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faster_corner_9.cxx
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#include <cvd/fast_corner.h>
#include <vector>
#include <list>
#include <cvd/utility.h>
using namespace CVD;
using namespace std;
#include <emmintrin.h>
#include "cvd_src/fast/prototypes.h"
#include "cvd_src/faster_corner_utilities.h"
namespace CVD
{
#include "cvd_src/corner_9.h"
template <bool Aligned> void faster_corner_detect_9(const BasicImage<byte>& I, std::vector<ImageRef>& corners, const int barrier)
{
const int w = I.size().x;
const int stride = 3*w;
// The compiler refuses to reserve a register for this
register const __m128i barriers = _mm_set1_epi8((byte)barrier);
int xend = I.size().x - 3;
xend -= (I.size().x-3) % 16;
for(int y=3; y < I.size().y - 3; y++)
{
for(int x=3; x < 16; x++)
if(is_corner_9<Less>(&I[y][x], I.row_stride(), barrier) || is_corner_9<Greater>(&I[y][x], I.row_stride(), barrier))
corners.push_back(ImageRef(x, y));
for(int x=16; x < xend; x+=16)
{
const byte* p = &I[y][x];
__m128i lo, hi;
{
const __m128i here = load_si128<Aligned>((const __m128i*)(p));
lo = _mm_subs_epu8(here, barriers);
hi = _mm_adds_epu8(barriers, here);
}
unsigned int ans_0, ans_8, possible;
{
__m128i top = load_si128<Aligned>((const __m128i*)(p-stride));
__m128i bottom = load_si128<Aligned>((const __m128i*)(p+stride));
CHECK_BARRIER(lo, hi, top, ans_0);
CHECK_BARRIER(lo, hi, bottom, ans_8);
possible = ans_0 | ans_8;
if (!possible)
continue;
}
unsigned int ans_15, ans_1;
{
__m128i a = _mm_loadu_si128((const __m128i*)(p-1-stride));
__m128i c = _mm_insert_epi16(_mm_srli_si128(a,2), *(const unsigned short*)(p+15-stride), 7);
CHECK_BARRIER(lo, hi, a, ans_15);
CHECK_BARRIER(lo, hi, c, ans_1);
possible &= ans_8 | (ans_15 & ans_1);
if (!possible)
continue;
}
unsigned int ans_9, ans_7;
{
__m128i d = _mm_loadu_si128((const __m128i*)(p-1+stride));
__m128i f = _mm_insert_epi16(_mm_srli_si128(d,2), *(const unsigned short*)(p+15+stride), 7);
CHECK_BARRIER(lo, hi, d, ans_9);
CHECK_BARRIER(lo, hi, f, ans_7);
possible &= ans_9 | (ans_0 & ans_1);
possible &= ans_7 | (ans_15 & ans_0);
if (!possible)
continue;
}
unsigned int ans_12, ans_4;
{
__m128i left = _mm_loadu_si128((const __m128i*)(p-3));
__m128i right = _mm_loadu_si128((const __m128i*)(p+3));
CHECK_BARRIER(lo, hi, left, ans_12);
CHECK_BARRIER(lo, hi, right, ans_4);
possible &= ans_12 | (ans_4 & (ans_1 | ans_7));
possible &= ans_4 | (ans_12 & (ans_9 | ans_15));
if (!possible)
continue;
}
unsigned int ans_14, ans_6;
{
__m128i ul = _mm_loadu_si128((const __m128i*)(p-2-2*w));
__m128i lr = _mm_loadu_si128((const __m128i*)(p+2+2*w));
CHECK_BARRIER(lo, hi, ul, ans_14);
CHECK_BARRIER(lo, hi, lr, ans_6);
{
const unsigned int ans_6_7 = ans_6 & ans_7;
possible &= ans_14 | (ans_6_7 & (ans_4 | (ans_8 & ans_9)));
possible &= ans_1 | (ans_6_7) | ans_12;
}
{
const unsigned int ans_14_15 = ans_14 & ans_15;
possible &= ans_6 | (ans_14_15 & (ans_12 | (ans_0 & ans_1)));
possible &= ans_9 | (ans_14_15) | ans_4;
}
if (!possible)
continue;
}
unsigned int ans_10, ans_2;
{
__m128i ll = _mm_loadu_si128((const __m128i*)(p-2+2*w));
__m128i ur = _mm_loadu_si128((const __m128i*)(p+2-2*w));
CHECK_BARRIER(lo, hi, ll, ans_10);
CHECK_BARRIER(lo, hi, ur, ans_2);
{
const unsigned int ans_1_2 = ans_1 & ans_2;
possible &= ans_10 | (ans_1_2 & ((ans_0 & ans_15) | ans_4));
possible &= ans_12 | (ans_1_2) | (ans_6 & ans_7);
}
{
const unsigned int ans_9_10 = ans_9 & ans_10;
possible &= ans_2 | (ans_9_10 & ((ans_7 & ans_8) | ans_12));
possible &= ans_4 | (ans_9_10) | (ans_14 & ans_15);
}
possible &= ans_8 | ans_14 | ans_2;
possible &= ans_0 | ans_10 | ans_6;
if (!possible)
continue;
}
unsigned int ans_13, ans_5;
{
__m128i g = _mm_loadu_si128((const __m128i*)(p-3-w));
__m128i l = _mm_loadu_si128((const __m128i*)(p+3+w));
CHECK_BARRIER(lo, hi, g, ans_13);
CHECK_BARRIER(lo, hi, l, ans_5);
const unsigned int ans_15_0 = ans_15 & ans_0;
const unsigned int ans_7_8 = ans_7 & ans_8;
{
const unsigned int ans_12_13 = ans_12 & ans_13;
possible &= ans_5 | (ans_12_13 & ans_14 & ((ans_15_0) | ans_10));
possible &= ans_7 | (ans_1 & ans_2) | (ans_12_13);
possible &= ans_2 | (ans_12_13) | (ans_7_8);
}
{
const unsigned int ans_4_5 = ans_4 & ans_5;
const unsigned int ans_9_10 = ans_9 & ans_10;
possible &= ans_13 | (ans_4_5 & ans_6 & ((ans_7_8) | ans_2));
possible &= ans_15 | (ans_4_5) | (ans_9_10);
possible &= ans_10 | (ans_4_5) | (ans_15_0);
possible &= ans_15 | (ans_9_10) | (ans_4_5);
}
possible &= ans_8 | (ans_13 & ans_14) | ans_2;
possible &= ans_0 | (ans_5 & ans_6) | ans_10;
if (!possible)
continue;
}
unsigned int ans_11, ans_3;
{
__m128i ii = _mm_loadu_si128((const __m128i*)(p-3+w));
__m128i jj = _mm_loadu_si128((const __m128i*)(p+3-w));
CHECK_BARRIER(lo, hi, ii, ans_11);
CHECK_BARRIER(lo, hi, jj, ans_3);
{
const unsigned int ans_2_3 = ans_2 & ans_3;
possible &= ans_11 | (ans_2_3 & ans_4 & ((ans_0 & ans_1) | (ans_5 & ans_6)));
possible &= ans_13 | (ans_7 & ans_8) | (ans_2_3);
possible &= ans_8 | (ans_2_3) | (ans_13 & ans_14);
}
{
const unsigned int ans_11_12 = ans_11 & ans_12;
possible &= ans_3 | (ans_10 & ans_11_12 & ((ans_8 & ans_9) | (ans_13 & ans_14)));
possible &= ans_1 | (ans_11_12) | (ans_6 & ans_7);
possible &= ans_6 | (ans_0 & ans_1) | (ans_11_12);
}
{
const unsigned int ans_3_4 = ans_3 & ans_4;
possible &= ans_9 | (ans_3_4) | (ans_14 & ans_15);
possible &= ans_14 | (ans_8 & ans_9) | (ans_3_4);
}
{
const unsigned int ans_10_11 = ans_10 & ans_11;
possible &= ans_5 | (ans_15 & ans_0) | (ans_10_11);
possible &= ans_0 | (ans_10_11) | (ans_5 & ans_6);
}
if (!possible)
continue;
}
possible |= (possible >> 16);
//if(possible & 0x0f) //Does this make it faster?
{
if(possible & (1<< 0))
corners.push_back(ImageRef(x + 0, y));
if(possible & (1<< 1))
corners.push_back(ImageRef(x + 1, y));
if(possible & (1<< 2))
corners.push_back(ImageRef(x + 2, y));
if(possible & (1<< 3))
corners.push_back(ImageRef(x + 3, y));
if(possible & (1<< 4))
corners.push_back(ImageRef(x + 4, y));
if(possible & (1<< 5))
corners.push_back(ImageRef(x + 5, y));
if(possible & (1<< 6))
corners.push_back(ImageRef(x + 6, y));
if(possible & (1<< 7))
corners.push_back(ImageRef(x + 7, y));
}
//if(possible & 0xf0) //Does this mak( , fast)r?
{
if(possible & (1<< 8))
corners.push_back(ImageRef(x + 8, y));
if(possible & (1<< 9))
corners.push_back(ImageRef(x + 9, y));
if(possible & (1<<10))
corners.push_back(ImageRef(x +10, y));
if(possible & (1<<11))
corners.push_back(ImageRef(x +11, y));
if(possible & (1<<12))
corners.push_back(ImageRef(x +12, y));
if(possible & (1<<13))
corners.push_back(ImageRef(x +13, y));
if(possible & (1<<14))
corners.push_back(ImageRef(x +14, y));
if(possible & (1<<15))
corners.push_back(ImageRef(x +15, y));
}
}
for(int x=xend; x < I.size().x - 3; x++)
if(is_corner_9<Less>(&I[y][x], I.row_stride(), barrier) || is_corner_9<Greater>(&I[y][x], I.row_stride(), barrier))
corners.push_back(ImageRef(x, y));
}
}
void fast_corner_detect_9(const BasicImage<byte>& I, std::vector<ImageRef>& corners, int barrier)
{
if (I.size().x < 22) {
fast_corner_detect_plain_9(I,corners,barrier);
return;
} else if (I.size().x < 22 || I.size().y < 7)
return;
if (is_aligned<16>(I[0]) && is_aligned<16>(I[1]))
faster_corner_detect_9<true>(I, corners, barrier);
else
faster_corner_detect_9<false>(I, corners, barrier);
}
}