| 1 | /***************************************************************************
|
|---|
| 2 | *
|
|---|
| 3 | * Copyright 2000 by David Demirdjian. All rights reserved.
|
|---|
| 4 | *
|
|---|
| 5 | * Developed by David Demirdjian
|
|---|
| 6 | *
|
|---|
| 7 | * Permission to use, copy, or modify this software and its documentation
|
|---|
| 8 | * for educational and research purposes only and without fee is hereby
|
|---|
| 9 | * granted, provided that this copyright notice and the original authors's
|
|---|
| 10 | * names appear on all copies and supporting documentation. If individual
|
|---|
| 11 | * files are separated from this distribution directory structure, this
|
|---|
| 12 | * copyright notice must be included. For any other uses of this software,
|
|---|
| 13 | * in original or modified form, including but not limited to distribution
|
|---|
| 14 | * in whole or in part, specific prior permission must be obtained from
|
|---|
| 15 | * MIT. These programs shall not be used, rewritten, or adapted as the
|
|---|
| 16 | * basis of a commercial software or hardware product without first
|
|---|
| 17 | * obtaining appropriate licenses from David Demirdjian. The author makes
|
|---|
| 18 | * no representations about the suitability of this software for any purpose.
|
|---|
| 19 | * It is provided "as is" without express or implied warranty.
|
|---|
| 20 | *
|
|---|
| 21 | **************************************************************************/
|
|---|
| 22 | #ifndef _PROCESSING_MMX_H
|
|---|
| 23 | #define _PROCESSING_MMX_H
|
|---|
| 24 |
|
|---|
| 25 | typedef unsigned char uchar;
|
|---|
| 26 | typedef unsigned short ushort;
|
|---|
| 27 |
|
|---|
| 28 | // translate image of 'tx' pixels to the right
|
|---|
| 29 | // (or left if tx<0)
|
|---|
| 30 | inline void translateImage(int tx, uchar* data1, int siz);
|
|---|
| 31 |
|
|---|
| 32 | // normalize intensities in images
|
|---|
| 33 | inline void normalizeImages(uchar* data1, uchar* data2, uchar* data3, int siz);
|
|---|
| 34 | inline void normalizeImages(uchar* data1, uchar* data, int siz);
|
|---|
| 35 | inline void normalizeImages(const uchar* data1, const uchar* data2, const uchar* data3,
|
|---|
| 36 | uchar* out1, uchar* out2, uchar* out3, int siz);
|
|---|
| 37 | inline void normalizeImages(const uchar* data1, const uchar* data2,
|
|---|
| 38 | uchar* out1, uchar* out2, int siz);
|
|---|
| 39 |
|
|---|
| 40 | // shrink images by a factor 'fact'. eg if fact = 2, out will be twice as small as src
|
|---|
| 41 | inline void shrinkImages(uchar* dst, const uchar* src, int width, int height, int fact);
|
|---|
| 42 |
|
|---|
| 43 |
|
|---|
| 44 | // ImgSub2: D = saturation0(|S1 - S2| + |S1 - S3|)
|
|---|
| 45 | inline int ImgSubandAdd(const uchar *Src1, const uchar *Src2,
|
|---|
| 46 | const uchar *Src3, uchar *Dest, int l);
|
|---|
| 47 | // int ImgSubandAdd_sse2(const uchar *Src1, const uchar *Src2, const uchar *Src3, uchar *Dest, int l);
|
|---|
| 48 | inline int ImgSubandAdd(const uchar *Src1, const uchar *Src2,
|
|---|
| 49 | uchar *Dest, int l);
|
|---|
| 50 |
|
|---|
| 51 | inline int ImgSubandAdd2(const uchar *Src1, const uchar *Src2,
|
|---|
| 52 | const uchar *Src3, uchar* Dest1, int l, int imageSize, int width);
|
|---|
| 53 | inline int ImgSubandAdd2_Vert(const uchar *Src1, const uchar *Src2,
|
|---|
| 54 | uchar* Dest1,
|
|---|
| 55 | int l, int imageSize, int width);
|
|---|
| 56 | inline int ImgSubandAdd_Horiz(const uchar *Src1, const uchar *Src3, uchar* Dest1,
|
|---|
| 57 | int l, int imageSize, int width);
|
|---|
| 58 |
|
|---|
| 59 |
|
|---|
| 60 |
|
|---|
| 61 | // ---------------------
|
|---|
| 62 | // init BestCorrelation and SecondCOrrelation with CurrentCorrelation
|
|---|
| 63 | // init Disparity with disparityInit
|
|---|
| 64 | inline int initMinimumCorrelation(const uchar *CurrentCorrelation, uchar disparityInit, uchar *Disparity,
|
|---|
| 65 | uchar *BestCorrelation, uchar *SecondCorrelation, int bytecount);
|
|---|
| 66 | // ----------------------
|
|---|
| 67 | // FULL IMAGE, BEST ONLY : Keith's code
|
|---|
| 68 | inline int findMinimumCorrelation_mmx(const uchar *CurrentCorrelation, uchar CurrentDisparity, uchar *Disparity,
|
|---|
| 69 | uchar *BestCorrelation, int bytecount) ;
|
|---|
| 70 | // ----------------------
|
|---|
| 71 | // FULL IMAGE, BEST+SECOND : Keith's code
|
|---|
| 72 | inline int findMinimumCorrelation_mmx( const uchar *CurrentCorrelation, uchar CurrentDisparity, uchar *Disparity,
|
|---|
| 73 | uchar *BestCorrelation, uchar *SecondCorrelation, int bytecount);
|
|---|
| 74 |
|
|---|
| 75 |
|
|---|
| 76 |
|
|---|
| 77 | // ------------------------ image filters -------------------------------
|
|---|
| 78 | inline void sum_5x5_mmx(uchar* im, ushort* im_out, int dataSize, int width, ushort* buff);
|
|---|
| 79 | inline void sum_5x5_mmx(uchar* im, uchar* im_out, int dataSize, int width, ushort* buff);
|
|---|
| 80 |
|
|---|
| 81 | // ------- row filters -------
|
|---|
| 82 | template<class T> void sum_Row_5(T* im, ushort* im_out, int rowSize);
|
|---|
| 83 | inline void sum_Row_mmx(uchar* im, ushort* im_out, int rowSize, int maskSize);
|
|---|
| 84 | inline void sum_Row_mmx(ushort* im, ushort* im_out, int rowSize, int maskSize) ;
|
|---|
| 85 | inline void sum_Row_5_mmx(uchar* im, ushort* im_out, int rowSize);
|
|---|
| 86 | inline void sum_Row_5_mmx(ushort* im, ushort* im_out, int rowSize);
|
|---|
| 87 |
|
|---|
| 88 | // ------- cols filters -------
|
|---|
| 89 | inline void avg_Col(ushort* im, uchar* im_out, int dataSize, int width, int sizeMask);
|
|---|
| 90 |
|
|---|
| 91 | inline void avg_Col_mmx(ushort* im, uchar* im_out, int dataSize, int width, int sizeMask);
|
|---|
| 92 | inline void avg_Col_sse2(ushort* im, uchar* im_out, int dataSize, int width, int sizeMask);
|
|---|
| 93 | inline void avg_Col_5(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 94 | inline void avg_Col_7(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 95 | inline void avg_Col_9(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 96 | inline void avg_Col_11(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 97 | inline void avg_Col_13(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 98 | inline void avg_Col_15(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 99 | inline void avg_Col_17(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 100 |
|
|---|
| 101 | inline void add_Col_5_wb(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 102 | inline void add_Col_5_ww(ushort* im, ushort* im_out, int dataSize, int width);
|
|---|
| 103 |
|
|---|
| 104 | // ------- cols filters -------
|
|---|
| 105 | inline void avg_Col_5_sse2(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 106 | inline void avg_Col_7_sse2(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 107 | inline void avg_Col_9_sse2(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 108 | inline void avg_Col_11_sse2(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 109 | inline void avg_Col_13_sse2(ushort* im, uchar* im_out, int dataSize, int width);
|
|---|
| 110 |
|
|---|
| 111 |
|
|---|
| 112 | // return the average pixel value
|
|---|
| 113 | inline float pixelMean(const uchar* im, int imageSize);
|
|---|
| 114 |
|
|---|
| 115 | // check that the diff. between best and second disp. scores in great enough
|
|---|
| 116 | inline void compareBestAndSecond(uchar* bestScores, uchar* secondScores, char thresh,
|
|---|
| 117 | uchar valForReplacement,
|
|---|
| 118 | uchar* disp, int dataSize);
|
|---|
| 119 |
|
|---|
| 120 | // image copy
|
|---|
| 121 | // windowWidth must be multiple of 8
|
|---|
| 122 | inline void cropImage(const uchar* imSrc, int width, int height,
|
|---|
| 123 | uchar* imDest, int x0, int y0, int windowWidth, int windowHeight);
|
|---|
| 124 |
|
|---|
| 125 |
|
|---|
| 126 |
|
|---|
| 127 | // apply mask: if mask[]==undefined_val im[]->im[]
|
|---|
| 128 | // otherwise im[]->mask[]
|
|---|
| 129 | inline void overrideImage(uchar* im, const uchar* mask, uchar undefined_val, int imageSize);
|
|---|
| 130 | inline void overrideImageMMX(uchar* im, const uchar* mask, uchar undefined_val, int imageSize);
|
|---|
| 131 | inline void copyMMX(void* imDest, const void* imSrc, int dataSize);
|
|---|
| 132 | inline void copySSE(void* imDest, const void* imSrc, int dataSize);
|
|---|
| 133 | inline void setMMX(float* imDest, const float value, int dataSize);
|
|---|
| 134 | inline void setMMX(char* imDest, const char value, int dataSize);
|
|---|
| 135 |
|
|---|
| 136 | // multiply im. by a constant 'fact'
|
|---|
| 137 | inline void multiply(uchar* im, float fact, int imageSize);
|
|---|
| 138 | inline void multiply(const uchar* imSrc, uchar* imDest, float fact, int imageSize);
|
|---|
| 139 | inline void divide(ushort* im, uchar* div, uchar* result, int imageSize);
|
|---|
| 140 | inline void binarize(uchar* im, uchar* im_out, uchar undefined_val, int dataSize);
|
|---|
| 141 | inline void set_undefined_to_zero(uchar* im, uchar* im_out, uchar undefined_val, int dataSize);
|
|---|
| 142 | inline void set_zero_to_undefined(uchar* im, uchar* im_out, uchar undefined_val, int dataSize);
|
|---|
| 143 |
|
|---|
| 144 | // check depth validity
|
|---|
| 145 | void checkDisparityValidity(uchar* disp, uchar* buff, int buffStep,
|
|---|
| 146 | uchar* bestScore, uchar tol,
|
|---|
| 147 | uchar undefined_val, uchar nbDepth,
|
|---|
| 148 | int imageSize);
|
|---|
| 149 | void checkDisparityValidityAndSearchAround(uchar* disp, uchar* buff, int buffStep,
|
|---|
| 150 | uchar* bestScore, uchar tol,
|
|---|
| 151 | uchar undefined_val, uchar nbDepth,
|
|---|
| 152 | int imageSize);
|
|---|
| 153 | // 3D reconst
|
|---|
| 154 | //void createIdxValidPixelsList(const uchar* depth_image, int* idx_valid_pixels, int& nbPoints, int siz, int UNDEFINED_DEPTH);
|
|---|
| 155 |
|
|---|
| 156 | #include "processingMMX.inl"
|
|---|
| 157 | #include "processingSSE2.inl"
|
|---|
| 158 |
|
|---|
| 159 | #endif
|
|---|
