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Merge pull request #8397 from woodychow:initUndistortRectifyMap_avx2

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This commit is contained in:
Vadim Pisarevsky 2017-05-03 14:50:22 +00:00
commit e00d0528a4
1 changed files with 148 additions and 1 deletions
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149
modules/imgproc/src/undistort.cpp
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@ -136,6 +136,10 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
cv::Matx33d matTilt = cv::Matx33d::eye();
cv::detail::computeTiltProjectionMatrix(tauX, tauY, &matTilt);
#if CV_AVX2
bool USE_AVX2 = cv::checkHardwareSupport(CV_CPU_AVX2);
#endif
for( int i = 0; i < size.height; i++ )
{
float* m1f = map1.ptr<float>(i);
@ -144,7 +148,150 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
ushort* m2 = (ushort*)m2f;
double _x = i*ir[1] + ir[2], _y = i*ir[4] + ir[5], _w = i*ir[7] + ir[8];
for( int j = 0; j < size.width; j++, _x += ir[0], _y += ir[3], _w += ir[6] )
int j = 0;
#if CV_AVX2
if( USE_AVX2 )
{
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, 0));
const __m256d __matTilt_10 = _mm256_set1_pd(matTilt(1, 0));
const __m256d __matTilt_20 = _mm256_set1_pd(matTilt(2, 0));
const __m256d __matTilt_01 = _mm256_set1_pd(matTilt(0, 1));
const __m256d __matTilt_11 = _mm256_set1_pd(matTilt(1, 1));
const __m256d __matTilt_21 = _mm256_set1_pd(matTilt(2, 1));
const __m256d __matTilt_02 = _mm256_set1_pd(matTilt(0, 2));
const __m256d __matTilt_12 = _mm256_set1_pd(matTilt(1, 2));
const __m256d __matTilt_22 = _mm256_set1_pd(matTilt(2, 2));
for( ; j <= size.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));
__m128 __u_float = _mm256_cvtpd_ps(__u);
__m128 __v_float = _mm256_cvtpd_ps(__v);
_mm256_zeroupper();
static const __m128 __int_max = _mm_set1_ps(std::numeric_limits<int>::max());
static const __m128 __int_min = _mm_set1_ps(std::numeric_limits<int>::min());
__u_float = _mm_max_ps(_mm_min_ps(__u_float, __int_max), __int_min);
__v_float = _mm_max_ps(_mm_min_ps(__v_float, __int_max), __int_min);
__m128i __iu = _mm_cvtps_epi32(__u_float);
__m128i __iv = _mm_cvtps_epi32(__v_float);
static const __m128i __INTER_TAB_SIZE_m1 = _mm_set1_epi32(INTER_TAB_SIZE-1);
__m128i __m2 = _mm_add_epi32(
_mm_mul_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_epi16(__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;
__m1 = _mm256_inserti128_si256(__m1, __iu, 0);
__m1 = _mm256_inserti128_si256(__m1, __iv, 1);
__m1 = _mm256_srli_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));
}
}
}
#endif
for( ; j < size.width; j++, _x += ir[0], _y += ir[3], _w += ir[6] )
{
double w = 1./_w, x = _x*w, y = _y*w;
double x2 = x*x, y2 = y*y;