Point Cloud Library (PCL) 1.13.0
sse.h
1/*
2 * Software License Agreement (Simplified BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2013-, Open Perception, Inc.
6 * Copyright (c) 2012, Piotr Dollar & Ron Appel.[pdollar-at-caltech.edu]
7 *
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10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions are met:
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13 * 1. Redistributions of source code must retain the above copyright notice, this
14 *list of conditions and the following disclaimer.
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16 * 2. Redistributions in binary form must reproduce the above copyright notice,
17 *this list of conditions and the following disclaimer in the documentation
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20 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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22 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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33 * either expressed or implied, of the FreeBSD Project.
34 *
35 * Taken from Piotr Dollar's MATLAB Image&Video ToolboxVersion 3.00.
36 *
37 */
38
39#pragma once
40
41#if defined(__SSE2__)
42#include <emmintrin.h> // SSE2:<e*.h>, SSE3:<p*.h>, SSE4:<s*.h>
43
44#define RETf inline __m128
45#define RETi inline __m128i
46
47namespace pcl {
48
49// set, load and store values
50RETf sse_set( const float &x ) { return _mm_set1_ps(x); }
51RETf sse_set( float x, float y, float z, float w ) { return _mm_set_ps(x,y,z,w); }
52RETi sse_set( const int &x ) { return _mm_set1_epi32(x); }
53RETf sse_ld( const float &x ) { return _mm_load_ps(&x); }
54RETf sse_ldu( const float &x ) { return _mm_loadu_ps(&x); }
55RETf sse_str( float &x, const __m128 y ) { _mm_store_ps(&x,y); return y; }
56RETf sse_str1( float &x, const __m128 y ) { _mm_store_ss(&x,y); return y; }
57RETf sse_stru( float &x, const __m128 y ) { _mm_storeu_ps(&x,y); return y; }
58RETf sse_str( float &x, const float y ) { return sse_str(x,sse_set(y)); }
59
60// arithmetic operators
61RETi sse_add( const __m128i x, const __m128i y ) { return _mm_add_epi32(x,y); }
62RETf sse_add( const __m128 x, const __m128 y ) { return _mm_add_ps(x,y); }
63RETf sse_add( const __m128 x, const __m128 y, const __m128 z ) {
64 return sse_add(sse_add(x,y),z); }
65RETf sse_add( const __m128 a, const __m128 b, const __m128 c, const __m128 &d ) {
66 return sse_add(sse_add(sse_add(a,b),c),d); }
67RETf sse_sub( const __m128 x, const __m128 y ) { return _mm_sub_ps(x,y); }
68RETf sse_mul( const __m128 x, const __m128 y ) { return _mm_mul_ps(x,y); }
69RETf sse_mul( const __m128 x, const float y ) { return sse_mul(x,sse_set(y)); }
70RETf sse_mul( const float x, const __m128 y ) { return sse_mul(sse_set(x),y); }
71RETf sse_inc( __m128 &x, const __m128 y ) { return x = sse_add(x,y); }
72RETf sse_inc( float &x, const __m128 y ) { __m128 t=sse_add(sse_ld(x),y); return sse_str(x,t); }
73RETf sse_dec( __m128 &x, const __m128 y ) { return x = sse_sub(x,y); }
74RETf sse_dec( float &x, const __m128 y ) { __m128 t=sse_sub(sse_ld(x),y); return sse_str(x,t); }
75RETf sse_min( const __m128 x, const __m128 y ) { return _mm_min_ps(x,y); }
76RETf sse_rcp( const __m128 x ) { return _mm_rcp_ps(x); }
77RETf sse_rcpsqrt( const __m128 x ) { return _mm_rsqrt_ps(x); }
78
79// logical operators
80RETf sse_and( const __m128 x, const __m128 y ) { return _mm_and_ps(x,y); }
81RETi sse_and( const __m128i x, const __m128i y ) { return _mm_and_si128(x,y); }
82RETf sse_andnot( const __m128 x, const __m128 y ) { return _mm_andnot_ps(x,y); }
83RETf sse_or( const __m128 x, const __m128 y ) { return _mm_or_ps(x,y); }
84RETf sse_xor( const __m128 x, const __m128 y ) { return _mm_xor_ps(x,y); }
85
86// comparison operators
87RETf sse_cmpgt( const __m128 x, const __m128 y ) { return _mm_cmpgt_ps(x,y); }
88RETi sse_cmpgt( const __m128i x, const __m128i y ) { return _mm_cmpgt_epi32(x,y); }
89
90// conversion operators
91RETf sse_cvt( const __m128i x ) { return _mm_cvtepi32_ps(x); }
92RETi sse_cvt( const __m128 x ) { return _mm_cvttps_epi32(x); }
93
94} // namespace pcl
95
96#undef RETf
97#undef RETi
98#endif /* defined(__SSE2__) */