15 #include "reconstruct3d.h" 16 #include "visiontransfer/alignedallocator.h" 25 #include <immintrin.h> 27 #include <emmintrin.h> 34 class Reconstruct3D::Pimpl {
38 float* createPointMap(
const unsigned short* dispMap,
int width,
int height,
39 int rowStride,
const float* q,
unsigned short minDisparity);
41 float* createPointMap(
const ImagePair& imagePair,
unsigned short minDisparity);
43 void writePlyFile(
const char* file,
const unsigned short* dispMap,
44 const unsigned char* image,
int width,
int height,
45 int dispRowStride,
int imageRowStride,
const float* q,
48 void writePlyFile(
const char* file,
const ImagePair& imagePair,
52 std::vector<float, AlignedAllocator<float> > pointMap;
54 float* createPointMapFallback(
const unsigned short* dispMap,
int width,
int height,
55 int rowStride,
const float* q,
unsigned short minDisparity);
57 float* createPointMapSSE2(
const unsigned short* dispMap,
int width,
int height,
58 int rowStride,
const float* q,
unsigned short minDisparity);
60 float* createPointMapAVX2(
const unsigned short* dispMap,
int width,
int height,
61 int rowStride,
const float* q,
unsigned short minDisparity);
70 Reconstruct3D::~Reconstruct3D() {
75 int rowStride,
const float* q,
unsigned short minDisparity) {
76 return pimpl->createPointMap(dispMap, width, height, rowStride, q, minDisparity);
80 return pimpl->createPointMap(imagePair, minDisparity);
84 const unsigned char* image,
int width,
int height,
85 int dispRowStride,
int imageRowStride,
const float* q,
double maxZ) {
86 pimpl->writePlyFile(file, dispMap, image, width, height, dispRowStride,
87 imageRowStride, q, maxZ);
92 pimpl->writePlyFile(file, imagePair, maxZ);
97 Reconstruct3D::Pimpl::Pimpl() {
100 float* Reconstruct3D::Pimpl::createPointMap(
const unsigned short* dispMap,
int width,
101 int height,
int rowStride,
const float* q,
unsigned short minDisparity) {
104 if(pointMap.size() !=
static_cast<unsigned int>(4*width*height)) {
105 pointMap.resize(4*width*height);
109 return createPointMapAVX2(dispMap, width, height, rowStride, q, minDisparity);
111 return createPointMapSSE2(dispMap, width, height, rowStride, q, minDisparity);
113 return createPointMapFallback(dispMap, width, height, rowStride, q, minDisparity);
117 float* Reconstruct3D::Pimpl::createPointMap(
const ImagePair& imagePair,
unsigned short minDisparity) {
119 throw std::runtime_error(
"Disparity map must have 12-bit pixel format!");
126 float* Reconstruct3D::Pimpl::createPointMapFallback(
const unsigned short* dispMap,
int width,
127 int height,
int rowStride,
const float* q,
unsigned short minDisparity) {
129 float* outputPtr = &pointMap[0];
130 int stride = rowStride / 2;
132 for(
int y = 0; y < height; y++) {
133 double qx = q[1]*y + q[3];
134 double qy = q[5]*y + q[7];
135 double qz = q[9]*y + q[11];
136 double qw = q[13]*y + q[15];
138 for(
int x = 0; x < width; x++) {
139 unsigned short intDisp = std::max(minDisparity, dispMap[y*stride + x]);
140 if(intDisp >= 0xFFF) {
141 intDisp = minDisparity;
144 double d = intDisp / 16.0;
145 double w = qw + q[14]*d;
147 *outputPtr =
static_cast<float>((qx + q[2]*d)/w);
150 *outputPtr =
static_cast<float>((qy + q[6]*d)/w);
153 *outputPtr =
static_cast<float>((qz + q[10]*d)/w);
166 float* Reconstruct3D::Pimpl::createPointMapAVX2(
const unsigned short* dispMap,
int width,
167 int height,
int rowStride,
const float* q,
unsigned short minDisparity) {
170 const __m256 qCol0 = _mm256_setr_ps(q[0], q[4], q[8], q[12], q[0], q[4], q[8], q[12]);
171 const __m256 qCol1 = _mm256_setr_ps(q[1], q[5], q[9], q[13], q[1], q[5], q[9], q[13]);
172 const __m256 qCol2 = _mm256_setr_ps(q[2], q[6], q[10], q[14], q[2], q[6], q[10], q[14]);
173 const __m256 qCol3 = _mm256_setr_ps(q[3], q[7], q[11], q[15], q[3], q[7], q[11], q[15]);
176 const __m256i minDispVector = _mm256_set1_epi16(minDisparity);
177 const __m256i maxDispVector = _mm256_set1_epi16(0xFFF);
178 const __m256 scaleVector = _mm256_set1_ps(1.0/16.0);
179 const __m256i zeroVector = _mm256_set1_epi16(0);
181 float* outputPtr = &pointMap[0];
183 for(
int y = 0; y < height; y++) {
184 const unsigned char* rowStart = &
reinterpret_cast<const unsigned char*
>(dispMap)[y*rowStride];
185 const unsigned char* rowEnd = &
reinterpret_cast<const unsigned char*
>(dispMap)[y*rowStride + 2*width];
188 for(
const unsigned char* ptr = rowStart; ptr != rowEnd; ptr += 32) {
189 __m256i disparities = _mm256_load_si256(reinterpret_cast<const __m256i*>(ptr));
192 __m256i validMask = _mm256_cmpgt_epi16(maxDispVector, disparities);
193 disparities = _mm256_and_si256(validMask, disparities);
196 disparities = _mm256_max_epi16(disparities, minDispVector);
199 __m256i disparitiesMixup = _mm256_permute4x64_epi64(disparities, 0xd8);
202 __m256 floatDisp = _mm256_cvtepi32_ps(_mm256_unpacklo_epi16(disparitiesMixup, zeroVector));
203 __m256 dispScaled = _mm256_mul_ps(floatDisp, scaleVector);
207 __declspec(align(32))
float dispArray[16];
209 float dispArray[16]__attribute__((aligned(32)));
211 _mm256_store_ps(&dispArray[0], dispScaled);
214 floatDisp = _mm256_cvtepi32_ps(_mm256_unpackhi_epi16(disparitiesMixup, zeroVector));
215 dispScaled = _mm256_mul_ps(floatDisp, scaleVector);
216 _mm256_store_ps(&dispArray[8], dispScaled);
219 for(
int i=0; i<16; i+=2) {
221 __m256 vec = _mm256_setr_ps(x, y, dispArray[i], 1.0,
222 x+1, y, dispArray[i+1], 1.0);
225 __m256 u1 = _mm256_shuffle_ps(vec,vec, _MM_SHUFFLE(0,0,0,0));
226 __m256 u2 = _mm256_shuffle_ps(vec,vec, _MM_SHUFFLE(1,1,1,1));
227 __m256 u3 = _mm256_shuffle_ps(vec,vec, _MM_SHUFFLE(2,2,2,2));
228 __m256 u4 = _mm256_shuffle_ps(vec,vec, _MM_SHUFFLE(3,3,3,3));
230 __m256 prod1 = _mm256_mul_ps(u1, qCol0);
231 __m256 prod2 = _mm256_mul_ps(u2, qCol1);
232 __m256 prod3 = _mm256_mul_ps(u3, qCol2);
233 __m256 prod4 = _mm256_mul_ps(u4, qCol3);
235 __m256 multResult = _mm256_add_ps(_mm256_add_ps(prod1, prod2), _mm256_add_ps(prod3, prod4));
238 __m256 point = _mm256_div_ps(multResult,
239 _mm256_shuffle_ps(multResult,multResult, _MM_SHUFFLE(3,3,3,3)));
242 _mm256_store_ps(outputPtr, point);
255 float* Reconstruct3D::Pimpl::createPointMapSSE2(
const unsigned short* dispMap,
int width,
256 int height,
int rowStride,
const float* q,
unsigned short minDisparity) {
259 const __m128 qCol0 = _mm_setr_ps(q[0], q[4], q[8], q[12]);
260 const __m128 qCol1 = _mm_setr_ps(q[1], q[5], q[9], q[13]);
261 const __m128 qCol2 = _mm_setr_ps(q[2], q[6], q[10], q[14]);
262 const __m128 qCol3 = _mm_setr_ps(q[3], q[7], q[11], q[15]);
265 const __m128i minDispVector = _mm_set1_epi16(minDisparity);
266 const __m128i maxDispVector = _mm_set1_epi16(0xFFF);
267 const __m128 scaleVector = _mm_set1_ps(1.0/16.0);
268 const __m128i zeroVector = _mm_set1_epi16(0);
270 float* outputPtr = &pointMap[0];
272 for(
int y = 0; y < height; y++) {
273 const unsigned char* rowStart = &
reinterpret_cast<const unsigned char*
>(dispMap)[y*rowStride];
274 const unsigned char* rowEnd = &
reinterpret_cast<const unsigned char*
>(dispMap)[y*rowStride + 2*width];
277 for(
const unsigned char* ptr = rowStart; ptr != rowEnd; ptr += 16) {
278 __m128i disparities = _mm_load_si128(reinterpret_cast<const __m128i*>(ptr));
281 __m128i validMask = _mm_cmplt_epi16(disparities, maxDispVector);
282 disparities = _mm_and_si128(validMask, disparities);
285 disparities = _mm_max_epi16(disparities, minDispVector);
288 __m128 floatDisp = _mm_cvtepi32_ps(_mm_unpacklo_epi16(disparities, zeroVector));
289 __m128 dispScaled = _mm_mul_ps(floatDisp, scaleVector);
293 __declspec(align(16))
float dispArray[8];
295 float dispArray[8]__attribute__((aligned(16)));
297 _mm_store_ps(&dispArray[0], dispScaled);
300 floatDisp = _mm_cvtepi32_ps(_mm_unpackhi_epi16(disparities, zeroVector));
301 dispScaled = _mm_mul_ps(floatDisp, scaleVector);
302 _mm_store_ps(&dispArray[4], dispScaled);
305 for(
int i=0; i<8; i++) {
307 __m128 vec = _mm_setr_ps(static_cast<float>(x), static_cast<float>(y), dispArray[i], 1.0);
310 __m128 u1 = _mm_shuffle_ps(vec,vec, _MM_SHUFFLE(0,0,0,0));
311 __m128 u2 = _mm_shuffle_ps(vec,vec, _MM_SHUFFLE(1,1,1,1));
312 __m128 u3 = _mm_shuffle_ps(vec,vec, _MM_SHUFFLE(2,2,2,2));
313 __m128 u4 = _mm_shuffle_ps(vec,vec, _MM_SHUFFLE(3,3,3,3));
315 __m128 prod1 = _mm_mul_ps(u1, qCol0);
316 __m128 prod2 = _mm_mul_ps(u2, qCol1);
317 __m128 prod3 = _mm_mul_ps(u3, qCol2);
318 __m128 prod4 = _mm_mul_ps(u4, qCol3);
320 __m128 multResult = _mm_add_ps(_mm_add_ps(prod1, prod2), _mm_add_ps(prod3, prod4));
323 __m128 point = _mm_div_ps(multResult,
324 _mm_shuffle_ps(multResult,multResult, _MM_SHUFFLE(3,3,3,3)));
327 _mm_store_ps(outputPtr, point);
339 void Reconstruct3D::Pimpl::writePlyFile(
const char* file,
const unsigned short* dispMap,
340 const unsigned char* image,
int width,
int height,
int dispRowStride,
int imageRowStride,
341 const float* q,
double maxZ) {
343 float* pointMap =
createPointMap(dispMap, width, height, dispRowStride, q, 1);
347 for(
int i=0; i<width*height; i++) {
348 if(pointMap[4*i+2] <= maxZ) {
354 fstream strm(file, ios::out);
355 strm <<
"ply" << endl
356 <<
"format ascii 1.0" << endl
357 <<
"element vertex " << pointsCount << endl
358 <<
"property float x" << endl
359 <<
"property float y" << endl
360 <<
"property float z" << endl
361 <<
"property uchar red" << endl
362 <<
"property uchar green" << endl
363 <<
"property uchar blue" << endl
364 <<
"end_header" << endl;
367 for(
int i=0; i<width*height; i++) {
370 int col =
static_cast<int>(image[y*imageRowStride + x]);
372 if(pointMap[4*i+2] <= maxZ) {
373 strm << pointMap[4*i]
374 <<
" " << pointMap[4*i + 1]
375 <<
" " << pointMap[4*i + 2]
376 <<
" " << col <<
" " << col <<
" " << col << endl;
381 void Reconstruct3D::Pimpl::writePlyFile(
const char* file,
const ImagePair& imagePair,
384 throw std::runtime_error(
"Camera image must have 8-bit pixel format!");
387 throw std::runtime_error(
"Disparity map must have 12-bit pixel format!");
float * createPointMap(const unsigned short *dispMap, int width, int height, int rowStride, const float *q, unsigned short minDisparity=1)
Reconstructs the 3D location of each pixel in the given disparity map.
unsigned char * getPixelData(int imageNumber) const
Returns the pixel data for the given image.
const float * getQMatrix() const
Returns a pointer to the disparity-to-depth mapping matrix q.
int getWidth() const
Returns the width of each image.
Reconstruct3D()
Constructs a new object for 3D reconstructing.
A set of two images, which are usually the left camera image and the disparity map.
ImageFormat getPixelFormat(int imageNumber) const
Returns the pixel format for the given image.
void writePlyFile(const char *file, const unsigned short *dispMap, const unsigned char *image, int width, int height, int dispRowStride, int imageRowStride, const float *q, double maxZ=std::numeric_limits< double >::max())
Projects the given disparity map to 3D points and exports the result to a PLY file.
int getHeight() const
Returns the height of each image.
int getRowStride(int imageNumber) const
Returns the row stride for the pixel data of one image.