43 for (
int dy = -1; dy <= 1; ++dy) {
44 for (
int dx = -1; dx <= 1; ++dx) {
49 feature_point(gx, gy, fx, fy);
51 i32 feature_x = (gx << 15) + fx;
52 i32 feature_y = (gy << 15) + fy;
54 i32 dx_q15 =
x - feature_x;
55 i32 dy_q15 =
y - feature_y;
60 q15_abs(dx_q15) + q15_abs(dy_q15);
68 return (min_dist << 15) / (2 * Q15_ONE);