util.h File Reference

#include <fcntl.h>
#include <malloc.h>
#include <sys/ioctl.h>
#include <sys/mman.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <sys/types.h>
#include <unistd.h>
#include <cassert>
#include <cerrno>
#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <immintrin.h>
#include <x86intrin.h>

Include dependency graph for util.h:

Go to the source code of this file.

Namespaces
	apollo
	PlanningContext is the runtime context in planning. It is persistent across multiple frames.
	apollo::drivers
	apollo::drivers
	apollo::drivers::camera

Macros
#define	SIMD_INLINE   inline __attribute__((always_inline))
#define	SIMD_CHAR_AS_LONGLONG(a)   (((int64_t)a) & 0xFF)
#define	SIMD_SHORT_AS_LONGLONG(a)   (((int64_t)a) & 0xFFFF)
#define	SIMD_INT_AS_LONGLONG(a)   (((int64_t)a) & 0xFFFFFFFF)
#define	SIMD_LL_SET1_EPI8(a)
#define	SIMD_LL_SET2_EPI8(a, b)
#define	SIMD_LL_SETR_EPI8(a, b, c, d, e, f, g, h)
#define	SIMD_LL_SET1_EPI16(a)
#define	SIMD_LL_SET2_EPI16(a, b)
#define	SIMD_LL_SETR_EPI16(a, b, c, d)
#define	SIMD_LL_SET1_EPI32(a)   SIMD_INT_AS_LONGLONG(a) | (SIMD_INT_AS_LONGLONG(a) << 32)
#define	SIMD_LL_SET2_EPI32(a, b)   SIMD_INT_AS_LONGLONG(a) | (SIMD_INT_AS_LONGLONG(b) << 32)
#define	SIMD_MM256_SET1_EPI8(a)
#define	SIMD_MM256_SET2_EPI8(a0, a1)
#define	SIMD_MM256_SETR_EPI8(a0, a1, a2, a3, a4, a5, a6, a7, a8, a9, aa, ab, ac, ad, ae, af, b0, b1, b2, b3, b4, b5, b6, b7, b8, b9, ba, bb, bc, bd, be, bf)
#define	SIMD_MM256_SET1_EPI16(a)
#define	SIMD_MM256_SET2_EPI16(a0, a1)
#define	SIMD_MM256_SETR_EPI16(a0, a1, a2, a3, a4, a5, a6, a7, a8, a9, aa, ab, ac, ad, ae, af)
#define	SIMD_MM256_SET1_EPI32(a)
#define	SIMD_MM256_SET2_EPI32(a0, a1)
#define	SIMD_MM256_SETR_EPI32(a0, a1, a2, a3, a4, a5, a6, a7)

Functions
void	apollo::drivers::camera::yuyv2rgb_avx (unsigned char *YUV, unsigned char *RGB, int NumPixels)
void	apollo::drivers::camera::print_m256 (const __m256i a)
void	apollo::drivers::camera::print_m256_i32 (const __m256i a)
void	apollo::drivers::camera::print_m256_i16 (const __m256i a)
template<class T >
SIMD_INLINE char	apollo::drivers::camera::GetChar (T value, size_t index)
template<bool align>
SIMD_INLINE __m256i	apollo::drivers::camera::Load (const __m256i *p)
template<>
SIMD_INLINE __m256i	apollo::drivers::camera::Load< false > (const __m256i *p)
template<>
SIMD_INLINE __m256i	apollo::drivers::camera::Load< true > (const __m256i *p)
SIMD_INLINE void *	apollo::drivers::camera::AlignLo (const void *ptr, size_t align)
SIMD_INLINE bool	apollo::drivers::camera::Aligned (const void *ptr, size_t align=sizeof(__m256))
template<bool align>
SIMD_INLINE void	apollo::drivers::camera::Store (__m256i *p, __m256i a)
template<>
SIMD_INLINE void	apollo::drivers::camera::Store< false > (__m256i *p, __m256i a)
template<>
SIMD_INLINE void	apollo::drivers::camera::Store< true > (__m256i *p, __m256i a)
SIMD_INLINE __m256i	apollo::drivers::camera::SaturateI16ToU8 (__m256i value)
SIMD_INLINE __m256i	apollo::drivers::camera::AdjustY16 (__m256i y16)
SIMD_INLINE __m256i	apollo::drivers::camera::AdjustUV16 (__m256i uv16)
SIMD_INLINE __m256i	apollo::drivers::camera::AdjustedYuvToRed32 (__m256i y16_1, __m256i v16_0)
SIMD_INLINE __m256i	apollo::drivers::camera::AdjustedYuvToRed16 (__m256i y16, __m256i v16)
SIMD_INLINE __m256i	apollo::drivers::camera::AdjustedYuvToGreen32 (__m256i y16_1, __m256i u16_v16)
SIMD_INLINE __m256i	apollo::drivers::camera::AdjustedYuvToGreen16 (__m256i y16, __m256i u16, __m256i v16)
SIMD_INLINE __m256i	apollo::drivers::camera::AdjustedYuvToBlue32 (__m256i y16_1, __m256i u16_0)
SIMD_INLINE __m256i	apollo::drivers::camera::AdjustedYuvToBlue16 (__m256i y16, __m256i u16)
SIMD_INLINE __m256i	apollo::drivers::camera::YuvToRed (__m256i y, __m256i v)
SIMD_INLINE __m256i	apollo::drivers::camera::YuvToGreen (__m256i y, __m256i u, __m256i v)
SIMD_INLINE __m256i	apollo::drivers::camera::YuvToBlue (__m256i y, __m256i u)
template<int index>
__m256i	apollo::drivers::camera::InterleaveBgr (__m256i blue, __m256i green, __m256i red)
template<>
SIMD_INLINE __m256i	apollo::drivers::camera::InterleaveBgr< 0 > (__m256i blue, __m256i green, __m256i red)
template<>
SIMD_INLINE __m256i	apollo::drivers::camera::InterleaveBgr< 1 > (__m256i blue, __m256i green, __m256i red)
template<>
SIMD_INLINE __m256i	apollo::drivers::camera::InterleaveBgr< 2 > (__m256i blue, __m256i green, __m256i red)
SIMD_INLINE __m256i	apollo::drivers::camera::BgrToBlue (__m256i bgr[3])
SIMD_INLINE __m256i	apollo::drivers::camera::BgrToGreen (__m256i bgr[3])
SIMD_INLINE __m256i	apollo::drivers::camera::BgrToRed (__m256i bgr[3])
template<bool align>
SIMD_INLINE __m256i	apollo::drivers::camera::LoadPermuted (const __m256i *p)

Variables
const size_t	apollo::drivers::camera::A = sizeof(__m256i)
const size_t	apollo::drivers::camera::DA = 2 * A
const size_t	apollo::drivers::camera::QA = 4 * A
const size_t	apollo::drivers::camera::OA = 8 * A
const size_t	apollo::drivers::camera::HA = A / 2
const __m256i	apollo::drivers::camera::K_ZERO = SIMD_MM256_SET1_EPI8(0)
const __m256i	apollo::drivers::camera::K_INV_ZERO = SIMD_MM256_SET1_EPI8(0xFF)
const __m256i	apollo::drivers::camera::K8_01 = SIMD_MM256_SET1_EPI8(0x01)
const __m256i	apollo::drivers::camera::K8_02 = SIMD_MM256_SET1_EPI8(0x02)
const __m256i	apollo::drivers::camera::K8_04 = SIMD_MM256_SET1_EPI8(0x04)
const __m256i	apollo::drivers::camera::K8_08 = SIMD_MM256_SET1_EPI8(0x08)
const __m256i	apollo::drivers::camera::K8_10 = SIMD_MM256_SET1_EPI8(0x10)
const __m256i	apollo::drivers::camera::K8_20 = SIMD_MM256_SET1_EPI8(0x20)
const __m256i	apollo::drivers::camera::K8_40 = SIMD_MM256_SET1_EPI8(0x40)
const __m256i	apollo::drivers::camera::K8_80 = SIMD_MM256_SET1_EPI8(0x80)
const __m256i	apollo::drivers::camera::K8_01_FF = SIMD_MM256_SET2_EPI8(0x01, 0xFF)
const __m256i	apollo::drivers::camera::K16_0001 = SIMD_MM256_SET1_EPI16(0x0001)
const __m256i	apollo::drivers::camera::K16_0002 = SIMD_MM256_SET1_EPI16(0x0002)
const __m256i	apollo::drivers::camera::K16_0003 = SIMD_MM256_SET1_EPI16(0x0003)
const __m256i	apollo::drivers::camera::K16_0004 = SIMD_MM256_SET1_EPI16(0x0004)
const __m256i	apollo::drivers::camera::K16_0005 = SIMD_MM256_SET1_EPI16(0x0005)
const __m256i	apollo::drivers::camera::K16_0006 = SIMD_MM256_SET1_EPI16(0x0006)
const __m256i	apollo::drivers::camera::K16_0008 = SIMD_MM256_SET1_EPI16(0x0008)
const __m256i	apollo::drivers::camera::K16_0010 = SIMD_MM256_SET1_EPI16(0x0010)
const __m256i	apollo::drivers::camera::K16_0018 = SIMD_MM256_SET1_EPI16(0x0018)
const __m256i	apollo::drivers::camera::K16_0020 = SIMD_MM256_SET1_EPI16(0x0020)
const __m256i	apollo::drivers::camera::K16_0080 = SIMD_MM256_SET1_EPI16(0x0080)
const __m256i	apollo::drivers::camera::K16_00FF = SIMD_MM256_SET1_EPI16(0x00FF)
const __m256i	apollo::drivers::camera::K16_FF00 = SIMD_MM256_SET1_EPI16(0xFF00)
const __m256i	apollo::drivers::camera::K32_00000001 = SIMD_MM256_SET1_EPI32(0x00000001)
const __m256i	apollo::drivers::camera::K32_00000002 = SIMD_MM256_SET1_EPI32(0x00000002)
const __m256i	apollo::drivers::camera::K32_00000004 = SIMD_MM256_SET1_EPI32(0x00000004)
const __m256i	apollo::drivers::camera::K32_00000008 = SIMD_MM256_SET1_EPI32(0x00000008)
const __m256i	apollo::drivers::camera::K32_000000FF = SIMD_MM256_SET1_EPI32(0x000000FF)
const __m256i	apollo::drivers::camera::K32_0000FFFF = SIMD_MM256_SET1_EPI32(0x0000FFFF)
const __m256i	apollo::drivers::camera::K32_00010000 = SIMD_MM256_SET1_EPI32(0x00010000)
const __m256i	apollo::drivers::camera::K32_01000000 = SIMD_MM256_SET1_EPI32(0x01000000)
const __m256i	apollo::drivers::camera::K32_FFFFFF00 = SIMD_MM256_SET1_EPI32(0xFFFFFF00)
const __m256i	apollo::drivers::camera::K8_SHUFFLE_BGR0_TO_BLUE
const __m256i	apollo::drivers::camera::K8_SHUFFLE_BGR1_TO_BLUE
const __m256i	apollo::drivers::camera::K8_SHUFFLE_BGR2_TO_BLUE
const __m256i	apollo::drivers::camera::Y_SHUFFLE0
const __m256i	apollo::drivers::camera::Y_SHUFFLE1
const __m256i	apollo::drivers::camera::U_SHUFFLE0
const __m256i	apollo::drivers::camera::U_SHUFFLE1
const __m256i	apollo::drivers::camera::U_SHUFFLE2
const __m256i	apollo::drivers::camera::U_SHUFFLE3
const __m256i	apollo::drivers::camera::U_SHUFFLE4
const __m256i	apollo::drivers::camera::V_SHUFFLE0
const __m256i	apollo::drivers::camera::V_SHUFFLE1
const __m256i	apollo::drivers::camera::V_SHUFFLE2
const __m256i	apollo::drivers::camera::V_SHUFFLE3
const __m256i	apollo::drivers::camera::K8_SHUFFLE_PERMUTED_BLUE_TO_BGR0
const __m256i	apollo::drivers::camera::K8_SHUFFLE_PERMUTED_BLUE_TO_BGR1
const __m256i	apollo::drivers::camera::K8_SHUFFLE_PERMUTED_BLUE_TO_BGR2
const __m256i	apollo::drivers::camera::K8_SHUFFLE_PERMUTED_GREEN_TO_BGR0
const __m256i	apollo::drivers::camera::K8_SHUFFLE_PERMUTED_GREEN_TO_BGR1
const __m256i	apollo::drivers::camera::K8_SHUFFLE_PERMUTED_GREEN_TO_BGR2
const __m256i	apollo::drivers::camera::K8_SHUFFLE_PERMUTED_RED_TO_BGR0
const __m256i	apollo::drivers::camera::K8_SHUFFLE_PERMUTED_RED_TO_BGR1
const __m256i	apollo::drivers::camera::K8_SHUFFLE_PERMUTED_RED_TO_BGR2
const __m256i	apollo::drivers::camera::K8_SHUFFLE_BGR0_TO_GREEN
const __m256i	apollo::drivers::camera::K8_SHUFFLE_BGR1_TO_GREEN
const __m256i	apollo::drivers::camera::K8_SHUFFLE_BGR2_TO_GREEN
const __m256i	apollo::drivers::camera::K8_SHUFFLE_BGR0_TO_RED
const __m256i	apollo::drivers::camera::K8_SHUFFLE_BGR1_TO_RED
const __m256i	apollo::drivers::camera::K8_SHUFFLE_BGR2_TO_RED
const __m256i	apollo::drivers::camera::K16_Y_ADJUST = SIMD_MM256_SET1_EPI16(0)
const __m256i	apollo::drivers::camera::K16_UV_ADJUST = SIMD_MM256_SET1_EPI16(128)
const int	apollo::drivers::camera::Y_ADJUST = 0
const int	apollo::drivers::camera::UV_ADJUST = 128
const int	apollo::drivers::camera::YUV_TO_BGR_AVERAGING_SHIFT = 13
const int	apollo::drivers::camera::YUV_TO_BGR_ROUND_TERM = 0
const int	apollo::drivers::camera::Y_TO_RGB_WEIGHT
const int	apollo::drivers::camera::U_TO_BLUE_WEIGHT
const int	apollo::drivers::camera::U_TO_GREEN_WEIGHT
const int	apollo::drivers::camera::V_TO_GREEN_WEIGHT
const int	apollo::drivers::camera::V_TO_RED_WEIGHT
const __m256i	apollo::drivers::camera::K16_YRGB_RT
const __m256i	apollo::drivers::camera::K16_VR_0 = SIMD_MM256_SET2_EPI16(V_TO_RED_WEIGHT, 0)
const __m256i	apollo::drivers::camera::K16_UG_VG
const __m256i	apollo::drivers::camera::K16_UB_0 = SIMD_MM256_SET2_EPI16(U_TO_BLUE_WEIGHT, 0)

Macro Definition Documentation

SIMD_CHAR_AS_LONGLONG

#define SIMD_CHAR_AS_LONGLONG

(

a

)

(((int64_t)a) & 0xFF)

SIMD_INLINE

#define SIMD_INLINE   inline __attribute__((always_inline))

SIMD_INT_AS_LONGLONG

#define SIMD_INT_AS_LONGLONG

(

a

)

(((int64_t)a) & 0xFFFFFFFF)

SIMD_LL_SET1_EPI16

#define SIMD_LL_SET1_EPI16

(

a

)

Value:

SIMD_SHORT_AS_LONGLONG(a) | (SIMD_SHORT_AS_LONGLONG(a) << 16) | \
      (SIMD_SHORT_AS_LONGLONG(a) << 32) | (SIMD_SHORT_AS_LONGLONG(a) << 48)

SIMD_LL_SET1_EPI32

#define SIMD_LL_SET1_EPI32

(

a

)

SIMD_INT_AS_LONGLONG(a) | (SIMD_INT_AS_LONGLONG(a) << 32)

SIMD_LL_SET1_EPI8

#define SIMD_LL_SET1_EPI8

(

a

)

Value:

SIMD_CHAR_AS_LONGLONG(a) | (SIMD_CHAR_AS_LONGLONG(a) << 8) |              \
      (SIMD_CHAR_AS_LONGLONG(a) << 16) | (SIMD_CHAR_AS_LONGLONG(a) << 24) | \
      (SIMD_CHAR_AS_LONGLONG(a) << 32) | (SIMD_CHAR_AS_LONGLONG(a) << 40) | \
      (SIMD_CHAR_AS_LONGLONG(a) << 48) | (SIMD_CHAR_AS_LONGLONG(a) << 56)

SIMD_LL_SET2_EPI16

#define SIMD_LL_SET2_EPI16	(		a,
			b
	)

Value:

SIMD_SHORT_AS_LONGLONG(a) | (SIMD_SHORT_AS_LONGLONG(b) << 16) | \
      (SIMD_SHORT_AS_LONGLONG(a) << 32) | (SIMD_SHORT_AS_LONGLONG(b) << 48)

SIMD_LL_SET2_EPI32

#define SIMD_LL_SET2_EPI32	(		a,
			b
	)		SIMD_INT_AS_LONGLONG(a) | (SIMD_INT_AS_LONGLONG(b) << 32)

SIMD_LL_SET2_EPI8

#define SIMD_LL_SET2_EPI8	(		a,
			b
	)

Value:

SIMD_CHAR_AS_LONGLONG(a) | (SIMD_CHAR_AS_LONGLONG(b) << 8) |              \
      (SIMD_CHAR_AS_LONGLONG(a) << 16) | (SIMD_CHAR_AS_LONGLONG(b) << 24) | \
      (SIMD_CHAR_AS_LONGLONG(a) << 32) | (SIMD_CHAR_AS_LONGLONG(b) << 40) | \
      (SIMD_CHAR_AS_LONGLONG(a) << 48) | (SIMD_CHAR_AS_LONGLONG(b) << 56)

SIMD_LL_SETR_EPI16

#define SIMD_LL_SETR_EPI16	(		a,
			b,
			c,
			d
	)

Value:

SIMD_SHORT_AS_LONGLONG(a) | (SIMD_SHORT_AS_LONGLONG(b) << 16) | \
      (SIMD_SHORT_AS_LONGLONG(c) << 32) | (SIMD_SHORT_AS_LONGLONG(d) << 48)

SIMD_LL_SETR_EPI8

#define SIMD_LL_SETR_EPI8	(		a,
			b,
			c,
			d,
			e,
			f,
			g,
			h
	)

Value:

SIMD_CHAR_AS_LONGLONG(a) | (SIMD_CHAR_AS_LONGLONG(b) << 8) |              \
      (SIMD_CHAR_AS_LONGLONG(c) << 16) | (SIMD_CHAR_AS_LONGLONG(d) << 24) | \
      (SIMD_CHAR_AS_LONGLONG(e) << 32) | (SIMD_CHAR_AS_LONGLONG(f) << 40) | \
      (SIMD_CHAR_AS_LONGLONG(g) << 48) | (SIMD_CHAR_AS_LONGLONG(h) << 56)

SIMD_MM256_SET1_EPI16

#define SIMD_MM256_SET1_EPI16

(

a

)

Value:

{                                                                       \
    SIMD_LL_SET1_EPI16(a)                                                 \
    , SIMD_LL_SET1_EPI16(a), SIMD_LL_SET1_EPI16(a), SIMD_LL_SET1_EPI16(a) \
  }

SIMD_MM256_SET1_EPI32

#define SIMD_MM256_SET1_EPI32

(

a

)

Value:

{                                                                       \
    SIMD_LL_SET1_EPI32(a)                                                 \
    , SIMD_LL_SET1_EPI32(a), SIMD_LL_SET1_EPI32(a), SIMD_LL_SET1_EPI32(a) \
  }

SIMD_MM256_SET1_EPI8

#define SIMD_MM256_SET1_EPI8

(

a

)

Value:

{                                                                    \
    SIMD_LL_SET1_EPI8(a)                                               \
    , SIMD_LL_SET1_EPI8(a), SIMD_LL_SET1_EPI8(a), SIMD_LL_SET1_EPI8(a) \
  }

SIMD_MM256_SET2_EPI16

#define SIMD_MM256_SET2_EPI16	(		a0,
			a1
	)

Value:

{                                                           \
    SIMD_LL_SET2_EPI16(a0, a1)                                \
    , SIMD_LL_SET2_EPI16(a0, a1), SIMD_LL_SET2_EPI16(a0, a1), \
        SIMD_LL_SET2_EPI16(a0, a1)                            \
  }

SIMD_MM256_SET2_EPI32

#define SIMD_MM256_SET2_EPI32	(		a0,
			a1
	)

Value:

{                                                           \
    SIMD_LL_SET2_EPI32(a0, a1)                                \
    , SIMD_LL_SET2_EPI32(a0, a1), SIMD_LL_SET2_EPI32(a0, a1), \
        SIMD_LL_SET2_EPI32(a0, a1)                            \
  }

SIMD_MM256_SET2_EPI8

#define SIMD_MM256_SET2_EPI8	(		a0,
			a1
	)

Value:

{                                                         \
    SIMD_LL_SET2_EPI8(a0, a1)                               \
    , SIMD_LL_SET2_EPI8(a0, a1), SIMD_LL_SET2_EPI8(a0, a1), \
        SIMD_LL_SET2_EPI8(a0, a1)                           \
  }

SIMD_MM256_SETR_EPI16

#define SIMD_MM256_SETR_EPI16	(		a0,
			a1,
			a2,
			a3,
			a4,
			a5,
			a6,
			a7,
			a8,
			a9,
			aa,
			ab,
			ac,
			ad,
			ae,
			af
	)

Value:

{                                                                           \
    SIMD_LL_SETR_EPI16(a0, a1, a2, a3)                                        \
    , SIMD_LL_SETR_EPI16(a4, a5, a6, a7), SIMD_LL_SETR_EPI16(a8, a9, aa, ab), \
        SIMD_LL_SETR_EPI16(ac, ad, ae, af)                                    \
  }

SIMD_MM256_SETR_EPI32

#define SIMD_MM256_SETR_EPI32	(		a0,
			a1,
			a2,
			a3,
			a4,
			a5,
			a6,
			a7
	)

Value:

{                                                           \
    SIMD_LL_SET2_EPI32(a0, a1)                                \
    , SIMD_LL_SET2_EPI32(a2, a3), SIMD_LL_SET2_EPI32(a4, a5), \
        SIMD_LL_SET2_EPI32(a6, a7)                            \
  }

SIMD_MM256_SETR_EPI8

#define SIMD_MM256_SETR_EPI8	(		a0,
			a1,
			a2,
			a3,
			a4,
			a5,
			a6,
			a7,
			a8,
			a9,
			aa,
			ab,
			ac,
			ad,
			ae,
			af,
			b0,
			b1,
			b2,
			b3,
			b4,
			b5,
			b6,
			b7,
			b8,
			b9,
			ba,
			bb,
			bc,
			bd,
			be,
			bf
	)

Value:

{                                                                          \
    SIMD_LL_SETR_EPI8(a0, a1, a2, a3, a4, a5, a6, a7)                        \
    , SIMD_LL_SETR_EPI8(a8, a9, aa, ab, ac, ad, ae, af),                     \
        SIMD_LL_SETR_EPI8(b0, b1, b2, b3, b4, b5, b6, b7),                   \
        SIMD_LL_SETR_EPI8(b8, b9, ba, bb, bc, bd, be, bf)                    \
  }

SIMD_SHORT_AS_LONGLONG

#define SIMD_SHORT_AS_LONGLONG

(

a

)

(((int64_t)a) & 0xFFFF)