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Tegra optimized FastAtan2

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This commit is contained in:
Andrey Kamaev 2011-10-07 08:07:25 +00:00
parent 78bd2133cc
commit 9ae8443d37
1 changed files with 45 additions and 40 deletions
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77
modules/core/src/mathfuncs.cpp
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@ -63,60 +63,65 @@ float fastAtan2( float y, float x )
static void FastAtan2_32f(const float *Y, const float *X, float *angle, int len, bool angleInDegrees=true ) static void FastAtan2_32f(const float *Y, const float *X, float *angle, int len, bool angleInDegrees=true )
{ {
int i = 0; int i = 0;
float scale = angleInDegrees ? (float)(180/CV_PI) : 1.f; float scale = angleInDegrees ? (float)(180/CV_PI) : 1.f;
#ifdef HAVE_TEGRA_OPTIMIZATION
if (tegra::FastAtan2_32f(Y, X, angle, len, scale))
return;
#endif
#if CV_SSE2 #if CV_SSE2
if( USE_SSE2 ) if( USE_SSE2 )
{
Cv32suf iabsmask; iabsmask.i = 0x7fffffff;
__m128 eps = _mm_set1_ps((float)DBL_EPSILON), absmask = _mm_set1_ps(iabsmask.f);
__m128 _90 = _mm_set1_ps((float)(CV_PI*0.5)), _180 = _mm_set1_ps((float)CV_PI), _360 = _mm_set1_ps((float)(CV_PI*2));
__m128 zero = _mm_setzero_ps(), scale4 = _mm_set1_ps(scale);
__m128 p0 = _mm_set1_ps(0.43157974f), q0 = _mm_set1_ps(0.76443945f), q1 = _mm_set1_ps(0.05831938f);
for( ; i <= len - 4; i += 4 )
{ {
__m128 x4 = _mm_loadu_ps(X + i), y4 = _mm_loadu_ps(Y + i); Cv32suf iabsmask; iabsmask.i = 0x7fffffff;
__m128 xq4 = _mm_mul_ps(x4, x4), yq4 = _mm_mul_ps(y4, y4); __m128 eps = _mm_set1_ps((float)DBL_EPSILON), absmask = _mm_set1_ps(iabsmask.f);
__m128 xly = _mm_cmplt_ps(xq4, yq4); __m128 _90 = _mm_set1_ps((float)(CV_PI*0.5)), _180 = _mm_set1_ps((float)CV_PI), _360 = _mm_set1_ps((float)(CV_PI*2));
__m128 t = _mm_min_ps(xq4, yq4); __m128 zero = _mm_setzero_ps(), scale4 = _mm_set1_ps(scale);
xq4 = _mm_max_ps(xq4, yq4); yq4 = t; __m128 p0 = _mm_set1_ps(0.43157974f), q0 = _mm_set1_ps(0.76443945f), q1 = _mm_set1_ps(0.05831938f);
__m128 z4 = _mm_div_ps(_mm_mul_ps(_mm_mul_ps(x4, y4), _mm_add_ps(xq4, _mm_mul_ps(yq4, p0))),
_mm_add_ps(eps, _mm_add_ps(_mm_mul_ps(xq4, xq4),
_mm_mul_ps(yq4, _mm_add_ps(_mm_mul_ps(xq4, q0),
_mm_mul_ps(yq4, q1))))));
// a4 <- x < y ? 90 : 0; for( ; i <= len - 4; i += 4 )
__m128 a4 = _mm_and_ps(xly, _90); {
// a4 <- (y < 0 ? 360 - a4 : a4) == ((x < y ? y < 0 ? 270 : 90) : (y < 0 ? 360 : 0)) __m128 x4 = _mm_loadu_ps(X + i), y4 = _mm_loadu_ps(Y + i);
__m128 mask = _mm_cmplt_ps(y4, zero); __m128 xq4 = _mm_mul_ps(x4, x4), yq4 = _mm_mul_ps(y4, y4);
a4 = _mm_or_ps(_mm_and_ps(_mm_sub_ps(_360, a4), mask), _mm_andnot_ps(mask, a4)); __m128 xly = _mm_cmplt_ps(xq4, yq4);
// a4 <- (x < 0 && !(x < y) ? 180 : a4) __m128 t = _mm_min_ps(xq4, yq4);
mask = _mm_andnot_ps(xly, _mm_cmplt_ps(x4, zero)); xq4 = _mm_max_ps(xq4, yq4); yq4 = t;
a4 = _mm_or_ps(_mm_and_ps(_180, mask), _mm_andnot_ps(mask, a4)); __m128 z4 = _mm_div_ps(_mm_mul_ps(_mm_mul_ps(x4, y4), _mm_add_ps(xq4, _mm_mul_ps(yq4, p0))),
_mm_add_ps(eps, _mm_add_ps(_mm_mul_ps(xq4, xq4),
_mm_mul_ps(yq4, _mm_add_ps(_mm_mul_ps(xq4, q0),
_mm_mul_ps(yq4, q1))))));
// a4 <- (x < y ? a4 - z4 : a4 + z4) // a4 <- x < y ? 90 : 0;
a4 = _mm_mul_ps(_mm_add_ps(_mm_xor_ps(z4, _mm_andnot_ps(absmask, xly)), a4), scale4); __m128 a4 = _mm_and_ps(xly, _90);
_mm_storeu_ps(angle + i, a4); // a4 <- (y < 0 ? 360 - a4 : a4) == ((x < y ? y < 0 ? 270 : 90) : (y < 0 ? 360 : 0))
__m128 mask = _mm_cmplt_ps(y4, zero);
a4 = _mm_or_ps(_mm_and_ps(_mm_sub_ps(_360, a4), mask), _mm_andnot_ps(mask, a4));
// a4 <- (x < 0 && !(x < y) ? 180 : a4)
mask = _mm_andnot_ps(xly, _mm_cmplt_ps(x4, zero));
a4 = _mm_or_ps(_mm_and_ps(_180, mask), _mm_andnot_ps(mask, a4));
// a4 <- (x < y ? a4 - z4 : a4 + z4)
a4 = _mm_mul_ps(_mm_add_ps(_mm_xor_ps(z4, _mm_andnot_ps(absmask, xly)), a4), scale4);
_mm_storeu_ps(angle + i, a4);
}
} }
}
#endif #endif
for( ; i < len; i++ ) for( ; i < len; i++ )
{ {
double x = X[i], y = Y[i], x2 = x*x, y2 = y*y, a; double x = X[i], y = Y[i], x2 = x*x, y2 = y*y, a;
if( y2 <= x2 ) if( y2 <= x2 )
a = (x < 0 ? CV_PI : y >= 0 ? 0 : CV_PI*2) + a = (x < 0 ? CV_PI : y >= 0 ? 0 : CV_PI*2) +
x*y*(x2 + 0.43157974*y2)/(x2*x2 + y2*(0.76443945*x2 + 0.05831938*y2) + (float)DBL_EPSILON); x*y*(x2 + 0.43157974*y2)/(x2*x2 + y2*(0.76443945*x2 + 0.05831938*y2) + (float)DBL_EPSILON);
else else
{ {
a = (y >= 0 ? CV_PI*0.5 : CV_PI*1.5) - a = (y >= 0 ? CV_PI*0.5 : CV_PI*1.5) -
x*y*(y2 + 0.43157974*x2)/(y2*y2 + x2*(0.76443945*y2 + 0.05831938*x2) + (float)DBL_EPSILON); x*y*(y2 + 0.43157974*x2)/(y2*y2 + x2*(0.76443945*y2 + 0.05831938*x2) + (float)DBL_EPSILON);
} }
angle[i] = (float)(a*scale); angle[i] = (float)(a*scale);
} }
} }