use universal intrinsic in FAST

bf718b08 · Tomoaki Teshima · 6a5298a5 · bf718b08
Commit bf718b08 authored Sep 21, 2017 by Tomoaki Teshima
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Showing with 106 additions and 100 deletions

fast_score.cpp modules/features2d/src/fast_score.cpp +106 -100

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--- a/modules/features2d/src/fast_score.cpp
+++ b/modules/features2d/src/fast_score.cpp
@@ -42,7 +42,7 @@ The references are:
 */
 #include "fast_score.hpp"
+#include "opencv2/core/hal/intrin.hpp"
 #define VERIFY_CORNERS 0
 namespace cv {
@@ -125,45 +125,48 @@ int cornerScore<16>(const uchar* ptr, const int pixel[], int threshold)
    for( k = 0; k < N; k++ )
        d[k] = (short)(v - ptr[pixel[k]]);
-#if CV_SSE2
+#if CV_SIMD128
-    __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
+    if (hasSIMD128())
-    for( k = 0; k < 16; k += 8 )
+    {
+        v_int16x8 q0 = v_setall_s16(-1000), q1 = v_setall_s16(1000);
+        for (k = 0; k < 16; k += 8)
        {
-        __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
+            v_int16x8 v0 = v_load(d + k + 1);
-        __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
+            v_int16x8 v1 = v_load(d + k + 2);
-        __m128i a = _mm_min_epi16(v0, v1);
+            v_int16x8 a = v_min(v0, v1);
-        __m128i b = _mm_max_epi16(v0, v1);
+            v_int16x8 b = v_max(v0, v1);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+3));
+            v0 = v_load(d + k + 3);
-        a = _mm_min_epi16(a, v0);
+            a = v_min(a, v0);
-        b = _mm_max_epi16(b, v0);
+            b = v_max(b, v0);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+4));
+            v0 = v_load(d + k + 4);
-        a = _mm_min_epi16(a, v0);
+            a = v_min(a, v0);
-        b = _mm_max_epi16(b, v0);
+            b = v_max(b, v0);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+5));
+            v0 = v_load(d + k + 5);
-        a = _mm_min_epi16(a, v0);
+            a = v_min(a, v0);
-        b = _mm_max_epi16(b, v0);
+            b = v_max(b, v0);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+6));
+            v0 = v_load(d + k + 6);
-        a = _mm_min_epi16(a, v0);
+            a = v_min(a, v0);
-        b = _mm_max_epi16(b, v0);
+            b = v_max(b, v0);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+7));
+            v0 = v_load(d + k + 7);
-        a = _mm_min_epi16(a, v0);
+            a = v_min(a, v0);
-        b = _mm_max_epi16(b, v0);
+            b = v_max(b, v0);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+8));
+            v0 = v_load(d + k + 8);
-        a = _mm_min_epi16(a, v0);
+            a = v_min(a, v0);
-        b = _mm_max_epi16(b, v0);
+            b = v_max(b, v0);
-        v0 = _mm_loadu_si128((__m128i*)(d+k));
+            v0 = v_load(d + k);
-        q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+            q0 = v_max(q0, v_min(a, v0));
-        q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+            q1 = v_min(q1, v_max(b, v0));
-        v0 = _mm_loadu_si128((__m128i*)(d+k+9));
+            v0 = v_load(d + k + 9);
-        q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+            q0 = v_max(q0, v_min(a, v0));
-        q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+            q1 = v_min(q1, v_max(b, v0));
        }
-    q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
+        q0 = v_max(q0, v_setzero_s16() - q1);
-    q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
+        threshold = v_reduce_max(q0) - 1;
-    q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
+    }
-    q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
+    else
-    threshold = (short)_mm_cvtsi128_si32(q0) - 1;
+#endif
-#else
+    {
        int a0 = threshold;
        for( k = 0; k < 16; k += 2 )
        {
@@ -197,8 +200,8 @@ int cornerScore<16>(const uchar* ptr, const int pixel[], int threshold)
            b0 = std::min(b0, std::max(b, (int)d[k+9]));
        }
-    threshold = -b0-1;
+        threshold = -b0 - 1;
-#endif
+    }
 #if VERIFY_CORNERS
    testCorner(ptr, pixel, K, N, threshold);
@@ -214,44 +217,46 @@ int cornerScore<12>(const uchar* ptr, const int pixel[], int threshold)
    short d[N + 4];
    for( k = 0; k < N; k++ )
        d[k] = (short)(v - ptr[pixel[k]]);
-#if CV_SSE2
+#if CV_SIMD128
    for( k = 0; k < 4; k++ )
        d[N+k] = d[k];
 #endif
-#if CV_SSE2
+#if CV_SIMD128
-    __m128i q0 = _mm_set1_epi16(-1000), q1 = _mm_set1_epi16(1000);
+    if (hasSIMD128())
-    for( k = 0; k < 16; k += 8 )
    {
-        __m128i v0 = _mm_loadu_si128((__m128i*)(d+k+1));
+        v_int16x8 q0 = v_setall_s16(-1000), q1 = v_setall_s16(1000);
-        __m128i v1 = _mm_loadu_si128((__m128i*)(d+k+2));
+        for (k = 0; k < 16; k += 8)
-        __m128i a = _mm_min_epi16(v0, v1);
+        {
-        __m128i b = _mm_max_epi16(v0, v1);
+            v_int16x8 v0 = v_load(d + k + 1);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+3));
+            v_int16x8 v1 = v_load(d + k + 2);
-        a = _mm_min_epi16(a, v0);
+            v_int16x8 a = v_min(v0, v1);
-        b = _mm_max_epi16(b, v0);
+            v_int16x8 b = v_max(v0, v1);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+4));
+            v0 = v_load(d + k + 3);
-        a = _mm_min_epi16(a, v0);
+            a = v_min(a, v0);
-        b = _mm_max_epi16(b, v0);
+            b = v_max(b, v0);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+5));
+            v0 = v_load(d + k + 4);
-        a = _mm_min_epi16(a, v0);
+            a = v_min(a, v0);
-        b = _mm_max_epi16(b, v0);
+            b = v_max(b, v0);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+6));
+            v0 = v_load(d + k + 5);
-        a = _mm_min_epi16(a, v0);
+            a = v_min(a, v0);
-        b = _mm_max_epi16(b, v0);
+            b = v_max(b, v0);
-        v0 = _mm_loadu_si128((__m128i*)(d+k));
+            v0 = v_load(d + k + 6);
-        q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+            a = v_min(a, v0);
-        q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+            b = v_max(b, v0);
-        v0 = _mm_loadu_si128((__m128i*)(d+k+7));
+            v0 = v_load(d + k);
-        q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+            q0 = v_max(q0, v_min(a, v0));
-        q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+            q1 = v_min(q1, v_max(b, v0));
+            v0 = v_load(d + k + 7);
+            q0 = v_max(q0, v_min(a, v0));
+            q1 = v_min(q1, v_max(b, v0));
+        }
+        q0 = v_max(q0, v_setzero_s16() - q1);
+        threshold = v_reduce_max(q0) - 1;
    }
-    q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
+    else
-    q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
+#endif
-    q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
+    {
-    q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
-    threshold = (short)_mm_cvtsi128_si32(q0) - 1;
-#else
        int a0 = threshold;
        for( k = 0; k < 12; k += 2 )
        {
@@ -282,8 +287,7 @@ int cornerScore<12>(const uchar* ptr, const int pixel[], int threshold)
        }
        threshold = -b0-1;
-#endif
+    }
 #if VERIFY_CORNERS
    testCorner(ptr, pixel, K, N, threshold);
 #endif
@@ -293,35 +297,37 @@ int cornerScore<12>(const uchar* ptr, const int pixel[], int threshold)
 template<>
 int cornerScore<8>(const uchar* ptr, const int pixel[], int threshold)
 {
-    const int K = 4, N = K*3 + 1;
+    const int K = 4, N = K * 3 + 1;
    int k, v = ptr[0];
    short d[N];
-    for( k = 0; k < N; k++ )
+    for (k = 0; k < N; k++)
        d[k] = (short)(v - ptr[pixel[k]]);
-#if CV_SSE2
+#if CV_SIMD128
-    __m128i v0 = _mm_loadu_si128((__m128i*)(d+1));
+    if (hasSIMD128())
-    __m128i v1 = _mm_loadu_si128((__m128i*)(d+2));
+    {
-    __m128i a = _mm_min_epi16(v0, v1);
+        v_int16x8 v0 = v_load(d + 1);
-    __m128i b = _mm_max_epi16(v0, v1);
+        v_int16x8 v1 = v_load(d + 2);
-    v0 = _mm_loadu_si128((__m128i*)(d+3));
+        v_int16x8 a = v_min(v0, v1);
-    a = _mm_min_epi16(a, v0);
+        v_int16x8 b = v_max(v0, v1);
-    b = _mm_max_epi16(b, v0);
+        v0 = v_load(d + 3);
-    v0 = _mm_loadu_si128((__m128i*)(d+4));
+        a = v_min(a, v0);
-    a = _mm_min_epi16(a, v0);
+        b = v_max(b, v0);
-    b = _mm_max_epi16(b, v0);
+        v0 = v_load(d + 4);
-    v0 = _mm_loadu_si128((__m128i*)(d));
+        a = v_min(a, v0);
-    __m128i q0 = _mm_min_epi16(a, v0);
+        b = v_max(b, v0);
-    __m128i q1 = _mm_max_epi16(b, v0);
+        v0 = v_load(d);
-    v0 = _mm_loadu_si128((__m128i*)(d+5));
+        v_int16x8 q0 = v_min(a, v0);
-    q0 = _mm_max_epi16(q0, _mm_min_epi16(a, v0));
+        v_int16x8 q1 = v_max(b, v0);
-    q1 = _mm_min_epi16(q1, _mm_max_epi16(b, v0));
+        v0 = v_load(d + 5);
-    q0 = _mm_max_epi16(q0, _mm_sub_epi16(_mm_setzero_si128(), q1));
+        q0 = v_max(q0, v_min(a, v0));
-    q0 = _mm_max_epi16(q0, _mm_unpackhi_epi64(q0, q0));
+        q1 = v_min(q1, v_max(b, v0));
-    q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 4));
+        q0 = v_max(q0, v_setzero_s16() - q1);
-    q0 = _mm_max_epi16(q0, _mm_srli_si128(q0, 2));
+        threshold = v_reduce_max(q0) - 1;
-    threshold = (short)_mm_cvtsi128_si32(q0) - 1;
+    }
-#else
+    else
+#endif
+    {
        int a0 = threshold;
        for( k = 0; k < 8; k += 2 )
        {
@@ -348,7 +354,7 @@ int cornerScore<8>(const uchar* ptr, const int pixel[], int threshold)
        }
        threshold = -b0-1;
-#endif
+    }
 #if VERIFY_CORNERS
    testCorner(ptr, pixel, K, N, threshold);