undistort.simd.hpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include "opencv2/core/hal/intrin.hpp"
namespace cv {
CV_CPU_OPTIMIZATION_NAMESPACE_BEGIN
// forward declarations
Ptr<ParallelLoopBody> getInitUndistortRectifyMapComputer(Size _size, Mat &_map1, Mat &_map2, int _m1type,
const double* _ir, Matx33d &_matTilt,
double _u0, double _v0, double _fx, double _fy,
double _k1, double _k2, double _p1, double _p2,
double _k3, double _k4, double _k5, double _k6,
double _s1, double _s2, double _s3, double _s4);
#ifndef CV_CPU_OPTIMIZATION_DECLARATIONS_ONLY
namespace
{
class initUndistortRectifyMapComputer : public ParallelLoopBody
{
public:
initUndistortRectifyMapComputer(
Size _size, Mat &_map1, Mat &_map2, int _m1type,
const double* _ir, Matx33d &_matTilt,
double _u0, double _v0, double _fx, double _fy,
double _k1, double _k2, double _p1, double _p2,
double _k3, double _k4, double _k5, double _k6,
double _s1, double _s2, double _s3, double _s4)
: size(_size),
map1(_map1),
map2(_map2),
m1type(_m1type),
ir(_ir),
matTilt(_matTilt),
u0(_u0),
v0(_v0),
fx(_fx),
fy(_fy),
k1(_k1),
k2(_k2),
p1(_p1),
p2(_p2),
k3(_k3),
k4(_k4),
k5(_k5),
k6(_k6),
s1(_s1),
s2(_s2),
s3(_s3),
s4(_s4) {
#if CV_SIMD_64F
for (int i = 0; i < 2 * v_float64::nlanes; ++i)
{
s_x[i] = ir[0] * i;
s_y[i] = ir[3] * i;
s_w[i] = ir[6] * i;
}
#endif
}
void operator()( const cv::Range& range ) const CV_OVERRIDE
{
CV_INSTRUMENT_REGION();
const int begin = range.start;
const int end = range.end;
for( int i = begin; i < end; i++ )
{
float* m1f = map1.ptr<float>(i);
float* m2f = map2.empty() ? 0 : map2.ptr<float>(i);
short* m1 = (short*)m1f;
ushort* m2 = (ushort*)m2f;
double _x = i*ir[1] + ir[2], _y = i*ir[4] + ir[5], _w = i*ir[7] + ir[8];
int j = 0;
if (m1type == CV_16SC2)
CV_Assert(m1 != NULL && m2 != NULL);
else if (m1type == CV_32FC1)
CV_Assert(m1f != NULL && m2f != NULL);
else
CV_Assert(m1 != NULL);
#if CV_SIMD_64F
const v_float64 v_one = vx_setall_f64(1.0);
for (; j <= size.width - 2*v_float64::nlanes; j += 2*v_float64::nlanes, _x += 2*v_float64::nlanes * ir[0], _y += 2*v_float64::nlanes * ir[3], _w += 2*v_float64::nlanes * ir[6])
{
v_float64 m_0, m_1, m_2, m_3;
m_2 = v_one / (vx_setall_f64(_w) + vx_load(s_w));
m_3 = v_one / (vx_setall_f64(_w) + vx_load(s_w + v_float64::nlanes));
m_0 = vx_setall_f64(_x); m_1 = vx_setall_f64(_y);
v_float64 x_0 = (m_0 + vx_load(s_x)) * m_2;
v_float64 x_1 = (m_0 + vx_load(s_x + v_float64::nlanes)) * m_3;
v_float64 y_0 = (m_1 + vx_load(s_y)) * m_2;
v_float64 y_1 = (m_1 + vx_load(s_y + v_float64::nlanes)) * m_3;
v_float64 xd_0 = x_0 * x_0;
v_float64 yd_0 = y_0 * y_0;
v_float64 xd_1 = x_1 * x_1;
v_float64 yd_1 = y_1 * y_1;
v_float64 r2_0 = xd_0 + yd_0;
v_float64 r2_1 = xd_1 + yd_1;
m_1 = vx_setall_f64(k3);
m_2 = vx_setall_f64(k2);
m_3 = vx_setall_f64(k1);
m_0 = v_muladd(v_muladd(v_muladd(m_1, r2_0, m_2), r2_0, m_3), r2_0, v_one);
m_1 = v_muladd(v_muladd(v_muladd(m_1, r2_1, m_2), r2_1, m_3), r2_1, v_one);
m_3 = vx_setall_f64(k6);
m_2 = vx_setall_f64(k5);
m_0 /= v_muladd(v_muladd(v_muladd(m_3, r2_0, m_2), r2_0, vx_setall_f64(k4)), r2_0, v_one);
m_1 /= v_muladd(v_muladd(v_muladd(m_3, r2_1, m_2), r2_1, vx_setall_f64(k4)), r2_1, v_one);
m_3 = vx_setall_f64(2.0);
xd_0 = v_muladd(m_3, xd_0, r2_0);
yd_0 = v_muladd(m_3, yd_0, r2_0);
xd_1 = v_muladd(m_3, xd_1, r2_1);
yd_1 = v_muladd(m_3, yd_1, r2_1);
m_2 = x_0 * y_0 * m_3;
m_3 = x_1 * y_1 * m_3;
x_0 *= m_0; y_0 *= m_0; x_1 *= m_1; y_1 *= m_1;
m_0 = vx_setall_f64(p1);
m_1 = vx_setall_f64(p2);
xd_0 = v_muladd(xd_0, m_1, x_0);
yd_0 = v_muladd(yd_0, m_0, y_0);
xd_1 = v_muladd(xd_1, m_1, x_1);
yd_1 = v_muladd(yd_1, m_0, y_1);
xd_0 = v_muladd(m_0, m_2, xd_0);
yd_0 = v_muladd(m_1, m_2, yd_0);
xd_1 = v_muladd(m_0, m_3, xd_1);
yd_1 = v_muladd(m_1, m_3, yd_1);
m_0 = r2_0 * r2_0;
m_1 = r2_1 * r2_1;
m_2 = vx_setall_f64(s2);
m_3 = vx_setall_f64(s1);
xd_0 = v_muladd(m_3, r2_0, v_muladd(m_2, m_0, xd_0));
xd_1 = v_muladd(m_3, r2_1, v_muladd(m_2, m_1, xd_1));
m_2 = vx_setall_f64(s4);
m_3 = vx_setall_f64(s3);
yd_0 = v_muladd(m_3, r2_0, v_muladd(m_2, m_0, yd_0));
yd_1 = v_muladd(m_3, r2_1, v_muladd(m_2, m_1, yd_1));
m_0 = vx_setall_f64(matTilt.val[0]);
m_1 = vx_setall_f64(matTilt.val[1]);
m_2 = vx_setall_f64(matTilt.val[2]);
x_0 = v_muladd(m_0, xd_0, v_muladd(m_1, yd_0, m_2));
x_1 = v_muladd(m_0, xd_1, v_muladd(m_1, yd_1, m_2));
m_0 = vx_setall_f64(matTilt.val[3]);
m_1 = vx_setall_f64(matTilt.val[4]);
m_2 = vx_setall_f64(matTilt.val[5]);
y_0 = v_muladd(m_0, xd_0, v_muladd(m_1, yd_0, m_2));
y_1 = v_muladd(m_0, xd_1, v_muladd(m_1, yd_1, m_2));
m_0 = vx_setall_f64(matTilt.val[6]);
m_1 = vx_setall_f64(matTilt.val[7]);
m_2 = vx_setall_f64(matTilt.val[8]);
r2_0 = v_muladd(m_0, xd_0, v_muladd(m_1, yd_0, m_2));
r2_1 = v_muladd(m_0, xd_1, v_muladd(m_1, yd_1, m_2));
m_0 = vx_setzero_f64();
r2_0 = v_select(r2_0 == m_0, v_one, v_one / r2_0);
r2_1 = v_select(r2_1 == m_0, v_one, v_one / r2_1);
m_0 = vx_setall_f64(fx);
m_1 = vx_setall_f64(u0);
m_2 = vx_setall_f64(fy);
m_3 = vx_setall_f64(v0);
x_0 = v_muladd(m_0 * r2_0, x_0, m_1);
y_0 = v_muladd(m_2 * r2_0, y_0, m_3);
x_1 = v_muladd(m_0 * r2_1, x_1, m_1);
y_1 = v_muladd(m_2 * r2_1, y_1, m_3);
if (m1type == CV_32FC1)
{
v_store(&m1f[j], v_cvt_f32(x_0, x_1));
v_store(&m2f[j], v_cvt_f32(y_0, y_1));
}
else if (m1type == CV_32FC2)
{
v_float32 mf0, mf1;
v_zip(v_cvt_f32(x_0, x_1), v_cvt_f32(y_0, y_1), mf0, mf1);
v_store(&m1f[j * 2], mf0);
v_store(&m1f[j * 2 + v_float32::nlanes], mf1);
}
else // m1type == CV_16SC2
{
m_0 = vx_setall_f64(INTER_TAB_SIZE);
x_0 *= m_0; x_1 *= m_0; y_0 *= m_0; y_1 *= m_0;
v_int32 mask = vx_setall_s32(INTER_TAB_SIZE - 1);
v_int32 iu = v_round(x_0, x_1);
v_int32 iv = v_round(y_0, y_1);
v_pack_u_store(&m2[j], (iu & mask) + (iv & mask) * vx_setall_s32(INTER_TAB_SIZE));
v_int32 out0, out1;
v_zip(iu >> INTER_BITS, iv >> INTER_BITS, out0, out1);
v_store(&m1[j * 2], v_pack(out0, out1));
}
}
vx_cleanup();
#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;
double r2 = x2 + y2, _2xy = 2*x*y;
double kr = (1 + ((k3*r2 + k2)*r2 + k1)*r2)/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double xd = (x*kr + p1*_2xy + p2*(r2 + 2*x2) + s1*r2+s2*r2*r2);
double yd = (y*kr + p1*(r2 + 2*y2) + p2*_2xy + s3*r2+s4*r2*r2);
Vec3d vecTilt = matTilt*cv::Vec3d(xd, yd, 1);
double invProj = vecTilt(2) ? 1./vecTilt(2) : 1;
double u = fx*invProj*vecTilt(0) + u0;
double v = fy*invProj*vecTilt(1) + v0;
if( m1type == CV_16SC2 )
{
int iu = saturate_cast<int>(u*INTER_TAB_SIZE);
int iv = saturate_cast<int>(v*INTER_TAB_SIZE);
m1[j*2] = (short)(iu >> INTER_BITS);
m1[j*2+1] = (short)(iv >> INTER_BITS);
m2[j] = (ushort)((iv & (INTER_TAB_SIZE-1))*INTER_TAB_SIZE + (iu & (INTER_TAB_SIZE-1)));
}
else if( m1type == CV_32FC1 )
{
m1f[j] = (float)u;
m2f[j] = (float)v;
}
else
{
m1f[j*2] = (float)u;
m1f[j*2+1] = (float)v;
}
}
}
}
private:
Size size;
Mat &map1;
Mat &map2;
int m1type;
const double* ir;
Matx33d &matTilt;
double u0;
double v0;
double fx;
double fy;
double k1;
double k2;
double p1;
double p2;
double k3;
double k4;
double k5;
double k6;
double s1;
double s2;
double s3;
double s4;
#if CV_SIMD_64F
double s_x[2*v_float64::nlanes];
double s_y[2*v_float64::nlanes];
double s_w[2*v_float64::nlanes];
#endif
};
}
Ptr<ParallelLoopBody> getInitUndistortRectifyMapComputer(Size _size, Mat &_map1, Mat &_map2, int _m1type,
const double* _ir, Matx33d &_matTilt,
double _u0, double _v0, double _fx, double _fy,
double _k1, double _k2, double _p1, double _p2,
double _k3, double _k4, double _k5, double _k6,
double _s1, double _s2, double _s3, double _s4)
{
CV_INSTRUMENT_REGION();
return Ptr<initUndistortRectifyMapComputer>(new initUndistortRectifyMapComputer(_size, _map1, _map2, _m1type, _ir, _matTilt, _u0, _v0, _fx, _fy,
_k1, _k2, _p1, _p2, _k3, _k4, _k5, _k6, _s1, _s2, _s3, _s4));
}
#endif
CV_CPU_OPTIMIZATION_NAMESPACE_END
}
/* End of file */