40 for (
int dy = -1; dy <= 1; ++dy) {
41 for (
int dx = -1; dx <= 1; ++dx) {
46 feature_point(gx, gy, fx, fy);
48 i32 feature_x = (gx << 15) + fx;
49 i32 feature_y = (gy << 15) + fy;
51 i32 dx_q15 =
x - feature_x;
52 i32 dy_q15 =
y - feature_y;
57 q15_abs(dx_q15) + q15_abs(dy_q15);
65 return (min_dist << 15) / (2 * Q15_ONE);