potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-29 23:33:05 +04:00
Code Packages Releases Wiki Activity

AVX2 optimized implementation of FAST corner tracking migrated to separate file

Browse Source
This commit is contained in:
Vitaly Tuzov
2017-10-17 18:45:41 +03:00
parent 8d5a5d5ceb
commit 2eb61a4a99
3 changed files with 255 additions and 69 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/features2d/src/fast.cpp
+9 -69
View File
@@ -42,6 +42,7 @@ The references are:
*/
#include "precomp.hpp"
#include "fast.hpp"
#include "fast_score.hpp"
#include "opencl_kernels_features2d.hpp"
#include "opencv2/core/hal/intrin.hpp"
@@ -59,21 +60,20 @@ void FAST_t(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bo
{
Mat img = _img.getMat();
const int K = patternSize/2, N = patternSize + K + 1;
int i, j, k, pixel[25];
makeOffsets(pixel, (int)img.step, patternSize);
#if CV_SIMD128
const int quarterPatternSize = patternSize/4;
v_uint8x16 delta = v_setall_u8(0x80), t = v_setall_u8((char)threshold), K16 = v_setall_u8((char)K);
bool hasSimd = hasSIMD128();
#if CV_TRY_AVX2
__m256i delta256, t256, K16_256;
if (CV_CPU_HAS_SUPPORT_AVX2)
{
delta256 = _mm256_broadcastsi128_si256(delta.val), t256 = _mm256_broadcastsi128_si256(t.val), K16_256 = _mm256_broadcastsi128_si256(K16.val);
}
Ptr<opt_AVX2::FAST_t_patternSize16_AVX2> fast_t_impl_avx2;
if(CV_CPU_HAS_SUPPORT_AVX2)
fast_t_impl_avx2 = opt_AVX2::FAST_t_patternSize16_AVX2::getImpl(img.cols, threshold, nonmax_suppression, pixel);
#endif
#endif
int i, j, k, pixel[25];
makeOffsets(pixel, (int)img.step, patternSize);
keypoints.clear();
@@ -109,68 +109,8 @@ void FAST_t(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bo
if( patternSize == 16 )
{
#if CV_TRY_AVX2
if (CV_CPU_HAS_SUPPORT_AVX2)
{
for(; j < img.cols - 32 - 3; j += 32, ptr += 32)
{
__m256i m0, m1;
__m256i v0 = _mm256_loadu_si256((const __m256i*)ptr);
__m256i v1 = _mm256_xor_si256(_mm256_subs_epu8(v0, t256), delta256);
v0 = _mm256_xor_si256(_mm256_adds_epu8(v0, t256), delta256);
__m256i x0 = _mm256_sub_epi8(_mm256_loadu_si256((const __m256i*)(ptr + pixel[0])), delta256);
__m256i x1 = _mm256_sub_epi8(_mm256_loadu_si256((const __m256i*)(ptr + pixel[4])), delta256);
__m256i x2 = _mm256_sub_epi8(_mm256_loadu_si256((const __m256i*)(ptr + pixel[8])), delta256);
__m256i x3 = _mm256_sub_epi8(_mm256_loadu_si256((const __m256i*)(ptr + pixel[12])), delta256);
m0 = _mm256_and_si256(_mm256_cmpgt_epi8(x0, v0), _mm256_cmpgt_epi8(x1, v0));
m1 = _mm256_and_si256(_mm256_cmpgt_epi8(v1, x0), _mm256_cmpgt_epi8(v1, x1));
m0 = _mm256_or_si256(m0, _mm256_and_si256(_mm256_cmpgt_epi8(x1, v0), _mm256_cmpgt_epi8(x2, v0)));
m1 = _mm256_or_si256(m1, _mm256_and_si256(_mm256_cmpgt_epi8(v1, x1), _mm256_cmpgt_epi8(v1, x2)));
m0 = _mm256_or_si256(m0, _mm256_and_si256(_mm256_cmpgt_epi8(x2, v0), _mm256_cmpgt_epi8(x3, v0)));
m1 = _mm256_or_si256(m1, _mm256_and_si256(_mm256_cmpgt_epi8(v1, x2), _mm256_cmpgt_epi8(v1, x3)));
m0 = _mm256_or_si256(m0, _mm256_and_si256(_mm256_cmpgt_epi8(x3, v0), _mm256_cmpgt_epi8(x0, v0)));
m1 = _mm256_or_si256(m1, _mm256_and_si256(_mm256_cmpgt_epi8(v1, x3), _mm256_cmpgt_epi8(v1, x0)));
m0 = _mm256_or_si256(m0, m1);
unsigned int mask = _mm256_movemask_epi8(m0); //unsigned is important!
if (mask == 0){
continue;
}
if ((mask & 0xffff) == 0)
{
j -= 16;
ptr -= 16;
continue;
}
__m256i c0 = _mm256_setzero_si256(), c1 = c0, max0 = c0, max1 = c0;
for (k = 0; k < N; k++)
{
__m256i x = _mm256_xor_si256(_mm256_loadu_si256((const __m256i*)(ptr + pixel[k])), delta256);
m0 = _mm256_cmpgt_epi8(x, v0);
m1 = _mm256_cmpgt_epi8(v1, x);
c0 = _mm256_and_si256(_mm256_sub_epi8(c0, m0), m0);
c1 = _mm256_and_si256(_mm256_sub_epi8(c1, m1), m1);
max0 = _mm256_max_epu8(max0, c0);
max1 = _mm256_max_epu8(max1, c1);
}
max0 = _mm256_max_epu8(max0, max1);
unsigned int m = _mm256_movemask_epi8(_mm256_cmpgt_epi8(max0, K16_256));
for (k = 0; m > 0 && k < 32; k++, m >>= 1)
if (m & 1)
{
cornerpos[ncorners++] = j + k;
if (nonmax_suppression)
curr[j + k] = (uchar)cornerScore<patternSize>(ptr + k, pixel, threshold);
}
}
} //CV_CPU_HAS_SUPPORT_AVX2
if (fast_t_impl_avx2)
fast_t_impl_avx2->process(j, ptr, curr, cornerpos, ncorners);
#endif
//vz if (j <= (img.cols - 27)) //it doesn't make sense using vectors for less than 8 elements
{