mirror of https://github.com/opencv/opencv.git
Vitaly Tuzov
7 years ago
parent
20f603a217
commit
1ed9a58b64
3 changed files with 263 additions and 134 deletions
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Copyright (C) 2014-2015, Itseez Inc., all rights reserved.
|
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp" |
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#include "opencv2/core/hal/intrin.hpp" |
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#include "corner.hpp" |
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namespace cv |
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{ |
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// load three 8-packed float vector and deinterleave
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// probably it's better to write down somewhere else
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static void load_deinterleave(const float* ptr, __m256& a, __m256& b, __m256& c) |
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{ |
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__m256 s0 = _mm256_loadu_ps(ptr); // a0, b0, c0, a1, b1, c1, a2, b2,
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__m256 s1 = _mm256_loadu_ps(ptr + 8); // c2, a3, b3, c3, a4, b4, c4, a5,
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__m256 s2 = _mm256_loadu_ps(ptr + 16); // b5, c5, a6, b6, c6, a7, b7, c7,
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__m256 s3 = _mm256_permute2f128_ps(s1, s2, 0x21); // a4, b4, c4, a5, b5, c5, a6, b6,
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__m256 s4 = _mm256_permute2f128_ps(s2, s2, 0x33); // c6, a7, b7, c7, c6, a7, b7, c7,
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__m256 v00 = _mm256_unpacklo_ps(s0, s3); // a0, a4, b0, b4, b1, b5, c1, c5,
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__m256 v01 = _mm256_unpackhi_ps(s0, s3); // c0, c4, a1, a5, a2, a6, b2, b6,
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__m256 v02 = _mm256_unpacklo_ps(s1, s4); // c2, c6, a3, a7, x, x, x, x,
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__m256 v03 = _mm256_unpackhi_ps(s1, s4); // b3, b7, c3, c7, x, x, x, x,
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__m256 v04 = _mm256_permute2f128_ps(v02, v03, 0x20); // c2, c6, a3, a7, b3, b7, c3, c7,
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__m256 v05 = _mm256_permute2f128_ps(v01, v03, 0x21); // a2, a6, b2, b6, b3, b7, c3, c7,
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__m256 v10 = _mm256_unpacklo_ps(v00, v05); // a0, a2, a4, a6, b1, b3, b5, b7,
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__m256 v11 = _mm256_unpackhi_ps(v00, v05); // b0, b2, b4, b6, c1, c3, c5, c7,
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__m256 v12 = _mm256_unpacklo_ps(v01, v04); // c0, c2, c4, c6, x, x, x, x,
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__m256 v13 = _mm256_unpackhi_ps(v01, v04); // a1, a3, a5, a7, x, x, x, x,
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__m256 v14 = _mm256_permute2f128_ps(v11, v12, 0x20); // b0, b2, b4, b6, c0, c2, c4, c6,
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__m256 v15 = _mm256_permute2f128_ps(v10, v11, 0x31); // b1, b3, b5, b7, c1, c3, c5, c7,
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__m256 v20 = _mm256_unpacklo_ps(v14, v15); // b0, b1, b2, b3, c0, c1, c2, c3,
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__m256 v21 = _mm256_unpackhi_ps(v14, v15); // b4, b5, b6, b7, c4, c5, c6, c7,
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__m256 v22 = _mm256_unpacklo_ps(v10, v13); // a0, a1, a2, a3, x, x, x, x,
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__m256 v23 = _mm256_unpackhi_ps(v10, v13); // a4, a5, a6, a7, x, x, x, x,
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a = _mm256_permute2f128_ps(v22, v23, 0x20); // a0, a1, a2, a3, a4, a5, a6, a7,
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b = _mm256_permute2f128_ps(v20, v21, 0x20); // b0, b1, b2, b3, b4, b5, b6, b7,
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c = _mm256_permute2f128_ps(v20, v21, 0x31); // c0, c1, c2, c3, c4, c5, c6, c7,
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} |
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// realign four 3-packed vector to three 4-packed vector
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static void v_pack4x3to3x4(const __m128i& s0, const __m128i& s1, const __m128i& s2, const __m128i& s3, __m128i& d0, __m128i& d1, __m128i& d2) |
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{ |
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d0 = _mm_or_si128(s0, _mm_slli_si128(s1, 12)); |
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d1 = _mm_or_si128(_mm_srli_si128(s1, 4), _mm_slli_si128(s2, 8)); |
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d2 = _mm_or_si128(_mm_srli_si128(s2, 8), _mm_slli_si128(s3, 4)); |
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} |
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// separate high and low 128 bit and cast to __m128i
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static void v_separate_lo_hi(const __m256& src, __m128i& lo, __m128i& hi) |
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{ |
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lo = _mm_castps_si128(_mm256_castps256_ps128(src)); |
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hi = _mm_castps_si128(_mm256_extractf128_ps(src, 1)); |
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} |
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// interleave three 8-float vector and store
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static void store_interleave(float* ptr, const __m256& a, const __m256& b, const __m256& c) |
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{ |
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__m128i a0, a1, b0, b1, c0, c1; |
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v_separate_lo_hi(a, a0, a1); |
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v_separate_lo_hi(b, b0, b1); |
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v_separate_lo_hi(c, c0, c1); |
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v_uint32x4 z = v_setzero_u32(); |
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v_uint32x4 u0, u1, u2, u3; |
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v_transpose4x4(v_uint32x4(a0), v_uint32x4(b0), v_uint32x4(c0), z, u0, u1, u2, u3); |
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v_pack4x3to3x4(u0.val, u1.val, u2.val, u3.val, a0, b0, c0); |
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v_transpose4x4(v_uint32x4(a1), v_uint32x4(b1), v_uint32x4(c1), z, u0, u1, u2, u3); |
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v_pack4x3to3x4(u0.val, u1.val, u2.val, u3.val, a1, b1, c1); |
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#if !defined(__GNUC__) || defined(__INTEL_COMPILER) |
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_mm256_storeu_ps(ptr, _mm256_setr_m128(_mm_castsi128_ps(a0), _mm_castsi128_ps(b0))); |
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_mm256_storeu_ps(ptr + 8, _mm256_setr_m128(_mm_castsi128_ps(c0), _mm_castsi128_ps(a1))); |
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_mm256_storeu_ps(ptr + 16, _mm256_setr_m128(_mm_castsi128_ps(b1), _mm_castsi128_ps(c1))); |
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#else |
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// GCC: workaround for missing AVX intrinsic: "_mm256_setr_m128()"
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_mm256_storeu_ps(ptr, _mm256_insertf128_ps(_mm256_castps128_ps256(_mm_castsi128_ps(a0)), _mm_castsi128_ps(b0), 1)); |
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_mm256_storeu_ps(ptr + 8, _mm256_insertf128_ps(_mm256_castps128_ps256(_mm_castsi128_ps(c0)), _mm_castsi128_ps(a1), 1)); |
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_mm256_storeu_ps(ptr + 16, _mm256_insertf128_ps(_mm256_castps128_ps256(_mm_castsi128_ps(b1)), _mm_castsi128_ps(c1), 1)); |
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#endif |
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} |
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int calcMinEigenValLine_AVX(const float* cov, float* dst, int width) |
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{ |
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int j = 0; |
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__m256 half = _mm256_set1_ps(0.5f); |
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for (; j <= width - 8; j += 8) |
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{ |
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__m256 v_a, v_b, v_c, v_t; |
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load_deinterleave(cov + j * 3, v_a, v_b, v_c); |
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v_a = _mm256_mul_ps(v_a, half); |
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v_c = _mm256_mul_ps(v_c, half); |
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v_t = _mm256_sub_ps(v_a, v_c); |
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v_t = _mm256_add_ps(_mm256_mul_ps(v_b, v_b), _mm256_mul_ps(v_t, v_t)); |
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_mm256_storeu_ps(dst + j, _mm256_sub_ps(_mm256_add_ps(v_a, v_c), _mm256_sqrt_ps(v_t))); |
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} |
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return j; |
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} |
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int calcHarrisLine_AVX(const float* cov, float* dst, double k, int width) |
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{ |
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int j = 0; |
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__m256 v_k = _mm256_set1_ps((float)k); |
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for (; j <= width - 8; j += 8) |
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{ |
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__m256 v_a, v_b, v_c; |
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load_deinterleave(cov + j * 3, v_a, v_b, v_c); |
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__m256 v_ac_bb = _mm256_sub_ps(_mm256_mul_ps(v_a, v_c), _mm256_mul_ps(v_b, v_b)); |
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__m256 v_ac = _mm256_add_ps(v_a, v_c); |
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__m256 v_dst = _mm256_sub_ps(v_ac_bb, _mm256_mul_ps(v_k, _mm256_mul_ps(v_ac, v_ac))); |
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_mm256_storeu_ps(dst + j, v_dst); |
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} |
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return j; |
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} |
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int cornerEigenValsVecsLine_AVX(const float* dxdata, const float* dydata, float* cov_data, int width) |
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{ |
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int j = 0; |
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for (; j <= width - 8; j += 8) |
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{ |
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__m256 v_dx = _mm256_loadu_ps(dxdata + j); |
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__m256 v_dy = _mm256_loadu_ps(dydata + j); |
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__m256 v_dst0, v_dst1, v_dst2; |
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v_dst0 = _mm256_mul_ps(v_dx, v_dx); |
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v_dst1 = _mm256_mul_ps(v_dx, v_dy); |
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v_dst2 = _mm256_mul_ps(v_dy, v_dy); |
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store_interleave(cov_data + j * 3, v_dst0, v_dst1, v_dst2); |
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} |
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return j; |
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} |
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} |
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/* End of file */ |
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@ -0,0 +1,60 @@ |
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
|
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Copyright (C) 2014-2015, Itseez Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
|
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
|
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// (including, but not limited to, procurement of substitute goods or services;
|
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef OPENCV_IMGPROC_CORNER_HPP |
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#define OPENCV_IMGPROC_CORNER_HPP |
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namespace cv |
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{ |
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#if CV_TRY_AVX |
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int calcMinEigenValLine_AVX(const float* cov, float* dst, int width); |
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int calcHarrisLine_AVX(const float* cov, float* dst, double k, int width); |
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int cornerEigenValsVecsLine_AVX(const float* dxdata, const float* dydata, float* cov_data, int width); |
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#endif // CV_TRY_AVX
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} |
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#endif |
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/* End of file */ |
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