Point Cloud Library (PCL)  1.12.0
sse.h
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4  * Point Cloud Library (PCL) - www.pointclouds.org
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6  * Copyright (c) 2012, Piotr Dollar & Ron Appel.[pdollar-at-caltech.edu]
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35  * Taken from Piotr Dollar's MATLAB Image&Video ToolboxVersion 3.00.
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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 
47 namespace pcl {
48 
49 // set, load and store values
50 RETf sse_set( const float &x ) { return _mm_set1_ps(x); }
51 RETf sse_set( float x, float y, float z, float w ) { return _mm_set_ps(x,y,z,w); }
52 RETi sse_set( const int &x ) { return _mm_set1_epi32(x); }
53 RETf sse_ld( const float &x ) { return _mm_load_ps(&x); }
54 RETf sse_ldu( const float &x ) { return _mm_loadu_ps(&x); }
55 RETf sse_str( float &x, const __m128 y ) { _mm_store_ps(&x,y); return y; }
56 RETf sse_str1( float &x, const __m128 y ) { _mm_store_ss(&x,y); return y; }
57 RETf sse_stru( float &x, const __m128 y ) { _mm_storeu_ps(&x,y); return y; }
58 RETf sse_str( float &x, const float y ) { return sse_str(x,sse_set(y)); }
59 
60 // arithmetic operators
61 RETi sse_add( const __m128i x, const __m128i y ) { return _mm_add_epi32(x,y); }
62 RETf sse_add( const __m128 x, const __m128 y ) { return _mm_add_ps(x,y); }
63 RETf sse_add( const __m128 x, const __m128 y, const __m128 z ) {
64  return sse_add(sse_add(x,y),z); }
65 RETf 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); }
67 RETf sse_sub( const __m128 x, const __m128 y ) { return _mm_sub_ps(x,y); }
68 RETf sse_mul( const __m128 x, const __m128 y ) { return _mm_mul_ps(x,y); }
69 RETf sse_mul( const __m128 x, const float y ) { return sse_mul(x,sse_set(y)); }
70 RETf sse_mul( const float x, const __m128 y ) { return sse_mul(sse_set(x),y); }
71 RETf sse_inc( __m128 &x, const __m128 y ) { return x = sse_add(x,y); }
72 RETf sse_inc( float &x, const __m128 y ) { __m128 t=sse_add(sse_ld(x),y); return sse_str(x,t); }
73 RETf sse_dec( __m128 &x, const __m128 y ) { return x = sse_sub(x,y); }
74 RETf sse_dec( float &x, const __m128 y ) { __m128 t=sse_sub(sse_ld(x),y); return sse_str(x,t); }
75 RETf sse_min( const __m128 x, const __m128 y ) { return _mm_min_ps(x,y); }
76 RETf sse_rcp( const __m128 x ) { return _mm_rcp_ps(x); }
77 RETf sse_rcpsqrt( const __m128 x ) { return _mm_rsqrt_ps(x); }
78 
79 // logical operators
80 RETf sse_and( const __m128 x, const __m128 y ) { return _mm_and_ps(x,y); }
81 RETi sse_and( const __m128i x, const __m128i y ) { return _mm_and_si128(x,y); }
82 RETf sse_andnot( const __m128 x, const __m128 y ) { return _mm_andnot_ps(x,y); }
83 RETf sse_or( const __m128 x, const __m128 y ) { return _mm_or_ps(x,y); }
84 RETf sse_xor( const __m128 x, const __m128 y ) { return _mm_xor_ps(x,y); }
85 
86 // comparison operators
87 RETf sse_cmpgt( const __m128 x, const __m128 y ) { return _mm_cmpgt_ps(x,y); }
88 RETi sse_cmpgt( const __m128i x, const __m128i y ) { return _mm_cmpgt_epi32(x,y); }
89 
90 // conversion operators
91 RETf sse_cvt( const __m128i x ) { return _mm_cvtepi32_ps(x); }
92 RETi 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__) */