Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (Simplified BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2013-, Open Perception, Inc. 00006 * Copyright (c) 2012, Piotr Dollar & Ron Appel.[pdollar-at-caltech.edu] 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions are met: 00012 * 00013 * 1. Redistributions of source code must retain the above copyright notice, this 00014 *list of conditions and the following disclaimer. 00015 * 00016 * 2. Redistributions in binary form must reproduce the above copyright notice, 00017 *this list of conditions and the following disclaimer in the documentation 00018 *and/or other materials provided with the distribution. 00019 * 00020 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00021 * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00022 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00023 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR 00024 * ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00025 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00026 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00027 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00028 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00029 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00030 * 00031 * The views and conclusions contained in the software and documentation are those 00032 * of the authors and should not be interpreted as representing official policies, 00033 * either expressed or implied, of the FreeBSD Project. 00034 * 00035 * Taken from Piotr Dollar's MATLAB Image&Video ToolboxVersion 3.00. 00036 * 00037 */ 00038 00039 #ifndef PCL_SSE_H_ 00040 #define PCL_SSE_H_ 00041 #if defined(__SSE2__) 00042 #include <emmintrin.h> // SSE2:<e*.h>, SSE3:<p*.h>, SSE4:<s*.h> 00043 00044 #define RETf inline __m128 00045 #define RETi inline __m128i 00046 00047 namespace pcl { 00048 00049 // set, load and store values 00050 RETf sse_set( const float &x ) { return _mm_set1_ps(x); } 00051 RETf sse_set( float x, float y, float z, float w ) { return _mm_set_ps(x,y,z,w); } 00052 RETi sse_set( const int &x ) { return _mm_set1_epi32(x); } 00053 RETf sse_ld( const float &x ) { return _mm_load_ps(&x); } 00054 RETf sse_ldu( const float &x ) { return _mm_loadu_ps(&x); } 00055 RETf sse_str( float &x, const __m128 y ) { _mm_store_ps(&x,y); return y; } 00056 RETf sse_str1( float &x, const __m128 y ) { _mm_store_ss(&x,y); return y; } 00057 RETf sse_stru( float &x, const __m128 y ) { _mm_storeu_ps(&x,y); return y; } 00058 RETf sse_str( float &x, const float y ) { return sse_str(x,sse_set(y)); } 00059 00060 // arithmetic operators 00061 RETi sse_add( const __m128i x, const __m128i y ) { return _mm_add_epi32(x,y); } 00062 RETf sse_add( const __m128 x, const __m128 y ) { return _mm_add_ps(x,y); } 00063 RETf sse_add( const __m128 x, const __m128 y, const __m128 z ) { 00064 return sse_add(sse_add(x,y),z); } 00065 RETf sse_add( const __m128 a, const __m128 b, const __m128 c, const __m128 &d ) { 00066 return sse_add(sse_add(sse_add(a,b),c),d); } 00067 RETf sse_sub( const __m128 x, const __m128 y ) { return _mm_sub_ps(x,y); } 00068 RETf sse_mul( const __m128 x, const __m128 y ) { return _mm_mul_ps(x,y); } 00069 RETf sse_mul( const __m128 x, const float y ) { return sse_mul(x,sse_set(y)); } 00070 RETf sse_mul( const float x, const __m128 y ) { return sse_mul(sse_set(x),y); } 00071 RETf sse_inc( __m128 &x, const __m128 y ) { return x = sse_add(x,y); } 00072 RETf sse_inc( float &x, const __m128 y ) { __m128 t=sse_add(sse_ld(x),y); return sse_str(x,t); } 00073 RETf sse_dec( __m128 &x, const __m128 y ) { return x = sse_sub(x,y); } 00074 RETf sse_dec( float &x, const __m128 y ) { __m128 t=sse_sub(sse_ld(x),y); return sse_str(x,t); } 00075 RETf sse_min( const __m128 x, const __m128 y ) { return _mm_min_ps(x,y); } 00076 RETf sse_rcp( const __m128 x ) { return _mm_rcp_ps(x); } 00077 RETf sse_rcpsqrt( const __m128 x ) { return _mm_rsqrt_ps(x); } 00078 00079 // logical operators 00080 RETf sse_and( const __m128 x, const __m128 y ) { return _mm_and_ps(x,y); } 00081 RETi sse_and( const __m128i x, const __m128i y ) { return _mm_and_si128(x,y); } 00082 RETf sse_andnot( const __m128 x, const __m128 y ) { return _mm_andnot_ps(x,y); } 00083 RETf sse_or( const __m128 x, const __m128 y ) { return _mm_or_ps(x,y); } 00084 RETf sse_xor( const __m128 x, const __m128 y ) { return _mm_xor_ps(x,y); } 00085 00086 // comparison operators 00087 RETf sse_cmpgt( const __m128 x, const __m128 y ) { return _mm_cmpgt_ps(x,y); } 00088 RETi sse_cmpgt( const __m128i x, const __m128i y ) { return _mm_cmpgt_epi32(x,y); } 00089 00090 // conversion operators 00091 RETf sse_cvt( const __m128i x ) { return _mm_cvtepi32_ps(x); } 00092 RETi sse_cvt( const __m128 x ) { return _mm_cvttps_epi32(x); } 00093 00094 } // namespace pcl 00095 00096 #undef RETf 00097 #undef RETi 00098 #endif /* defined(__SSE2__) */ 00099 #endif /* PCL_SSE_H_ */