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filter.cpp
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/*
Copyright 2012. All rights reserved.
Institute of Measurement and Control Systems
Karlsruhe Institute of Technology, Germany
This file is part of libelas.
Authors: Julius Ziegler, Andreas Geiger
libelas is free software; you can redistribute it and/or modify it under the
terms of the GNU General Public License as published by the Free Software
Foundation; either version 3 of the License, or any later version.
libelas is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A
PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with
libelas; if not, write to the Free Software Foundation, Inc., 51 Franklin
Street, Fifth Floor, Boston, MA 02110-1301, USA
*/
#include <stdio.h>
#include <string.h>
#include <cassert>
#include "filter.h"
// define fixed-width datatypes for Visual Studio projects
#ifndef _MSC_VER
#include <stdint.h>
#else
typedef __int8 int8_t;
typedef __int16 int16_t;
typedef __int32 int32_t;
typedef __int64 int64_t;
typedef unsigned __int8 uint8_t;
typedef unsigned __int16 uint16_t;
typedef unsigned __int32 uint32_t;
typedef unsigned __int64 uint64_t;
#endif
// fast filters: implements 3x3 and 5x5 sobel filters and
// 5x5 blob and corner filters based on SSE2/3 instructions
namespace filter {
// private namespace, public user functions at the bottom of this file
namespace detail {
void integral_image( const uint8_t* in, int32_t* out, int w, int h ) {
int32_t* out_top = out;
const uint8_t* line_end = in + w;
const uint8_t* in_end = in + w*h;
int32_t line_sum = 0;
for( ; in != line_end; in++, out++ ) {
line_sum += *in;
*out = line_sum;
}
for( ; in != in_end; ) {
int32_t line_sum = 0;
const uint8_t* line_end = in + w;
for( ; in != line_end; in++, out++, out_top++ ) {
line_sum += *in;
*out = *out_top + line_sum;
}
}
}
void unpack_8bit_to_16bit( const __m128i a, __m128i& b0, __m128i& b1 ) {
__m128i zero = _mm_setzero_si128();
b0 = _mm_unpacklo_epi8( a, zero );
b1 = _mm_unpackhi_epi8( a, zero );
}
void pack_16bit_to_8bit_saturate( const __m128i a0, const __m128i a1, __m128i& b ) {
b = _mm_packus_epi16( a0, a1 );
}
// convolve image with a (1,4,6,4,1) row vector. Result is accumulated into output.
// output is scaled by 1/128, then clamped to [-128,128], and finally shifted to [0,255].
void convolve_14641_row_5x5_16bit( const int16_t* in, uint8_t* out, int w, int h ) {
assert( w % 16 == 0 && "width must be multiple of 16!" );
const __m128i* i0 = (const __m128i*)(in);
const int16_t* i1 = in+1;
const int16_t* i2 = in+2;
const int16_t* i3 = in+3;
const int16_t* i4 = in+4;
uint8_t* result = out + 2;
const int16_t* const end_input = in + w*h;
__m128i offs = _mm_set1_epi16( 128 );
for( ; i4 < end_input; i0 += 1, i1 += 8, i2 += 8, i3 += 8, i4 += 8, result += 16 ) {
__m128i result_register_lo;
__m128i result_register_hi;
for( int i=0; i<2; i++ ) {
__m128i* result_register;
if( i==0 ) result_register = &result_register_lo;
else result_register = &result_register_hi;
__m128i i0_register = *i0;
__m128i i1_register = _mm_loadu_si128( (__m128i*)( i1 ) );
__m128i i2_register = _mm_loadu_si128( (__m128i*)( i2 ) );
__m128i i3_register = _mm_loadu_si128( (__m128i*)( i3 ) );
__m128i i4_register = _mm_loadu_si128( (__m128i*)( i4 ) );
*result_register = _mm_setzero_si128();
*result_register = _mm_add_epi16( i0_register, *result_register );
i1_register = _mm_add_epi16( i1_register, i1_register );
i1_register = _mm_add_epi16( i1_register, i1_register );
*result_register = _mm_add_epi16( i1_register, *result_register );
i2_register = _mm_add_epi16( i2_register, i2_register );
*result_register = _mm_add_epi16( i2_register, *result_register );
i2_register = _mm_add_epi16( i2_register, i2_register );
*result_register = _mm_add_epi16( i2_register, *result_register );
i3_register = _mm_add_epi16( i3_register, i3_register );
i3_register = _mm_add_epi16( i3_register, i3_register );
*result_register = _mm_add_epi16( i3_register, *result_register );
*result_register = _mm_add_epi16( i4_register, *result_register );
*result_register = _mm_srai_epi16( *result_register, 7 );
*result_register = _mm_add_epi16( *result_register, offs );
if( i==0 ) {
i0 += 1;
i1 += 8;
i2 += 8;
i3 += 8;
i4 += 8;
}
}
pack_16bit_to_8bit_saturate( result_register_lo, result_register_hi, result_register_lo );
_mm_storeu_si128( ((__m128i*)( result )), result_register_lo );
}
}
// convolve image with a (1,2,0,-2,-1) row vector. Result is accumulated into output.
// This one works on 16bit input and 8bit output.
// output is scaled by 1/128, then clamped to [-128,128], and finally shifted to [0,255].
void convolve_12021_row_5x5_16bit( const int16_t* in, uint8_t* out, int w, int h ) {
assert( w % 16 == 0 && "width must be multiple of 16!" );
const __m128i* i0 = (const __m128i*)(in);
const int16_t* i1 = in+1;
const int16_t* i3 = in+3;
const int16_t* i4 = in+4;
uint8_t* result = out + 2;
const int16_t* const end_input = in + w*h;
__m128i offs = _mm_set1_epi16( 128 );
for( ; i4 < end_input; i0 += 1, i1 += 8, i3 += 8, i4 += 8, result += 16 ) {
__m128i result_register_lo;
__m128i result_register_hi;
for( int i=0; i<2; i++ ) {
__m128i* result_register;
if( i==0 ) result_register = &result_register_lo;
else result_register = &result_register_hi;
__m128i i0_register = *i0;
__m128i i1_register = _mm_loadu_si128( (__m128i*)( i1 ) );
__m128i i3_register = _mm_loadu_si128( (__m128i*)( i3 ) );
__m128i i4_register = _mm_loadu_si128( (__m128i*)( i4 ) );
*result_register = _mm_setzero_si128();
*result_register = _mm_add_epi16( i0_register, *result_register );
i1_register = _mm_add_epi16( i1_register, i1_register );
*result_register = _mm_add_epi16( i1_register, *result_register );
i3_register = _mm_add_epi16( i3_register, i3_register );
*result_register = _mm_sub_epi16( *result_register, i3_register );
*result_register = _mm_sub_epi16( *result_register, i4_register );
*result_register = _mm_srai_epi16( *result_register, 7 );
*result_register = _mm_add_epi16( *result_register, offs );
if( i==0 ) {
i0 += 1;
i1 += 8;
i3 += 8;
i4 += 8;
}
}
pack_16bit_to_8bit_saturate( result_register_lo, result_register_hi, result_register_lo );
_mm_storeu_si128( ((__m128i*)( result )), result_register_lo );
}
}
// convolve image with a (1,2,1) row vector. Result is accumulated into output.
// This one works on 16bit input and 8bit output.
// output is scaled by 1/4, then clamped to [-128,128], and finally shifted to [0,255].
void convolve_121_row_3x3_16bit( const int16_t* in, uint8_t* out, int w, int h ) {
assert( w % 16 == 0 && "width must be multiple of 16!" );
const __m128i* i0 = (const __m128i*)(in);
const int16_t* i1 = in+1;
const int16_t* i2 = in+2;
uint8_t* result = out + 1;
//const int16_t* const end_input = in + w*h;
const size_t blocked_loops = (w*h-2)/16;
__m128i offs = _mm_set1_epi16( 128 );
for( size_t i=0; i != blocked_loops; i++ ) {
__m128i result_register_lo;
__m128i result_register_hi;
__m128i i1_register;
__m128i i2_register;
i1_register = _mm_loadu_si128( (__m128i*)( i1 ) );
i2_register = _mm_loadu_si128( (__m128i*)( i2 ) );
result_register_lo = *i0;
i1_register = _mm_add_epi16( i1_register, i1_register );
result_register_lo = _mm_add_epi16( i1_register, result_register_lo );
result_register_lo = _mm_add_epi16( i2_register, result_register_lo );
result_register_lo = _mm_srai_epi16( result_register_lo, 2 );
result_register_lo = _mm_add_epi16( result_register_lo, offs );
i0++;
i1+=8;
i2+=8;
i1_register = _mm_loadu_si128( (__m128i*)( i1 ) );
i2_register = _mm_loadu_si128( (__m128i*)( i2 ) );
result_register_hi = *i0;
i1_register = _mm_add_epi16( i1_register, i1_register );
result_register_hi = _mm_add_epi16( i1_register, result_register_hi );
result_register_hi = _mm_add_epi16( i2_register, result_register_hi );
result_register_hi = _mm_srai_epi16( result_register_hi, 2 );
result_register_hi = _mm_add_epi16( result_register_hi, offs );
i0++;
i1+=8;
i2+=8;
pack_16bit_to_8bit_saturate( result_register_lo, result_register_hi, result_register_lo );
_mm_storeu_si128( ((__m128i*)( result )), result_register_lo );
result += 16;
}
}
// convolve image with a (1,0,-1) row vector. Result is accumulated into output.
// This one works on 16bit input and 8bit output.
// output is scaled by 1/4, then clamped to [-128,128], and finally shifted to [0,255].
void convolve_101_row_3x3_16bit( const int16_t* in, uint8_t* out, int w, int h ) {
assert( w % 16 == 0 && "width must be multiple of 16!" );
const __m128i* i0 = (const __m128i*)(in);
const int16_t* i2 = in+2;
uint8_t* result = out + 1;
const int16_t* const end_input = in + w*h;
const size_t blocked_loops = (w*h-2)/16;
__m128i offs = _mm_set1_epi16( 128 );
for( size_t i=0; i != blocked_loops; i++ ) {
__m128i result_register_lo;
__m128i result_register_hi;
__m128i i2_register;
i2_register = _mm_loadu_si128( (__m128i*)( i2 ) );
result_register_lo = *i0;
result_register_lo = _mm_sub_epi16( result_register_lo, i2_register );
result_register_lo = _mm_srai_epi16( result_register_lo, 2 );
result_register_lo = _mm_add_epi16( result_register_lo, offs );
i0 += 1;
i2 += 8;
i2_register = _mm_loadu_si128( (__m128i*)( i2 ) );
result_register_hi = *i0;
result_register_hi = _mm_sub_epi16( result_register_hi, i2_register );
result_register_hi = _mm_srai_epi16( result_register_hi, 2 );
result_register_hi = _mm_add_epi16( result_register_hi, offs );
i0 += 1;
i2 += 8;
pack_16bit_to_8bit_saturate( result_register_lo, result_register_hi, result_register_lo );
_mm_storeu_si128( ((__m128i*)( result )), result_register_lo );
result += 16;
}
for( ; i2 < end_input; i2++, result++) {
*result = ((*(i2-2) - *i2)>>2)+128;
}
}
void convolve_cols_5x5( const unsigned char* in, int16_t* out_v, int16_t* out_h, int w, int h ) {
using namespace std;
memset( out_h, 0, w*h*sizeof(int16_t) );
memset( out_v, 0, w*h*sizeof(int16_t) );
assert( w % 16 == 0 && "width must be multiple of 16!" );
const int w_chunk = w/16;
__m128i* i0 = (__m128i*)( in );
__m128i* i1 = (__m128i*)( in ) + w_chunk*1;
__m128i* i2 = (__m128i*)( in ) + w_chunk*2;
__m128i* i3 = (__m128i*)( in ) + w_chunk*3;
__m128i* i4 = (__m128i*)( in ) + w_chunk*4;
__m128i* result_h = (__m128i*)( out_h ) + 4*w_chunk;
__m128i* result_v = (__m128i*)( out_v ) + 4*w_chunk;
__m128i* end_input = (__m128i*)( in ) + w_chunk*h;
__m128i sixes = _mm_set1_epi16( 6 );
__m128i fours = _mm_set1_epi16( 4 );
for( ; i4 != end_input; i0++, i1++, i2++, i3++, i4++, result_v+=2, result_h+=2 ) {
__m128i ilo, ihi;
unpack_8bit_to_16bit( *i0, ihi, ilo );
*result_h = _mm_add_epi16( ihi, *result_h );
*(result_h+1) = _mm_add_epi16( ilo, *(result_h+1) );
*result_v = _mm_add_epi16( *result_v, ihi );
*(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
unpack_8bit_to_16bit( *i1, ihi, ilo );
*result_h = _mm_add_epi16( ihi, *result_h );
*result_h = _mm_add_epi16( ihi, *result_h );
*(result_h+1) = _mm_add_epi16( ilo, *(result_h+1) );
*(result_h+1) = _mm_add_epi16( ilo, *(result_h+1) );
ihi = _mm_mullo_epi16( ihi, fours );
ilo = _mm_mullo_epi16( ilo, fours );
*result_v = _mm_add_epi16( *result_v, ihi );
*(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
unpack_8bit_to_16bit( *i2, ihi, ilo );
ihi = _mm_mullo_epi16( ihi, sixes );
ilo = _mm_mullo_epi16( ilo, sixes );
*result_v = _mm_add_epi16( *result_v, ihi );
*(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
unpack_8bit_to_16bit( *i3, ihi, ilo );
*result_h = _mm_sub_epi16( *result_h, ihi );
*result_h = _mm_sub_epi16( *result_h, ihi );
*(result_h+1) = _mm_sub_epi16( *(result_h+1), ilo );
*(result_h+1) = _mm_sub_epi16( *(result_h+1), ilo );
ihi = _mm_mullo_epi16( ihi, fours );
ilo = _mm_mullo_epi16( ilo, fours );
*result_v = _mm_add_epi16( *result_v, ihi );
*(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
unpack_8bit_to_16bit( *i4, ihi, ilo );
*result_h = _mm_sub_epi16( *result_h, ihi );
*(result_h+1) = _mm_sub_epi16( *(result_h+1), ilo );
*result_v = _mm_add_epi16( *result_v, ihi );
*(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
}
}
void convolve_col_p1p1p0m1m1_5x5( const unsigned char* in, int16_t* out, int w, int h ) {
memset( out, 0, w*h*sizeof(int16_t) );
using namespace std;
assert( w % 16 == 0 && "width must be multiple of 16!" );
const int w_chunk = w/16;
__m128i* i0 = (__m128i*)( in );
__m128i* i1 = (__m128i*)( in ) + w_chunk*1;
__m128i* i3 = (__m128i*)( in ) + w_chunk*3;
__m128i* i4 = (__m128i*)( in ) + w_chunk*4;
__m128i* result = (__m128i*)( out ) + 4*w_chunk;
__m128i* end_input = (__m128i*)( in ) + w_chunk*h;
for( ; i4 != end_input; i0++, i1++, i3++, i4++, result+=2 ) {
__m128i ilo0, ihi0;
unpack_8bit_to_16bit( *i0, ihi0, ilo0 );
__m128i ilo1, ihi1;
unpack_8bit_to_16bit( *i1, ihi1, ilo1 );
*result = _mm_add_epi16( ihi0, ihi1 );
*(result+1) = _mm_add_epi16( ilo0, ilo1 );
__m128i ilo, ihi;
unpack_8bit_to_16bit( *i3, ihi, ilo );
*result = _mm_sub_epi16( *result, ihi );
*(result+1) = _mm_sub_epi16( *(result+1), ilo );
unpack_8bit_to_16bit( *i4, ihi, ilo );
*result = _mm_sub_epi16( *result, ihi );
*(result+1) = _mm_sub_epi16( *(result+1), ilo );
}
}
void convolve_row_p1p1p0m1m1_5x5( const int16_t* in, int16_t* out, int w, int h ) {
assert( w % 16 == 0 && "width must be multiple of 16!" );
const __m128i* i0 = (const __m128i*)(in);
const int16_t* i1 = in+1;
const int16_t* i3 = in+3;
const int16_t* i4 = in+4;
int16_t* result = out + 2;
const int16_t* const end_input = in + w*h;
for( ; i4+8 < end_input; i0 += 1, i1 += 8, i3 += 8, i4 += 8, result += 8 ) {
__m128i result_register;
__m128i i0_register = *i0;
__m128i i1_register = _mm_loadu_si128( (__m128i*)( i1 ) );
__m128i i3_register = _mm_loadu_si128( (__m128i*)( i3 ) );
__m128i i4_register = _mm_loadu_si128( (__m128i*)( i4 ) );
result_register = _mm_add_epi16( i0_register, i1_register );
result_register = _mm_sub_epi16( result_register, i3_register );
result_register = _mm_sub_epi16( result_register, i4_register );
_mm_storeu_si128( ((__m128i*)( result )), result_register );
}
}
void convolve_cols_3x3( const unsigned char* in, int16_t* out_v, int16_t* out_h, int w, int h ) {
using namespace std;
assert( w % 16 == 0 && "width must be multiple of 16!" );
const int w_chunk = w/16;
__m128i* i0 = (__m128i*)( in );
__m128i* i1 = (__m128i*)( in ) + w_chunk*1;
__m128i* i2 = (__m128i*)( in ) + w_chunk*2;
__m128i* result_h = (__m128i*)( out_h ) + 2*w_chunk;
__m128i* result_v = (__m128i*)( out_v ) + 2*w_chunk;
__m128i* end_input = (__m128i*)( in ) + w_chunk*h;
for( ; i2 != end_input; i0++, i1++, i2++, result_v+=2, result_h+=2 ) {
*result_h = _mm_setzero_si128();
*(result_h+1) = _mm_setzero_si128();
*result_v = _mm_setzero_si128();
*(result_v+1) = _mm_setzero_si128();
__m128i ilo, ihi;
unpack_8bit_to_16bit( *i0, ihi, ilo );
unpack_8bit_to_16bit( *i0, ihi, ilo );
*result_h = _mm_add_epi16( ihi, *result_h );
*(result_h+1) = _mm_add_epi16( ilo, *(result_h+1) );
*result_v = _mm_add_epi16( *result_v, ihi );
*(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
unpack_8bit_to_16bit( *i1, ihi, ilo );
*result_v = _mm_add_epi16( *result_v, ihi );
*(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
*result_v = _mm_add_epi16( *result_v, ihi );
*(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
unpack_8bit_to_16bit( *i2, ihi, ilo );
*result_h = _mm_sub_epi16( *result_h, ihi );
*(result_h+1) = _mm_sub_epi16( *(result_h+1), ilo );
*result_v = _mm_add_epi16( *result_v, ihi );
*(result_v+1) = _mm_add_epi16( *(result_v+1), ilo );
}
}
};
void sobel3x3( const uint8_t* in, uint8_t* out_v, uint8_t* out_h, int w, int h ) {
int16_t* temp_h = (int16_t*)( _mm_malloc( w*h*sizeof( int16_t ), 16 ) );
int16_t* temp_v = (int16_t*)( _mm_malloc( w*h*sizeof( int16_t ), 16 ) );
detail::convolve_cols_3x3( in, temp_v, temp_h, w, h );
detail::convolve_101_row_3x3_16bit( temp_v, out_v, w, h );
detail::convolve_121_row_3x3_16bit( temp_h, out_h, w, h );
_mm_free( temp_h );
_mm_free( temp_v );
}
void sobel5x5( const uint8_t* in, uint8_t* out_v, uint8_t* out_h, int w, int h ) {
int16_t* temp_h = (int16_t*)( _mm_malloc( w*h*sizeof( int16_t ), 16 ) );
int16_t* temp_v = (int16_t*)( _mm_malloc( w*h*sizeof( int16_t ), 16 ) );
detail::convolve_cols_5x5( in, temp_v, temp_h, w, h );
detail::convolve_12021_row_5x5_16bit( temp_v, out_v, w, h );
detail::convolve_14641_row_5x5_16bit( temp_h, out_h, w, h );
_mm_free( temp_h );
_mm_free( temp_v );
}
// -1 -1 0 1 1
// -1 -1 0 1 1
// 0 0 0 0 0
// 1 1 0 -1 -1
// 1 1 0 -1 -1
void checkerboard5x5( const uint8_t* in, int16_t* out, int w, int h ) {
int16_t* temp = (int16_t*)( _mm_malloc( w*h*sizeof( int16_t ), 16 ) );
detail::convolve_col_p1p1p0m1m1_5x5( in, temp, w, h );
detail::convolve_row_p1p1p0m1m1_5x5( temp, out, w, h );
_mm_free( temp );
}
// -1 -1 -1 -1 -1
// -1 1 1 1 -1
// -1 1 8 1 -1
// -1 1 1 1 -1
// -1 -1 -1 -1 -1
void blob5x5( const uint8_t* in, int16_t* out, int w, int h ) {
int32_t* integral = (int32_t*)( _mm_malloc( w*h*sizeof( int32_t ), 16 ) );
detail::integral_image( in, integral, w, h );
int16_t* out_ptr = out + 3 + 3*w;
int16_t* out_end = out + w * h - 2 - 2*w;
const int32_t* i00 = integral;
const int32_t* i50 = integral + 5;
const int32_t* i05 = integral + 5*w;
const int32_t* i55 = integral + 5 + 5*w;
const int32_t* i11 = integral + 1 + 1*w;
const int32_t* i41 = integral + 4 + 1*w;
const int32_t* i14 = integral + 1 + 4*w;
const int32_t* i44 = integral + 4 + 4*w;
const uint8_t* im22 = in + 3 + 3*w;
for( ; out_ptr != out_end; out_ptr++, i00++, i50++, i05++, i55++, i11++, i41++, i14++, i44++, im22++ ) {
int32_t result = 0;
result = -( *i55 - *i50 - *i05 + *i00 );
result += 2*( *i44 - *i41 - *i14 + *i11 );
result += 7* *im22;
*out_ptr = result;
}
_mm_free( integral );
}
};