCV_SVM_Ploy and FASTCV_SVM_RBF
+///
+/// @param coef0
+/// Parameter coef0 of a kernel function (FASTCV_SVM_LINEAR / FASTCV_SVM_POLY / FASTCV_SVM_SIGMOID).
+///
+/// @param sv
+/// Support vectors.
+///
+/// @param svLen
+/// Feature length, (support vector length = feature length).
+///
+/// @param svNum
+/// Number of support vectors.
+///
+/// @param svStride
+/// support vector stride.
+/// Stride of support vector 2D matrix (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, svStride is set as svLen*sizeof(float32_t).
+/// \n\b WARNING: should be multiple of 8, and at least as much as svLen if not 0.
+///
+/// @param svCoef
+/// Coefficent of support vectors, length equals to the Number of SV.
+///
+/// @param rho
+/// SVM bias.
+///
+/// @param vec
+/// Test vectors, it has same width as sv.
+///
+/// @param vecNum
+/// Number of test vectors.
+///
+/// @param vecStride
+/// Stride of test vectors.
+/// Stride of test vector 2D matrix (i.e., how many bytes between column 0 of row 1 and
+/// column 0 of row 2).
+/// \n\b NOTE: if 0, vecStride is set as svLen*sizeof(float32_t).
+/// \n\b WARNING: should be multiple of 8, and at least as much as svLen if not 0.
+///
+/// @param confidence
+/// Output, store confidence value of each test vector. The length is vecNum.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup machine_learning
+//------------------------------------------------------------------------------/
+
+FASTCV_API fcvStatus
+fcvSVMPredict2Classf32( fcvSVMKernelType kernelType,
+ uint32_t degree,
+ float32_t gamma,
+ float32_t coef0,
+ const float32_t* __restrict sv,
+ uint32_t svLen,
+ uint32_t svNum,
+ uint32_t svStride,
+ const float32_t* __restrict svCoef,
+ float32_t rho,
+ const float32_t* __restrict vec,
+ uint32_t vecNum,
+ uint32_t vecStride,
+ float32_t* __restrict confidence );
+
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Optical flow (with stride so ROI can be supported)
+///
+/// \n\b ATTENTION: This function is a duplication of
+/// fcvTrackLKOpticalFlowu8() with the addition of extra parameters.
+/// This function has been added to allow for backward compatibility
+/// with the original function. When the 2.0.0 release of this library
+/// is made, this function will be renamed to: \a fcvTrackLKOpticalFlowu8,
+/// \a fcvTrackLKOpticalFlowu8_v3 will be removed, and the current signature
+/// for \a fcvTrackLKOpticalFlowu8 will be removed. Until 2.0.0, the
+/// developer should use this implementation with the expectation of
+/// renaming it to \a fcvTrackLKOpticalFlowu8 when transitioning to 2.0.0.
+/// \n\n
+///
+/// @param src1
+/// Input image from frame #1.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param src2
+/// Input image from frame #2.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param width
+/// Input image width.
+///
+/// @param height
+/// Input image height.
+///
+/// @param stride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to width.
+/// NOTE: should be a multiple of 8.
+///
+/// @param src1Pyr
+/// Image Pyramid of src1 (with stride)
+/// \n\b WARNING: obtained by calling fcvPyramidCreateu8_v3
+///
+/// @param src2Pyr
+/// Image Pyradmid of src2 (with stride)
+/// \n\b WARNING: obtained by calling fcvPyramidCreateu8_v3
+///
+/// @param featureXY
+/// Pointer to X,Y floating point, sub-pixel coordinates for features to
+/// track. Stored as X,Y tuples. featureXY array storage must
+/// be >= featureLen*2.
+///
+/// @param featureXY_out
+/// Pointer to X,Y floating point, sub-pixel coordinates for tracked features
+/// Stored as X,Y tuples. featureXY array storage must
+/// be >= featureLen*2.
+///
+/// @param featureXY_estimate
+/// Pointer to X,Y floating point, sub-pixel coordinates for estimated features
+/// on the new frame stored as X,Y tuples. featureXY array storage must
+/// has the same length as featureXY
+///
+/// @param featureStatus
+/// Pointer to integer array for status of each feature defined in
+/// featureXY. featureStatus array storage must
+/// be >= featureLen.
+///
+/// @param featureLen
+/// Number of features in featuresXY and featureStatus array.
+///
+/// @param windowWidth
+/// Width of window for optical flow searching. Must be odd number.
+/// \n\b NOTE: suggested value 5, 7 or 9
+///
+/// @param windowHeight
+/// Height of window for optical flow searching. Must be odd number.
+/// \n\b NOTE:: suggested value 5, 7 or 9
+///
+/// @param nPyramidLevels
+/// Number of pyramid levels.
+/// \n\b NOTE: suggested value 3 or 4 depending on size of image
+///
+/// @param termCriteria
+/// The enum parameter to specify termination criteria. See fcvTerminationCriteria for details
+///
+/// @param maxIterations
+/// Maximum number of LK iterations to perform per pyramid level if
+/// FASTCV_TERM_CRITERIA_ITERATIONS is set as the termCriteria
+/// \n\b NOTE: will be saturated to range [1, 100]; suggested value 5 or 7
+///
+/// @param maxEpsilon
+/// Epsilon value in float32_t for error measure to determine the iteration
+/// \n\b NOTE: the value should be within [0, 10]; suggested value 0.03*0.03
+///
+/// @param use_initial_estimate
+/// The flag indicatiing if to use initial estimations stored in featureXY_estimate
+/// to start the search.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup object_detection
+// -----------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvTrackLKOpticalFlowu8_v3 ( const uint8_t *__restrict src1,
+ const uint8_t *__restrict src2,
+ uint32_t width,
+ uint32_t height,
+ uint32_t stride,
+ const fcvPyramidLevel_v2 * __restrict src1Pyr,
+ const fcvPyramidLevel_v2 * __restrict src2Pyr,
+ const float32_t * __restrict featureXY,
+ const float32_t * __restrict featureXY_estimate,
+ float32_t * __restrict featureXY_out,
+ int32_t * __restrict featureStatus,
+ int32_t featureLen,
+ int32_t windowWidth,
+ int32_t windowHeight,
+ int32_t nPyramidLevels,
+ fcvTerminationCriteria termCriteria,
+ int32_t maxIterations,
+ float32_t maxEpsilon,
+ int32_t use_initial_estimate);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Undistort a disparity image and optionally convert the undistorted disparity image into a
+/// depth image.
+///
+/// @param src
+/// Pointer to the disparity input image
+///
+/// @param srcWidth
+/// Width of the disparity input image in pixel. The number of pixels in a row.
+///
+/// @param srcHeight
+/// Height of the disparity input image in pixel.
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t)
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param mask
+/// Pointer to the returned foreground mask image.
+/// It's a 1-channel image, same width and height as src.
+/// If an entry set to 1, there will be a valid undistorted dispartity or depth value.
+/// If an entry set to 0, there will be no valid undistorted dispartity or depth value.
+///
+/// @param maskStride
+/// Stride of the foreground mask image. It's the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 MaskStride is default to srcWidth.
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param pixelDistortion
+/// Pointer to the pixel distortion value for each pixel in the image. It has the same dimensions
+/// as the input image src.
+///
+/// @param pixelDistortionStride
+/// Stride of pixel distortion value for each pixel in the image.
+/// It's the number of bytes between column 0 of row 1 and column 0 of row 2 in data memory.
+/// If left at 0 pixelDistortionStride is default to srcWidth*sizeof(float32_t).
+/// \n\b WARNING: should be multiple of 8
+///
+/// @param convertDepth
+/// This parameter is a flag to enable or disable the conversion of disparity to depth.
+/// If set to 1, then the undistorted disparity values will be converted to depth
+/// and returned in the dst buffer.
+/// If set to 0, then the undistorted disparity will be returned in the dst buffer.
+///
+/// @param imageDistortion
+/// ImageDistortion contains two elements. The First part contains the spatial distortion pattern,
+/// and the second part contains the decay of the distortion effect.
+///
+/// @param depthParam
+/// Parameters used to transform disparity to depth values.
+/// The equation is
+/// undistortedDepthValue = 1 / (undistortedDisparityValue * depthParam[0] + depthParam[1])
+///
+/// @param dst
+/// Output matrix which has the same width, length and channel number as src.
+/// The buffer contains undistorted disparity values if convertDepth is set to 0 and
+/// contains the undistorted depth values if convertDepth is set to 1
+///
+/// @param dstStride
+/// Stride for output image, i.e. the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t)
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvUndistortDisparityConvertDepthf32(const float32_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ const uint8_t* __restrict mask,
+ uint32_t maskStride,
+ const float32_t* __restrict pixelDistortion,
+ uint32_t pixelDistortionStride,
+ uint32_t convertDepth,
+ const float32_t* __restrict imageDistortion,
+ const float32_t* __restrict depthParam,
+ float32_t* __restrict dst,
+ uint32_t dstStride);
+
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Registers an input Depth Image with an input Color Image
+///
+/// @param src
+/// Pointer to the input depth image
+///
+/// @param srcWidth
+/// The width of the input depth image.
+///
+/// @param srcHeight
+/// The height of the input depth image
+///
+/// @param srcStride
+/// Stride of image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t).
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param Kdinv
+/// Kdinv is an array of 9 elements representing the inverse of the 3x3 depth camera matrix
+/// arranged row wise.
+///
+/// @param Kc
+/// Kc is an array of 9 elements which represents the 3x3 color camera intrinsic parameters
+/// arranged row wise
+///
+/// @param Rd2c
+/// Rd2c is an array of 9 element which represents the 3D Rotation (3x3) matrix from the Depth
+/// Camera to the Color Camera arranged row wise
+///
+/// @param Td2c
+/// Td2c is an array of 3 element which represents the transform parameter from the Depth
+/// Camera to the Color Camera.
+///
+/// @param dst
+/// Output matrix which has the same width, length and channel number as src
+///
+/// @param dstStride
+/// Stride for output image, i.e. the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t)
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvRegisterDepthImagef32(const float32_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ const float32_t* __restrict Kdinv,
+ const float32_t* __restrict Kc,
+ const float32_t* __restrict Rd2c,
+ const float32_t* __restrict Td2c,
+ float32_t* __restrict dst,
+ uint32_t dstStride);
+
+//------------------------------------------------------------------------------
+/// @brief
+/// Convert depth image into 3D point Cloud
+///
+/// @param src
+/// Pointer to the depth image
+///
+/// @param srcWidth
+/// Width of the depth image in pixel. The number of pixels in a row.
+///
+/// @param srcHeight
+/// Height of the depth image in pixel
+///
+/// @param srcStride
+/// Stride of depth image is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to srcWidth*sizeof(float32_t).
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @param Kdinv
+/// Kdinv is an array of 9 elements representing the inverse of the 3x3 depth camera matrix
+/// arranged row wise.
+//
+/// @param dst
+/// Pointer to the 3D point cloud in an interleaved fashion x0,y0,z0,x1,y1,z1.
+/// It has a width of 3*srcWidth and has the same height as the src buffer.
+///
+/// @param dstStride
+/// Stride for output image, i.e. the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 srcStride is default to 3*srcWidth*sizeof(float32_t)
+/// \n\b NOTE: should be multiple of 8.
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup 3D_reconstruction
+//------------------------------------------------------------------------------
+FASTCV_API fcvStatus
+fcvConvertDepthImageToPointCloudf32(const float32_t* __restrict src,
+ uint32_t srcWidth,
+ uint32_t srcHeight,
+ uint32_t srcStride,
+ const float32_t* __restrict Kdinv,
+ float32_t* __restrict dst,
+ uint32_t dstStride);
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Extract Histogram of Oriented Gradients (HOG) descriptor given an image's gradient strength
+/// and orientation
+///
+/// @param strength
+/// The gradient strength at each pixel.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param width
+/// Input window width.
+///
+/// @param height
+/// Input window height.
+///
+/// @param strengthStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 strengthStride is default to width*2.
+/// NOTE: should be a multiple of 8.
+///
+/// @param orientation
+/// Gradient orientation at each pixel. When normMethod is FASTCV_HOG_NORM_REGULAR or
+/// FASTCV_HOG_NORM_RENORMALIZATION, orientation should be within range of [0, 179]; while
+/// FASTCV_HOG_NORM_FHOG is used, orientation should be within [0, 359] to meet its contrast-
+/// sensitive requirements.
+/// \n\b WARNING: should be 128-bit aligned.
+///
+/// @param orientationStride
+/// Stride is the number of bytes between column 0 of row 1 and
+/// column 0 of row 2 in data memory. If left at 0 orientationStride is default to width*2.
+/// NOTE: should be a multiple of 8.
+///
+/// @param cellSize
+/// The size of one cell in pixels. The typical cell size is 4.
+///
+/// @param blockSize
+/// Block size in pixels. It must be a multiple of cellSize.
+/// \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockSize is by default equal to cellSize
+///
+/// @param blockStep
+/// Block step in pixels when sliding the block over the image. If the blockStep
+/// is a multiple of cellSize, faster approach would be taken when normMethod
+/// is FASTCV_HOG_NORM_REGULAR or FASTCV_HOG_NORM_RENORMALIZATION.
+/// \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockStep is by default equal to cellSize
+///
+/// @param binSize
+/// Number of bins in the gradient histogram. Typical binSize is 9.
+///
+/// @param normMethod
+/// The enum parameter to specify the normalization method for HOG descriptor construction. See
+/// fcvHOGNormMethod for details.
+///
+/// @param hogVector
+/// The output descriptor vector in uint16_t. The length of the vector is obtained by fcvGetHOGVectorLengthu32
+///
+/// @return
+/// FASTCV_SUCCESS upon success.
+/// Other status codes upon failure.
+///
+/// @ingroup object_detection
+// -----------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvExtractHOGu16(const uint16_t* __restrict strength,
+ uint32_t width,
+ uint32_t height,
+ uint32_t strengthStride,
+ const uint16_t* __restrict orientation,
+ uint32_t orientationStride,
+ uint32_t cellSize,
+ uint32_t blockSize,
+ uint32_t blockStep,
+ uint32_t binSize,
+ fcvHOGNormMethod normMethod,
+ uint16_t* __restrict hogVector,
+ uint32_t flen,
+ void* handle);
+
+// -----------------------------------------------------------------------------
+/// @brief
+/// Calculate the length of the output vector for HOG extraction
+///
+/// @param width
+/// Input window width.
+///
+/// @param height
+/// Input window height.
+///
+/// @param cellSize
+/// The size of one cell in pixels. The typical cell size is 4.
+///
+/// @param blockSize
+/// Block size in pixels. It must be a multiple of cellSize.
+/// \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockStep is by default equal to cellSize
+///
+/// @param blockStep
+/// Block step in pixels when sliding the block over the image. If the blockStep
+/// is a multiple of cellSize, faster approach would be taken when normMethod
+/// is FASTCV_HOG_NORM_REGULAR or FASTCV_HOG_NORM_RENORMALIZATION.
+/// \n\b WARNING: When normMethod is FASTCV_HOG_NORM_FHOG, blockStep is by default equal to cellSize
+///
+/// @param binSize
+/// Number of bins in the gradient histogram. Typical binSize is 9.
+///
+/// @param normMethod
+/// The enum parameter to specify the normalization method for HOG descriptor construction. See
+/// fcvHOGNormMethod for details.
+///
+/// @param
+/// The length of HOG vector in uint32_t
+///
+/// @param hogHandle
+/// Output. the hogHandle to be used in subsequent calls.
+///
+/// @ingroup object_detection
+// -----------------------------------------------------------------------------
+
+FASTCV_API fcvStatus
+fcvHOGInit(uint32_t width,
+ uint32_t height,
+ uint32_t cellSize,
+ uint32_t blockSize,
+ uint32_t blockStep,
+ uint32_t binSize,
+ fcvHOGNormMethod normMethod,
+ uint32_t *vecLength,
+ void **hogHandle
+ );
+//------------------------------------------------------------------------------
+/// @brief Function to release HOG resources.
+/// @param hogHandle
+/// Handle to be used to free up HOG resources.
+/// @ingroup object_detection
+//------------------------------------------------------------------------------
+
+FASTCV_API void fcvHOGDeInit(void* hogHandle);
+
+
+
+#ifdef __cplusplus
+}//extern "C"
+#endif
+
+#endif
diff --git a/phonelibs/fastcv/x64/include/fastcv.h b/phonelibs/fastcv/x64/include/fastcv.h
deleted file mode 100755
index 0bffaba27..000000000
--- a/phonelibs/fastcv/x64/include/fastcv.h
+++ /dev/null
@@ -1,23220 +0,0 @@
-#ifndef FASTCV_H
-#define FASTCV_H
-
-/**=============================================================================
-
-@file
- fastcv.h
-
-@brief
- Public API
-
-
-Copyright (c) 2011-2013 Qualcomm Technologies Incorporated.
-All Rights Reserved Qualcomm Technologies Proprietary
-
-Export of this technology or software is regulated by the U.S.
-Government. Diversion contrary to U.S. law prohibited.
-
-All ideas, data and information contained in or disclosed by
-this document are confidential and proprietary information of
-Qualcomm Technologies Incorporated and all rights therein are expressly reserved.
-By accepting this material the recipient agrees that this material
-and the information contained therein are held in confidence and in
-trust and will not be used, copied, reproduced in whole or in part,
-nor its contents revealed in any manner to others without the express
-written permission of Qualcomm Technologies Incorporated.
-
-=============================================================================**/
-
-/**=============================================================================
-@mainpage FastCV Public API Documentation
-
-@version 1.2.2
-
-@section Overview Overview
-
-FastCV provides two main features to computer vision application developers:
- - First, it provides a library of frequently used computer vision (CV)
- functions, optimized to run efficiently on mobile devices.
- - Second, it provides a clean processor-agnostic hardware acceleration API,
- under which chipset vendors can hardware accelerate FastCV functions on
- their hardware.
-
-This initial release (FastCV 1.0) only supports Android mobile developers;
-however, we intend to support iOS and Windows devices as soon as possible.
-FastCV 1.0 is available for download for free from developer.qualcomm.com.
-
-FastCV 1.0 is released as a unified binary, a single binary containing two
-implementations of the library.
- - The first implementation runs on ARM processor, and is referred to as
- the "FastCV for ARM."
- - The second implementation runs only on Qualcomm Snapdragon
- chipsets, and is called "FastCV for Snapdragon."
-
-Releases are generally motivated for the following reasons:
- - Changes to previously released APIs
- - Addition of new functions
- - Performance improvements and/or bug fixes - also known as implementation
- modifications
-
- Each motivation has a varying degree of impact on the user of the library.
- The general release numbering scheme captures this variety of motivations.
-
- Given release ID: A.B.C
-
- An increase in "A" indicates that a previously released API has changed,
- so a developer may encounter compilation issues which require modification
- of their code in order to adhear to the modified API. Qualcomm will make
- every effort to minimize these changes. Additionally, new functions and
- implementation modifications may be present.
-
- An increase in "B" indicates that new functions have been added to the
- library, so additional functionality is available, however existing APIs
- have not changed. Additionally, implementation modifications may be
- present.
-
- An increase in "C" indicates that implementation modifications only have
- been made.
-
-@defgroup math_vector Math / Vector Operations
-@details Commonly used vector & math functions
-
-@defgroup image_processing Image processing
-@details Image filtering, convolution and scaling operations
-
-@defgroup image_transform Image transformation
-@details Warp perspective, affine transformations
-
-@defgroup feature_detection Feature detection
-@details Fast corner detection, harris corner detection, canny edge detection, etc.
-
-@defgroup object_detection Object detection
-@details Object detection functions such as NCC template match, etc.
-
-@defgroup 3D_reconstruction 3D reconstruction
-@details Homography, pose evaluation functions
-
-@defgroup color_conversion Color conversion
-@details Commonly used formats supported: e.g., YUV, RGB, YCrCb, etc.
-
-@defgroup clustering_and_search Clustering and search
-@details K clusters best fitting of a set of input points
-
-@defgroup Motion_and_Object_Tracking Motion and object tracking
-@details Supports and tracking functions
-
-@defgroup Structural_Analysis_and_Drawing Shape and drawing
-@details Contour and polygon drawing functions
-
-@defgroup mem_management Memory Management
-@details Functions to allocate and deallocate memory for use with fastCV.
-
-@defgroup misc Miscellaneous
-@details Support functions
-
-**/
-
-//==============================================================================
-// Defines
-//==============================================================================
-
-#define FASTCV_VERSION 122
-
-#ifdef __GNUC__
- /// Macro to align memory at 4-bytes (32-bits) for GNU-based compilers.
- #define FASTCV_ALIGN32( VAR ) (VAR) __attribute__ ((aligned(4)))
- /// Macro to align memory at 8-bytes (64-bits) for GNU-based compilers.
- #define FASTCV_ALIGN64( VAR ) (VAR) __attribute__ ((aligned(8)))
- /// Macro to align memory at 16-bytes (128-bits) for GNU-based compilers.
- #define FASTCV_ALIGN128( VAR ) (VAR) __attribute__ ((aligned(16)))
- #ifdef BUILDING_SO
- /// MACRO enables function to be visible in shared-library case.
- #define FASTCV_API __attribute__ ((visibility ("default")))
- #else
- /// MACRO empty for non-shared-library case.
- #define FASTCV_API
- #endif
-#else
- /// Macro to align memory at 4-bytes (32-bits) for MSVC compiler.
- #define FASTCV_ALIGN32( VAR ) __declspec(align(4)) (VAR)
- /// Macro to align memory at 8-bytes (64-bits) for MSVC compiler.
- #define FASTCV_ALIGN64( VAR ) __declspec(align(8)) (VAR)
- /// Macro to align memory at 16-bytes (128-bits) for MSVC compiler.
- #define FASTCV_ALIGN128( VAR ) __declspec(align(16)) (VAR)
- #ifdef BUILDING_DLL
- /// MACRO enables function to be visible in shared-library case.
- #define FASTCV_API __declspec(dllexport)
- #else
- /// MACRO empty for non-shared-library case.
- #define FASTCV_API
- #endif
-#endif
-
-//==============================================================================
-// Included modules
-//==============================================================================
-
-#include
-
-#ifndef FASTCV_STDINT
-#define FASTCV_STDINT
- #ifdef _MSC_VER
-
- #if _MSC_VER <= 1500
- // stdint.h support for VS2008 and older
- #include "stdint_.h"
- #else
- #include
- #endif
-
- typedef float float32_t;
- typedef double float64_t;
-
- #else
-
- #ifdef __ARM_NEON__
- #include
- #else
- #include
- typedef float float32_t;
- typedef double float64_t;
- #endif
-
- #endif
-#endif
-
-//==============================================================================
-// Declarations
-//==============================================================================
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines operational mode of interface to allow the end developer to
-/// dictate how the target optimized implementation should behave.
-//------------------------------------------------------------------------------
-typedef enum
-{
- /// Target-optimized implementation uses lowest power consuming
- /// implementation.
- FASTCV_OP_LOW_POWER = 0,
-
- /// Target-optimized implementation uses higheset performance implementation.
- FASTCV_OP_PERFORMANCE = 1,
-
- /// Target-optimized implementation offloads as much of the CPU as possible.
- FASTCV_OP_CPU_OFFLOAD = 2,
-
- /// Values >= 0x80000000 are reserved
- FASTCV_OP_RESERVED = 0x80000000
-
-} fcvOperationMode;
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a structure to contain points correspondence data.
-//------------------------------------------------------------------------------
-typedef struct
-{
- /// Tuples of 3 values: xFrom,yFrom,zFrom. Float array which this points to
- /// must be greater than or equal to 3 * numCorrespondences.
- const float32_t* from;
- /*~ FIELD fcvCorrespondences.from
- VARRAY LENGTH ( fcvCorrespondences.numCorrespondences * \
- (fcvCorrespondences.fromStride ? fcvCorrespondences.fromStride : 3) ) */
-
- /// Tuples of 2 values: xTo,yTo. Float array which this points to
- /// must be greater than or equal to 2 * numCorrespondences.
- const float32_t* to;
- /*~ FIELD fcvCorrespondences.to
- VARRAY LENGTH ( fcvCorrespondences.numCorrespondences * \
- (fcvCorrespondences.toStride ? fcvCorrespondences.toStride : 2) ) */
-
- /// Distance in bytes between two coordinates in the from array.
- /// If this parameter is set to 2 or 3, a dense array is assume (stride will
- /// be sizeof(float) times 2 or 3). The minimum value of fromStride
- /// should be 2.
- uint32_t fromStride;
-
- /// Distance in bytes between two coordinates in the to array.
- /// If this parameter is set to 2, a dense array is assume (stride will
- /// be 2 * sizeof(float)). The minimum value of toStride
- /// should be 2.
- uint32_t toStride;
-
- /// Number of points in points correspondences.
- uint32_t numCorrespondences;
-
- /// Array of inlier indices for corrs array. Processing will only occur on
- /// the indices supplied in this array. Array which this points to must be
- /// at least numIndices long.
- const uint16_t* indices;
- /*~ FIELD fcvCorrespondences.indices VARRAY LENGTH (fcvCorrespondences.numIndices) */
-
- /// Length of indices array.
- uint32_t numIndices;
-} fcvCorrespondences;
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Structure representing an image pyramid level
-//------------------------------------------------------------------------------
-
-typedef struct
-{
- const void* ptr;
- unsigned int width;
- unsigned int height;
-} fcvPyramidLevel ;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Structure describing node of a tree;
-/// Assumption is that nodes of all trees are stored in in a single array
-/// and all indices refer to this array
-/// @remark
-/// if indices of both children are negative the node is a leaf
-// ----------------------------------------------------------------------------
-typedef struct fcvKDTreeNodef32
-{
- /// the split value at the node
- float32_t divVal;
-
- /// dimension at which the split is made;
- /// if this is a leaf (both children equal to -1) then this is
- /// the index of the dataset vector
- int32_t divFeat;
-
- /// index of the child node with dataset items to the left
- /// of the split value
- int32_t childLeft;
-
- /// index of the child node with dataset items to the right
- /// of the split value
- int32_t childRight;
-
-} fcvKDTreeNodef32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// structure describing a branch (subtree)
-/// @remark
-/// branches are stored on the priority queue (heap) for backtracking
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeBranchf32
-{
- /// square of minimal distance from query for all nodes below
- float32_t minDistSq;
-
- /// index of the top node of the branch
- int32_t topNode;
-
-} fcvKDTreeBranchf32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Structure with KDTrees data
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeDatas8f32
-{
- // info about the dataset for which KDTrees are constructed
- /// the dataset of vectors
- const int8_t *dataset;
-
- /// array with inverse lengths of dataset vectors
- const float32_t* invLen;
-
- /// number of vectors in the dataset
- int32_t numVectors;
-
- // info about trees
- /// indice of root nodes of trees
- int32_t* trees;
-
- /// array of nodes of all trees
- fcvKDTreeNodef32* nodes;
-
- /// number of all nodes
- int32_t numNodes;
-
- /// capacity of node array
- int32_t maxNumNodes;
-
- // info used during lookups
- /// priority queue
- fcvKDTreeBranchf32* heap;
-
- /// number of branches on the priority queue
- int32_t numBranches;
-
- /// capactiy of the priority queue
- int32_t maxNumBranches;
-
- /// array of indices to vectors in the dataset;
- /// during searches used to mark checkID;
- /// should have numVectors capacity
- int32_t* vind;
-
- /// unique ID for each lookup
- int32_t checkID;
-
- /// number of nearest neighbors to find
- int32_t numNNs;
-
-} fcvKDTreeDatas8f32;
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// fixed point kdtrees
-/// Structure describing node of tree;
-/// Assumption is that nodes of all trees are stored in in a single array
-/// and all indices refer to this array
-/// @remark
-/// if indices of both children are negative the node is a leaf
-// ----------------------------------------------------------------------------
-typedef struct fcvKDTreeNodes32
-{
- /// the split value at the node
- int32_t divVal;
-
- /// dimension at which the split is made;
- /// if this is a leaf (both children equal to -1) then this is
- /// the index of the dataset vector
- int32_t divFeat;
-
- /// index of the child node with dataset items to the left
- /// of the split value
- int32_t childLeft;
-
- /// index of the child node with dataset items to the right
- /// of the split value
- int32_t childRight;
-
-} fcvKDTreeNodes32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// fixed point kdtrees
-/// structure describing a branch (subtree)
-/// @remark
-/// branches are stored on the priority queue (heap) for backtracking
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeBranchs32
-{
- /// square of minimal distance from query for all nodes below
- int32_t minDistSq;
-
- /// index of the top node of the branch
- int32_t topNode;
-
-} fcvKDTreeBranchs32;
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// fixed point kdtrees
-/// Structure with KDTrees data
-// -----------------------------------------------------------------------------
-typedef struct fcvKDTreeDatas8s32
-{
- // info about the dataset for which KDTrees are constructed
- /// the dataset of vectors
- const int8_t *dataset;
-
- /// array with inverse lengths of dataset vectors
- const int32_t* invLen;
-
- /// number of vectors in the dataset
- int32_t numVectors;
-
- // info about trees
- /// indices of root nodes of all trees
- int32_t* trees;
-
- /// number of trees used
- int32_t numTrees;
-
- /// array of nodes of all trees
- fcvKDTreeNodes32* nodes;
-
- /// number of all nodes
- int32_t numNodes;
-
- /// capacity of node array
- int32_t maxNumNodes;
-
- // info used during lookups
- /// priority queue
- fcvKDTreeBranchs32* heap;
-
- /// number of branches on the priority queue
- int32_t numBranches;
-
- /// capactiy of the priority queue
- int32_t maxNumBranches;
-
- /// array of indices to vectors in the dataset;
- /// during searches used to mark checkID;
- /// should have numVectors capacity
- int32_t* vind;
-
- /// unique ID for each lookup
- int32_t checkID;
-
- /// number of nearest neighbors to find
- int32_t numNNs;
-
-} fcvKDTreeDatas8s32;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct of rectangle
-//------------------------------------------------------------------------------
-typedef struct
-{
- ///x-coordinate of the top-left corner
- int32_t x;
- ///y-coordinate of the top-left corner
- int32_t y;
- ///width of the rectangle
- uint32_t width;
- ///height of the rectangle
- uint32_t height;
-} fcvRectangleInt;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct of termination criteria
-//------------------------------------------------------------------------------
-typedef struct
-{
- /// Maxmimum number of iteration
- int32_t max_iter;
- ///
- float32_t epsilon;
-}fcvTermCriteria;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct of 2D box used for tracking
-//------------------------------------------------------------------------------
-typedef struct
-{
- // Center of the box
- ///x-coordinate of the 2D point
- int32_t x;
- ///y-coordinate of the 2D point
- int32_t y;
- // The box size
- int32_t columns;
- int32_t rows;
- // The orientation of the principal axis
- int32_t orientation;
-}fcvBox2D;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct of code word
-//------------------------------------------------------------------------------
-typedef struct fcvBGCodeWord
-{
- /// Pointer to next codebook element
- struct fcvBGCodeWord* next;
-
- /// Last update time
- int32_t tLastUpdate;
-
- /// Longest period of inactivity
- int32_t stale;
- /// Min value of pixel for each channel
- uint8_t min0, min1, min2;
-
- /// Max value of pixel for each channel
- uint8_t max0, max1, max2;
-
- /// Min value of learning boundary for each channel
- uint8_t learnLow0, learnLow1, learnLow2;
-
- /// Max value of learning boundary for each channel
- uint8_t learnHigh0, learnHigh1, learnHigh2;
-} fcvBGCodeWord;
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Defines a struct for circle
-//------------------------------------------------------------------------------
-typedef struct fcvCircle
-{
- int32_t x;
- int32_t y;
- int32_t radius;
-} fcvCircle;
-
-//==============================================================================
-// UTILITY FUNCTIONS
-//==============================================================================
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Retrieves version of FastCV library.
-///
-/// @param version
-/// Pointer to location to put string.
-///
-/// @param versionLength
-/// Length of storage for version string.
-///
-/// @ingroup misc
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvGetVersion( char* version,
- unsigned int versionLength );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Selects HW units for all routines at run-time. Can be called anytime to
-/// update choice.
-///
-/// @param mode
-/// See enum for details.
-///
-/// @return
-/// 0 if successful.
-/// 999 if minmum HW requirement not met.
-/// other #'s if unsuccessful.
-///
-/// @ingroup misc
-//---------------------------------------------------------------------------
-
-FASTCV_API int
-fcvSetOperationMode( fcvOperationMode mode );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Clean up FastCV resources. Must be called before the program exits.
-///
-/// @ingroup misc
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvCleanUp( void );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Allocates memory for Pyramid
-///
-/// @param pyr
-/// Pointer to an array of qcvaPyramidLevel
-///
-/// @param baseWidth
-/// Width of the base level: the value assigned to pyr[0].width
-///
-/// @param baseHeight
-/// Height of the base level: the value assigned to pyr[0].height
-///
-/// @param bytesPerPixel
-/// Number of bytes per pixel:
-/// \n e.g for uint8_t pyramid, bytesPerPixel = 1
-/// \n for int32_t pyramid, bytesPerPixel = 4
-///
-/// @param numLevels
-/// number of levels in the pyramid
-///
-/// @param allocateBase
-/// \n if set to 1, memory will be allocated for the base level
-/// \n if set to 0, memory for the base level is allocated by the callee
-/// \n\b WARNING: How this parameter is set will impact how the memory is freed.
-/// Please refer to fcvPyramidDelete for details.
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API int
-fcvPyramidAllocate( fcvPyramidLevel* pyr,
- unsigned int baseWidth,
- unsigned int baseHeight,
- unsigned int bytesPerPixel,
- unsigned int numLevels,
- int allocateBase );
-
-
-// -----------------------------------------------------------------------------
-/// @brief
-/// Deallocates an array of fcvPyramidLevel. Can be used for any
-/// type(f32/s8/u8).
-///
-/// @param pyr
-/// pyramid to deallocate
-///
-/// @param numLevels
-/// Number of levels in the pyramid
-///
-/// @param startLevel
-/// Start level of the pyramid
-/// \n\b WARNING: if pyr was allocated with allocateBase=0 which means baselevel memory
-/// was allocated outside of fcvPyramidAllocate, then startLevel
-/// for fcvPyramidDelete has to be set to 1 (or higher).
-///
-/// @ingroup mem_management
-//----------------------------------------------------------------------------
-
-FASTCV_API void
-fcvPyramidDelete( fcvPyramidLevel* pyr,
- unsigned int numLevels,
- unsigned int startLevel );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Allocates aligned memory.
-///
-/// @param nBytes
-/// Number of bytes.
-///
-/// @param byteAlignment
-/// Alignment specified in bytes (e.g., 16 = 128-bit alignment).
-/// \n\b WARNING: must be < 255 bytes
-///
-/// @return
-/// SUCCESS: pointer to aligned memory
-/// FAILURE: 0
-///
-/// @ingroup mem_management
-//------------------------------------------------------------------------------
-
-FASTCV_API void*
-fcvMemAlloc( unsigned int nBytes,
- unsigned int byteAlignment );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Frees memory allocated by fcvMemAlloc().
-///
-/// @param ptr
-/// Pointer to memory.
-///
-/// @ingroup mem_management
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvMemFree( void* ptr );
-
-#ifdef __cplusplus
-}//extern "C"
-#endif
-//End - Utility functions
-
-
-//==============================================================================
-// FUNCTIONS
-//==============================================================================
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 3x3 median filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterMedian3x3u8_v2(). In the 2.0.0 release,
-/// fcvFilterMedian3x3u8_v2 will be renamed to fcvFilterMedian3x3u8
-/// and the signature of fcvFilterMedian3x3u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Border values are ignored. The 3x3 mask convolves with the image area
-/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param srcImg
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: must be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dstImg
-/// Output 8-bit image. Size of buffer is srcWidth*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterMedian3x3u8( const uint8_t* __restrict srcImg,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dstImg );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 3x3 median filter
-///
-/// \n\b ATTENTION: This function is a duplication of of
-/// fcvFilterMedian3x3u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterMedian3x3u8,
-/// \a fcvFilterMedian3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterMedian3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterMedian3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Border values are ignored. The 3x3 mask convolves with the image area
-/// | a(1,1) , a12, ..., a(1,srcWidth-2) |\n
-/// | ... , ..., ..., ... |\n
-/// | a(srcHeight-2,1), ..., ..., a1(srcHeight-2,srcWidth-2) |\n
-///
-/// @param srcImg
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b NOTE: must be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: must be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dstImg
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: must be multiple of 8, and at least as much as srcWidth if not 0.
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterMedian3x3u8_v2( const uint8_t* __restrict srcImg,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dstImg,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 3x3 Gaussian filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterGaussian3x3u8_v2(). In the 2.0.0 release,
-/// fcvFilterGaussian3x3u8_v2 will be renamed to fcvFilterGaussian3x3u8
-/// and the signature of fcvFilterGaussian3x3u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Gaussian kernel:
-/// \n 1 2 1
-/// \n 2 4 2
-/// \n 1 2 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight byte.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: must be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit image. Destination buffer size is srcWidth*srcHeight.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 1 pixel in the 3x3
-/// case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian3x3u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst,
- int blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 3x3 Gaussian filter
-///
-/// \n\b ATTENTION: This function is a duplication of of
-/// fcvFilterGaussian3x3u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterGaussian3x3u8,
-/// \a fcvFilterGaussian3x3u8_v2 will be removed, and the current signature
-/// for \a fcvFilterGaussian3x3u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterGaussian3x3u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Convolution with 3x3 Gaussian kernel:
-/// \n 1 2 1
-/// \n 2 4 2
-/// \n 1 2 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: must be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, srcStride is set as srcWidth.
-/// \n\b WARNING: must be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: must be multiple of 8, and at least as much as dstWidth if not 0.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 1 pixel in the 3x3
-/// case).
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian3x3u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride,
- int blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 5x5 Gaussian filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterGaussian5x5u8_v2(). In the 2.0.0 release,
-/// fcvFilterGaussian5x5u8_v2 will be renamed to fcvFilterGaussian5x5u8
-/// and the signature of fcvFilterGaussian5x5u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Convolution with 5x5 Gaussian kernel:
-/// \n 1 4 6 4 1
-/// \n 4 16 24 16 4
-/// \n 6 24 36 24 6
-/// \n 4 16 24 16 4
-/// \n 1 4 6 4 1
-///
-/// @param src
-/// Input int data (can be sq. of gradient, etc). Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: must be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 2 pixel in the 5x5
-/// case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst,
- int blurBorder );
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 5x5 Gaussian filter
-///
-/// \n\b ATTENTION: This function is a duplication of of
-/// fcvFilterGaussian5x5u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterGaussian5x5u8,
-/// \a fcvFilterGaussian5x5u8_v2 will be removed, and the current signature
-/// for \a fcvFilterGaussian5x5u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterGaussian5x5u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Convolution with 5x5 Gaussian kernel:
-/// \n 1 4 6 4 1
-/// \n 4 16 24 16 4
-/// \n 6 24 36 24 6
-/// \n 4 16 24 16 4
-/// \n 1 4 6 4 1
-///
-/// @param src
-/// Input int data (can be sq. of gradient, etc). Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: must be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: must be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: must be multiple of 8, and at least as much as dstWidth if not 0.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 2 pixel in the 5x5
-/// case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian5x5u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride,
- int blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 11x11 Gaussian filter
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvFilterGaussian11x11u8_v2(). In the 2.0.0 release,
-/// fcvFilterGaussian11x11u8_v2 will be renamed to fcvFilterGaussian11x11u8
-/// and the signature of fcvFilterGaussian11x11u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Convolution with 11x11 Gaussian kernel:
-/// \n 1 10 45 120 210 252 210 120 45 10 1
-/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
-/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
-/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
-/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
-/// \n 252 2520 11340 30240 52920 63504 52920 30240 11340 2520 252
-/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
-/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
-/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
-/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
-/// \n 1 10 45 120 210 252 210 120 45 10 , 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: must be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is srcWidth*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 5 pixel in the 11x11
-/// case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian11x11u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst,
- int blurBorder );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Blurs an image with 11x11 Gaussian filter
-///
-/// \n\b ATTENTION: This function is a duplication of of
-/// fcvFilterGaussian11x11u8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvFilterGaussian11x11u8,
-/// \a fcvFilterGaussian11x11u8_v2 will be removed, and the current signature
-/// for \a fcvFilterGaussian11x11u8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvFilterGaussian11x11u8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Convolution with 11x11 Gaussian kernel:
-/// \n 1 10 45 120 210 252 210 120 45 10 1
-/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
-/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
-/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
-/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
-/// \n 252 2520 11340 30240 52920 63504 52920 30240 11340 2520 252
-/// \n 210 2100 9450 25200 44100 52920 44100 25200 9450 2100 210
-/// \n 120 1200 5400 14400 25200 30240 25200 14400 5400 1200 120
-/// \n 45 450 2025 5400 9450 11340 9450 5400 2025 450 45
-/// \n 10 100 450 1200 2100 2520 2100 1200 450 100 10
-/// \n 1 10 45 120 210 252 210 120 45 10 , 1
-///
-/// @param src
-/// Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: must be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: must be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param dst
-/// Output 8-bit image. Size of buffer is dstStride*srcHeight bytes.
-/// \n\b NOTE: data should be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride.
-/// \n\b NOTE: if 0, dstStride is set as dstWidth.
-/// \n\b WARNING: must be multiple of 8, and at least as much as srcWidth if not 0.
-///
-/// @param blurBorder
-/// If set to 1, border is blurred by 0-padding adjacent values. If set to 0,
-/// borders up to half-kernel width are ignored (e.g. 5 pixel in the 11x11
-/// case).
-///
-///
-///
-/// @ingroup image_processing
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvFilterGaussian11x11u8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride,
- int blurBorder );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YUV (YCrCb) 4:2:0 PesudoPlanar (Interleaved) to RGB 8888.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvColorYCrCb420PseudoPlanarToRGB8888u8. In the 2.0.0 release,
-/// the signature of fcvColorYUV420toRGB8888u8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @param src
-/// 8-bit image of input YUV 4:2:0 values.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// The input are one Y plane followed by one interleaved and 2D (both
-/// horizontally and vertically) sub-sampled CrCb plane:
-/// Y plane : Y00 Y01 Y02 Y03 ...
-/// Y10 Y11 Y12 Y13 ...
-/// Interleaved and 2D sub-sampled plane: Cr0 Cb0 Cr1 Cb1 ...
-///
-/// @param dst
-/// 32-bit image of output RGB 8888 values. R is at LSB.
-/// \n\b WARNING: size must match input yuv420.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: must be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYUV420toRGB8888u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint32_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YUV (YCrCb) 4:2:0 PesudoPlanar (Interleaved CrCb) to RGB 888.
-///
-/// \n\b ATTENTION: The name of this function will be changed when the 2.0.0 release
-/// of this library is made.
-/// Until 2.0.0, the developer should use this implementation with the expectation of
-/// moving to a different name when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// 8-bit image of input YUV picture.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// The input are one Y plane followed by one interleaved and 2D (both
-/// horizontally and vertically) sub-sampled CrCb plane:
-/// Y plane : Y00 Y01 Y02 Y03 ...
-/// Y10 Y11 Y12 Y13 ...
-/// Interleaved and 2D sub-sampled plane: Cr0 Cb0 Cr1 Cb1 ...
-///
-/// @param srcWidth
-/// Image width.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcYStride
-/// Stride (in bytes) of input image Y component (i.e., number of bytes between
-/// column 0 of row 1 and column 0 of row 2).
-/// \n\b WARNING: Must be multiple of 8 (8 * 1-byte values).
-///
-/// @param srcCStride
-/// Stride (in bytes) of input image Chroma component (i.e., number of bytes between
-/// column 0 of row 1 and column 0 of row 2)
-/// \n\b WARNING: Must be multiple of 4 (4 * 1-byte values).
-///
-/// @param dst
-/// 32-bit image of output RGB 8888 values. R in LSB.
-/// \n\b WARNING: size must match input yuv420.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// @param dstStride
-/// Stride of output RGB image (i.e., number of bytes between column 0 of
-/// row 1 and column 0 of row 2)
-/// \n\b WARNING: Must be multiple of 32 (8 * 4-byte values).
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCb420PseudoPlanarToRGB8888u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcYStride,
- unsigned int srcCStride,
- uint32_t* __restrict dst,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YUV (YCbCr) 4:2:0 PesudoPlanar (Interleaved CbCr) to RGB 565.
-///
-/// \n\b ATTENTION: The name of this function will be changed when the 2.0.0 release
-/// of this library is made.
-/// Until 2.0.0, the developer should use this implementation with the expectation of
-/// moving to a different name when transitioning to 2.0.0.
-/// \n\n
-///
-/// @param src
-/// 8-bit image of input YUV 4:2:0 values.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// The input are one Y plane followed by one interleaved and 2D (both
-/// horizontally and vertically) sub-sampled CbCr plane:
-/// Y plane : Y00 Y01 Y02 Y03 ...
-/// Y10 Y11 Y12 Y13 ...
-/// Interleaved and 2D sub-sampled plane: Cb0 Cr0 Cb1 Cr1 ...
-///
-/// @param dst
-/// 16-bit image of output RGB 565 values. R in LSBs.
-/// 2 pixels are packed into one 32-bit output
-/// \n\b WARNING: size must match input yuv420.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: Must be multiple of 4
-///
-/// @param srcHeight
-/// Image height.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYUV420toRGB565u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint32_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YCbCr H1V1 to RGB 888.
-///
-/// @details
-/// Color conversion from YCbCr H1V1 (YCbCr 4:4:4 planar) to RGB 888.
-/// \n R = Y + 1.40200*(Cr-128)
-/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-/// \n B = Y + 1.77200*(CB-128)
-///
-/// @param src
-/// 8-bit image of input values. Stored as YCbCr H1V1 planar format in 8x8 blocks for Y,Cb,Cr.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: Must be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// 8-bit image of output RGB 888 values. R in LSB.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH1V1toRGB888u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YCbCr H2V2 to RGB 888.
-///
-/// @details
-/// Color conversion from YCbCr H2V2 (YCbCr 4:2:0 planar) to RGB 888.
-/// \n R = Y + 1.40200*(Cr-128)
-/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-/// \n B = Y + 1.77200*(CB-128)
-///
-/// @param ysrc
-/// 8-bit input values. Stored as YCbCr H2V2 planar format in 16x16 blocks for Y, 8x8 blocks for Cb, Cr.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: Must be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// 8-bit image of output RGB 888 values. R in LSB.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH2V2toRGB888u8( const uint8_t* __restrict ysrc,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YCbCr H2V1 to RGB 888.
-///
-/// @details
-/// Color conversion from YCbCr H2V1 (YCbCr 4:2:2) to RGB 888.
-/// \n R = Y + 1.40200*(Cr-128)
-/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-/// \n B = Y + 1.77200*(CB-128)
-///
-/// @param src
-/// 8-bit input values. Stored as YCbCr H2V1 planar format in 16x8 blocks for Y, 8x8 blocks for Cb, Cr.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: Must be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// 8-bit image of output RGB 888 values. R in LSB.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH2V1toRGB888u8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from YCbCr H1V2 to RGB 888.
-///
-/// @details
-/// Color conversion from YCbCr H1V2 (YCbCr 4:2:2) to RGB 888.
-/// \n R = Y + 1.40200*(Cr-128)
-/// \n G = Y - 0.34414*(Cb-128) - 0.71414*(Cr-128)
-/// \n B = Y + 1.77200*(CB-128)
-///
-/// @param ysrc
-/// 8-bit input values. Stored as YCbCr H1V2 planar format in 8x16 blocks for Y, 8x8 blocks for Cb, Cr.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: Must be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// 8-bit image of output RGB 888 values. R in LSB.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorYCrCbH1V2toRGB888u8( const uint8_t* __restrict ysrc,
-
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from RGB 888 to YCrCb.
-///
-/// \n\b ATTENTION: This function's signature will become \b OBSOLETE in a future
-/// release of this library (2.0.0). The new interface is specified in the
-/// function: fcvColorRGB888toYCrCbu8_v2(). In the 2.0.0 release,
-/// fcvColorRGB888toYCrCbu8_v2 will be renamed to fcvColorRGB888toYCrCbu8
-/// and the signature of fcvColorRGB888toYCrCbu8 as it appears now,
-/// will be removed.
-/// \n\n
-///
-/// @details
-/// Color conversion from RGB 888 to YCrCb 4:4:4 interleaved.
-///
-/// @param src
-/// 8-bit input values.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: Must be multiple of 8
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param dst
-/// 8-bit output values. Stored as Y, Cr, Cb interleaved format.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888toYCrCbu8( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- uint8_t* __restrict dst );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Color conversion from RGB 888 to YCrCb 4:4:4 (Full interleaved, similar to
-/// 3-channel RGB).
-///
-/// \n\b ATTENTION: This function is a duplication of of
-/// fcvColorRGB888toYCrCbu8() with the addition of extra parameters.
-/// This function has been added to allow for backward compatibility
-/// with the original function. When the 2.0.0 release of this library
-/// is made, this function will be renamed to: \a fcvColorRGB888toYCrCbu8,
-/// \a fcvColorRGB888toYCrCbu8_v2 will be removed, and the current signature
-/// for \a fcvColorRGB888toYCrCbu8 will be removed. Until 2.0.0, the
-/// developer should use this implementation with the expectation of
-/// renaming it to \a fcvColorRGB888toYCrCbu8 when transitioning to 2.0.0.
-/// \n\n
-///
-/// @details
-/// Color conversion from RGB 888 to YCrCb 4:4:4 interleaved.
-///
-/// @param src
-/// 8-bit input values.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// @param srcWidth
-/// Image width.
-/// \n\b WARNING: Must be multiple of 8.
-///
-/// @param srcHeight
-/// Image height.
-///
-/// @param srcStride
-/// Image stride (in bytes).
-/// \n\b WARNING: Must be at least 3*srcWidth.
-///
-/// @param dst
-/// 8-bit output values. Stored as Y, Cr, Cb interleaved format.
-/// \n\b WARNING: size must match input crcb.
-/// \n\b NOTE: must be 128-bit aligned.
-///
-/// @param dstStride
-/// Output stride (in bytes).
-/// \n\b WARNING: Must be at least 3*srcWidth.
-///
-///
-///
-/// @ingroup color_conversion
-//------------------------------------------------------------------------------
-
-FASTCV_API void
-fcvColorRGB888toYCrCbu8_v2( const uint8_t* __restrict src,
- unsigned int srcWidth,
- unsigned int srcHeight,
- unsigned int srcStride,
- uint8_t* __restrict dst,
- unsigned int dstStride );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Create a 36-dimension gradient based descriptor on 17x17 patch.
-///
-/// @details
-///
-/// @param patch
-/// Input luminance data for 17x17 patch to describe.
-///
-/// @param descriptorChar
-/// Output descriptor vector. 36 x 8-bit vector. Normalized and quantized to range [-127, 127]
-///
-/// @param descriptorNormSq
-/// Output squared norm (L2 norm) of the descriptor vector.
-///
-///
-///
-/// @ingroup object_detection
-//------------------------------------------------------------------------------
-
-FASTCV_API int
-fcvDescriptor17x17u8To36s8( const uint8_t* __restrict patch,
- int8_t* __restrict descriptorChar,
- int32_t* __restrict descriptorNormSq );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 8-bit vectors.
-///
-/// @param a
-/// Vector.
-///
-/// @param b
-/// Vector.
-///
-/// @param abSize
-/// Number of elements in A and B.
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API int32_t
-fcvDotProducts8( const int8_t* __restrict a,
- const int8_t* __restrict b,
- unsigned int abSize );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 8-bit vectors.
-///
-/// @param a
-/// Vector A.
-///
-/// @param b
-/// Vector B.
-///
-/// @param abSize
-/// Number of elements in A and B.
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//------------------------------------------------------------------------------
-
-FASTCV_API uint32_t
-fcvDotProductu8( const uint8_t* __restrict a,
- const uint8_t* __restrict b,
- unsigned int abSize );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of two 36-byte vectors.
-///
-/// @param a
-/// Vector.
-///
-/// @param b
-/// Vector.
-///
-/// @return
-/// Dot product .
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API int32_t
-fcvDotProduct36x1s8( const int8_t* __restrict a,
- const int8_t* __restrict b );
-
-
-//---------------------------------------------------------------------------
-/// @brief
-/// Dot product of one 36-byte vector against 4 others.
-///
-/// @details
-/// Dot product of 36-byte vector (a) against 4 others (b,c,d,e):\n
-/// , , ,
-///
-/// @param a
-/// Vector.
-///
-/// @param b
-/// Vector.
-///
-/// @param c
-/// Vector.
-///
-/// @param d
-/// Vector.
-///
-/// @param e
-/// Vector.
-///
-/// @param dotProducts
-/// Output of the 4 results { , , , }.
-/// \n\b WARNING: array must be 128-bit aligned
-///
-/// @ingroup math_vector
-//---------------------------------------------------------------------------
-
-FASTCV_API void
-fcvDotProduct36x4s8( const int8_t* __restrict a,
- const int8_t* __restrict b,
- const int8_t* __restrict c,
- const int8_t* __restrict d,
- const int8_t* __restrict e,
- int32_t* __restrict dotProducts );
-
-
-//------------------------------------------------------------------------------
-/// @brief
-/// Normalized dot product of one 36-byte vector against 4 others.
-///
-/// @details
-/// Dot product of 36-byte vector (a) against 4 others (b0,b1,b2,b3):\n
-/// , , ,
-/// using their given inverse lengths for normalization.
-///
-/// @param a
-/// Vector.
-///
-/// @param invLengthA
-/// Inverse of vector A.
-///
-/// @param b0
-/// Vector.
-///
-/// @param b1
-/// Vector.
-///
-/// @param b2
-/// Vector.
-///
-/// @param b3
-/// Vector.
-///
-/// @param invLengthsB
-/// Pointer to an array of the inverse values of each B vector.
-/// The pointer must point to 4 floating point values.
-/// \n\b WARNING: array must be 128-bit aligned
-///
-/// @param dotProducts
-/// Output of the 4 results { , ,