undistort.avx2.cpp

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#include "precomp.hpp"
#include "undistort.hpp"

namespace cv
{

int initUndistortRectifyMapLine_AVX(float* m1f, float* m2f, short* m1, ushort* m2, double* matTilt, const double* ir,
                                    double& _x, double& _y, double& _w, int width, int m1type,
                                    double k1, double k2, double k3, double k4, double k5, double k6,
                                    double p1, double p2, double s1, double s2, double s3, double s4,
                                    double u0, double v0, double fx, double fy)
{
    int j = 0;

    static const __m256d __one = _mm256_set1_pd(1.0);
    static const __m256d __two = _mm256_set1_pd(2.0);

    const __m256d __matTilt_00 = _mm256_set1_pd(matTilt[0]);
    const __m256d __matTilt_10 = _mm256_set1_pd(matTilt[3]);
    const __m256d __matTilt_20 = _mm256_set1_pd(matTilt[6]);

    const __m256d __matTilt_01 = _mm256_set1_pd(matTilt[1]);
    const __m256d __matTilt_11 = _mm256_set1_pd(matTilt[4]);
    const __m256d __matTilt_21 = _mm256_set1_pd(matTilt[7]);

    const __m256d __matTilt_02 = _mm256_set1_pd(matTilt[2]);
    const __m256d __matTilt_12 = _mm256_set1_pd(matTilt[5]);
    const __m256d __matTilt_22 = _mm256_set1_pd(matTilt[8]);

    for (; j <= width - 4; j += 4, _x += 4 * ir[0], _y += 4 * ir[3], _w += 4 * ir[6])
    {
        // Question: Should we load the constants first?
        __m256d __w = _mm256_div_pd(__one, _mm256_set_pd(_w + 3 * ir[6], _w + 2 * ir[6], _w + ir[6], _w));
        __m256d __x = _mm256_mul_pd(_mm256_set_pd(_x + 3 * ir[0], _x + 2 * ir[0], _x + ir[0], _x), __w);
        __m256d __y = _mm256_mul_pd(_mm256_set_pd(_y + 3 * ir[3], _y + 2 * ir[3], _y + ir[3], _y), __w);
        __m256d __x2 = _mm256_mul_pd(__x, __x);
        __m256d __y2 = _mm256_mul_pd(__y, __y);
        __m256d __r2 = _mm256_add_pd(__x2, __y2);
        __m256d __2xy = _mm256_mul_pd(__two, _mm256_mul_pd(__x, __y));
        __m256d __kr = _mm256_div_pd(
#if CV_FMA3
            _mm256_fmadd_pd(_mm256_fmadd_pd(_mm256_fmadd_pd(_mm256_set1_pd(k3), __r2, _mm256_set1_pd(k2)), __r2, _mm256_set1_pd(k1)), __r2, __one),
            _mm256_fmadd_pd(_mm256_fmadd_pd(_mm256_fmadd_pd(_mm256_set1_pd(k6), __r2, _mm256_set1_pd(k5)), __r2, _mm256_set1_pd(k4)), __r2, __one)
#else
            _mm256_add_pd(__one, _mm256_mul_pd(_mm256_add_pd(_mm256_mul_pd(_mm256_add_pd(_mm256_mul_pd(_mm256_set1_pd(k3), __r2), _mm256_set1_pd(k2)), __r2), _mm256_set1_pd(k1)), __r2)),
            _mm256_add_pd(__one, _mm256_mul_pd(_mm256_add_pd(_mm256_mul_pd(_mm256_add_pd(_mm256_mul_pd(_mm256_set1_pd(k6), __r2), _mm256_set1_pd(k5)), __r2), _mm256_set1_pd(k4)), __r2))
#endif
        );
        __m256d __r22 = _mm256_mul_pd(__r2, __r2);
#if CV_FMA3
        __m256d __xd = _mm256_fmadd_pd(__x, __kr,
            _mm256_add_pd(
                _mm256_fmadd_pd(_mm256_set1_pd(p1), __2xy, _mm256_mul_pd(_mm256_set1_pd(p2), _mm256_fmadd_pd(__two, __x2, __r2))),
                _mm256_fmadd_pd(_mm256_set1_pd(s1), __r2, _mm256_mul_pd(_mm256_set1_pd(s2), __r22))));
        __m256d __yd = _mm256_fmadd_pd(__y, __kr,
            _mm256_add_pd(
                _mm256_fmadd_pd(_mm256_set1_pd(p1), _mm256_fmadd_pd(__two, __y2, __r2), _mm256_mul_pd(_mm256_set1_pd(p2), __2xy)),
                _mm256_fmadd_pd(_mm256_set1_pd(s3), __r2, _mm256_mul_pd(_mm256_set1_pd(s4), __r22))));

        __m256d __vecTilt2 = _mm256_fmadd_pd(__matTilt_20, __xd, _mm256_fmadd_pd(__matTilt_21, __yd, __matTilt_22));
#else
        __m256d __xd = _mm256_add_pd(
            _mm256_mul_pd(__x, __kr),
            _mm256_add_pd(
                _mm256_add_pd(
                    _mm256_mul_pd(_mm256_set1_pd(p1), __2xy),
                    _mm256_mul_pd(_mm256_set1_pd(p2), _mm256_add_pd(__r2, _mm256_mul_pd(__two, __x2)))),
                _mm256_add_pd(
                    _mm256_mul_pd(_mm256_set1_pd(s1), __r2),
                    _mm256_mul_pd(_mm256_set1_pd(s2), __r22))));
        __m256d __yd = _mm256_add_pd(
            _mm256_mul_pd(__y, __kr),
            _mm256_add_pd(
                _mm256_add_pd(
                    _mm256_mul_pd(_mm256_set1_pd(p1), _mm256_add_pd(__r2, _mm256_mul_pd(__two, __y2))),
                    _mm256_mul_pd(_mm256_set1_pd(p2), __2xy)),
                _mm256_add_pd(
                    _mm256_mul_pd(_mm256_set1_pd(s3), __r2),
                    _mm256_mul_pd(_mm256_set1_pd(s4), __r22))));

        __m256d __vecTilt2 = _mm256_add_pd(_mm256_add_pd(
            _mm256_mul_pd(__matTilt_20, __xd), _mm256_mul_pd(__matTilt_21, __yd)), __matTilt_22);
#endif
        __m256d __invProj = _mm256_blendv_pd(
            __one, _mm256_div_pd(__one, __vecTilt2),
            _mm256_cmp_pd(__vecTilt2, _mm256_setzero_pd(), _CMP_EQ_OQ));

#if CV_FMA3
        __m256d __u = _mm256_fmadd_pd(__matTilt_00, __xd, _mm256_fmadd_pd(__matTilt_01, __yd, __matTilt_02));
        __u = _mm256_fmadd_pd(_mm256_mul_pd(_mm256_set1_pd(fx), __invProj), __u, _mm256_set1_pd(u0));

        __m256d __v = _mm256_fmadd_pd(__matTilt_10, __xd, _mm256_fmadd_pd(__matTilt_11, __yd, __matTilt_12));
        __v = _mm256_fmadd_pd(_mm256_mul_pd(_mm256_set1_pd(fy), __invProj), __v, _mm256_set1_pd(v0));
#else
        __m256d __u = _mm256_add_pd(_mm256_add_pd(
            _mm256_mul_pd(__matTilt_00, __xd), _mm256_mul_pd(__matTilt_01, __yd)), __matTilt_02);
        __u = _mm256_add_pd(_mm256_mul_pd(_mm256_mul_pd(_mm256_set1_pd(fx), __invProj), __u), _mm256_set1_pd(u0));

        __m256d __v = _mm256_add_pd(_mm256_add_pd(
            _mm256_mul_pd(__matTilt_10, __xd), _mm256_mul_pd(__matTilt_11, __yd)), __matTilt_12);
        __v = _mm256_add_pd(_mm256_mul_pd(_mm256_mul_pd(_mm256_set1_pd(fy), __invProj), __v), _mm256_set1_pd(v0));
#endif

        if (m1type == CV_32FC1)
        {
            _mm_storeu_ps(&m1f[j], _mm256_cvtpd_ps(__u));
            _mm_storeu_ps(&m2f[j], _mm256_cvtpd_ps(__v));
        }
        else if (m1type == CV_32FC2)
        {
            __m128 __u_float = _mm256_cvtpd_ps(__u);
            __m128 __v_float = _mm256_cvtpd_ps(__v);

            _mm_storeu_ps(&m1f[j * 2], _mm_unpacklo_ps(__u_float, __v_float));
            _mm_storeu_ps(&m1f[j * 2 + 4], _mm_unpackhi_ps(__u_float, __v_float));
        }
        else // m1type == CV_16SC2
        {
            __u = _mm256_mul_pd(__u, _mm256_set1_pd(INTER_TAB_SIZE));
            __v = _mm256_mul_pd(__v, _mm256_set1_pd(INTER_TAB_SIZE));

            __m128i __iu = _mm256_cvtpd_epi32(__u);
            __m128i __iv = _mm256_cvtpd_epi32(__v);

            static const __m128i __INTER_TAB_SIZE_m1 = _mm_set1_epi32(INTER_TAB_SIZE - 1);
            __m128i __m2 = _mm_add_epi32(
                _mm_mullo_epi32(_mm_and_si128(__iv, __INTER_TAB_SIZE_m1), _mm_set1_epi32(INTER_TAB_SIZE)),
                _mm_and_si128(__iu, __INTER_TAB_SIZE_m1));
            __m2 = _mm_packus_epi32(__m2, __m2);
            _mm_maskstore_epi64((long long int*) &m2[j], _mm_set_epi32(0, 0, 0xFFFFFFFF, 0xFFFFFFFF), __m2);

            // gcc4.9 does not support _mm256_set_m128
            // __m256i __m1 = _mm256_set_m128i(__iv, __iu);
            __m256i __m1 = _mm256_setzero_si256();
            __m1 = _mm256_inserti128_si256(__m1, __iu, 0);
            __m1 = _mm256_inserti128_si256(__m1, __iv, 1);
            __m1 = _mm256_srai_epi32(__m1, INTER_BITS); // v3 v2 v1 v0 u3 u2 u1 u0 (int32_t)
            static const __m256i __permute_mask = _mm256_set_epi32(7, 3, 6, 2, 5, 1, 4, 0);
            __m1 = _mm256_permutevar8x32_epi32(__m1, __permute_mask); // v3 u3 v2 u2 v1 u1 v0 u0 (int32_t)
            __m1 = _mm256_packs_epi32(__m1, __m1); // x x x x v3 u3 v2 u2 x x x x v1 u1 v0 u0 (int16_t)
            _mm_storeu_si128((__m128i*) &m1[j * 2], _mm256_extracti128_si256(_mm256_permute4x64_epi64(__m1, (2 << 2) + 0), 0));
        }
    }

    _mm256_zeroupper();

    return j;
}

}

/*  End of file  */