This header declares the kernel functions to run optimized belief propagation on CPU. More...

#include <math.h>
#include <omp.h>
#include <algorithm>
#include <iostream>
#include "BpResultsEvaluation/BpEvaluationStereoSets.h"
#include "BpRunProcessing/BpConstsEnumsAliases.h"
#include "BpSharedFuncts/SharedBpProcessingFuncts.h"
#include "BpRunProcessing/ParallelParamsBp.h"
#include "RunEval/RunTypeConstraints.h"
#include "RunImp/UtilityFuncts.h"
#include "RunImpCPU/RunCPUSettings.h"
#include "RunImpCPU/SIMDProcessing.h"
#include "KernelBpStereoCPU_AVX256TemplateSpFuncts.h"

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Namespaces
	beliefprop_cpu
	Namespace to define global kernel functions for optimized belief propagation processing on the CPU using OpenMP and SIMD vectorization.

Functions
template<RunData_t T, unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::InitializeBottomLevelData (const beliefprop::BpLevelProperties &current_bp_level, const float image_1_pixels_device, const float image_2_pixels_device, T data_cost_stereo_checkerboard_0, T data_cost_stereo_checkerboard_1, float lambda_bp, float data_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<RunData_t T, unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::InitializeCurrentLevelData (beliefprop::CheckerboardPart checkerboard_part, const beliefprop::BpLevelProperties &current_bp_level, const beliefprop::BpLevelProperties &prev_bp_level, const T data_cost_checkerboard_0, const T data_cost_checkerboard_1, T *data_cost_current_level, unsigned int offset_num, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<RunData_t T, unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::InitializeMessageValsToDefaultKernel (const beliefprop::BpLevelProperties &current_bp_level, T message_u_checkerboard_0, T message_d_checkerboard_0, T message_l_checkerboard_0, T message_r_checkerboard_0, T message_u_checkerboard_1, T message_d_checkerboard_1, T message_l_checkerboard_1, T message_r_checkerboard_1, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<RunData_t T, unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdates (beliefprop::CheckerboardPart checkerboard_to_update, const beliefprop::BpLevelProperties &current_bp_level, const T data_cost_checkerboard_0, const T data_cost_checkerboard_1, T message_u_checkerboard_0, T message_d_checkerboard_0, T message_l_checkerboard_0, T message_r_checkerboard_0, T message_u_checkerboard_1, T message_d_checkerboard_1, T message_l_checkerboard_1, T message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_num_disp_vals, const ParallelParams &opt_cpu_params)

template<RunData_t T, unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdatesNoPackedInstructions (beliefprop::CheckerboardPart checkerboard_part_update, const beliefprop::BpLevelProperties &current_bp_level, const T data_cost_checkerboard_0, const T data_cost_checkerboard_1, T message_u_checkerboard_0, T message_d_checkerboard_0, T message_l_checkerboard_0, T message_r_checkerboard_0, T message_u_checkerboard_1, T message_d_checkerboard_1, T message_l_checkerboard_1, T message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<RunData_t T, unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::CopyMsgDataToNextLevel (beliefprop::CheckerboardPart checkerboard_part, const beliefprop::BpLevelProperties &current_bp_level, const beliefprop::BpLevelProperties &next_bp_level, const T message_u_prev_checkerboard_0, const T message_d_prev_checkerboard_0, const T message_l_prev_checkerboard_0, const T message_r_prev_checkerboard_0, const T message_u_prev_checkerboard_1, const T message_d_prev_checkerboard_1, const T message_l_prev_checkerboard_1, const T message_r_prev_checkerboard_1, const T message_u_checkerboard_0, const T message_d_checkerboard_0, const T message_l_checkerboard_0, const T message_r_checkerboard_0, const T message_u_checkerboard_1, const T message_d_checkerboard_1, const T message_l_checkerboard_1, const T message_r_checkerboard_1, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<RunData_t T, unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RetrieveOutputDisparity (const beliefprop::BpLevelProperties &current_bp_level, const T data_cost_checkerboard_0, const T data_cost_checkerboard_1, const T message_u_prev_checkerboard_0, const T message_d_prev_checkerboard_0, const T message_l_prev_checkerboard_0, const T message_r_prev_checkerboard_0, const T message_u_prev_checkerboard_1, const T message_d_prev_checkerboard_1, const T message_l_prev_checkerboard_1, const T message_r_prev_checkerboard_1, float *disparity_between_images_device, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<RunData_t T, RunDataVect_t U, RunDataProcess_t V, RunDataVectProcess_t W, unsigned int DISP_VALS>
void	beliefprop_cpu::RetrieveOutputDisparityUseSIMDVectors (const beliefprop::BpLevelProperties &current_bp_level, const T data_cost_checkerboard_0, const T data_cost_checkerboard_1, const T message_u_prev_checkerboard_0, const T message_d_prev_checkerboard_0, const T message_l_prev_checkerboard_0, const T message_r_prev_checkerboard_0, const T message_u_prev_checkerboard_1, const T message_d_prev_checkerboard_1, const T message_l_prev_checkerboard_1, const T message_r_prev_checkerboard_1, float *disparity_between_images_device, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RetrieveOutputDisparityUseSIMDVectorsAVX256 (const beliefprop::BpLevelProperties &current_bp_level, const float data_cost_checkerboard_0, const float data_cost_checkerboard_1, const float message_u_prev_checkerboard_0, const float message_d_prev_checkerboard_0, const float message_l_prev_checkerboard_0, const float message_r_prev_checkerboard_0, const float message_u_prev_checkerboard_1, const float message_d_prev_checkerboard_1, const float message_l_prev_checkerboard_1, const float message_r_prev_checkerboard_1, float *disparity_between_images_device, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RetrieveOutputDisparityUseSIMDVectorsAVX256 (const beliefprop::BpLevelProperties &current_bp_level, const short data_cost_checkerboard_0, const short data_cost_checkerboard_1, const short message_u_prev_checkerboard_0, const short message_d_prev_checkerboard_0, const short message_l_prev_checkerboard_0, const short message_r_prev_checkerboard_0, const short message_u_prev_checkerboard_1, const short message_d_prev_checkerboard_1, const short message_l_prev_checkerboard_1, const short message_r_prev_checkerboard_1, float *disparity_between_images_device, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RetrieveOutputDisparityUseSIMDVectorsAVX256 (const beliefprop::BpLevelProperties &current_bp_level, const double data_cost_checkerboard_0, const double data_cost_checkerboard_1, const double message_u_prev_checkerboard_0, const double message_d_prev_checkerboard_0, const double message_l_prev_checkerboard_0, const double message_r_prev_checkerboard_0, const double message_u_prev_checkerboard_1, const double message_d_prev_checkerboard_1, const double message_l_prev_checkerboard_1, const double message_r_prev_checkerboard_1, float *disparity_between_images_device, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RetrieveOutputDisparityUseSIMDVectorsAVX512 (const beliefprop::BpLevelProperties &current_bp_level, const float data_cost_checkerboard_0, const float data_cost_checkerboard_1, const float message_u_prev_checkerboard_0, const float message_d_prev_checkerboard_0, const float message_l_prev_checkerboard_0, const float message_r_prev_checkerboard_0, const float message_u_prev_checkerboard_1, const float message_d_prev_checkerboard_1, const float message_l_prev_checkerboard_1, const float message_r_prev_checkerboard_1, float *disparity_between_images_device, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RetrieveOutputDisparityUseSIMDVectorsAVX512 (const beliefprop::BpLevelProperties &current_bp_level, const short data_cost_checkerboard_0, const short data_cost_checkerboard_1, const short message_u_prev_checkerboard_0, const short message_d_prev_checkerboard_0, const short message_l_prev_checkerboard_0, const short message_r_prev_checkerboard_0, const short message_u_prev_checkerboard_1, const short message_d_prev_checkerboard_1, const short message_l_prev_checkerboard_1, const short message_r_prev_checkerboard_1, float *disparity_between_images_device, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RetrieveOutputDisparityUseSIMDVectorsAVX512 (const beliefprop::BpLevelProperties &current_bp_level, const double data_cost_checkerboard_0, const double data_cost_checkerboard_1, const double message_u_prev_checkerboard_0, const double message_d_prev_checkerboard_0, const double message_l_prev_checkerboard_0, const double message_r_prev_checkerboard_0, const double message_u_prev_checkerboard_1, const double message_d_prev_checkerboard_1, const double message_l_prev_checkerboard_1, const double message_r_prev_checkerboard_1, float *disparity_between_images_device, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RetrieveOutputDisparityUseSIMDVectorsNEON (const beliefprop::BpLevelProperties &current_bp_level, const float data_cost_checkerboard_0, const float data_cost_checkerboard_1, const float message_u_prev_checkerboard_0, const float message_d_prev_checkerboard_0, const float message_l_prev_checkerboard_0, const float message_r_prev_checkerboard_0, const float message_u_prev_checkerboard_1, const float message_d_prev_checkerboard_1, const float message_l_prev_checkerboard_1, const float message_r_prev_checkerboard_1, float *disparity_between_images_device, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RetrieveOutputDisparityUseSIMDVectorsNEON (const beliefprop::BpLevelProperties &current_bp_level, const double data_cost_checkerboard_0, const double data_cost_checkerboard_1, const double message_u_prev_checkerboard_0, const double message_d_prev_checkerboard_0, const double message_l_prev_checkerboard_0, const double message_r_prev_checkerboard_0, const double message_u_prev_checkerboard_1, const double message_d_prev_checkerboard_1, const double message_l_prev_checkerboard_1, const double message_r_prev_checkerboard_1, float *disparity_between_images_device, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<RunData_t T, RunDataVect_t U, unsigned int DISP_VALS>
void	beliefprop_cpu::RunBPIterationUpdateMsgValsUseSIMDVectors (unsigned int x_val_start_processing, unsigned int y_val, const beliefprop::BpLevelProperties &current_bp_level, const U prev_u_message[DISP_VALS], const U prev_d_message[DISP_VALS], const U prev_l_message[DISP_VALS], const U prev_r_message[DISP_VALS], const U data_message[DISP_VALS], T current_u_message, T current_d_message, T current_l_message, T current_r_message, const U disc_k_bp_vect, bool data_aligned)

template<RunData_t T, RunDataVect_t U>
void	beliefprop_cpu::RunBPIterationUpdateMsgValsUseSIMDVectors (unsigned int x_val_start_processing, unsigned int y_val, const beliefprop::BpLevelProperties &current_bp_level, const U prev_u_message, const U prev_d_message, const U prev_l_message, const U prev_r_message, const U data_message, T current_u_message, T current_d_message, T current_l_message, T *current_r_message, const U disc_k_bp_vect, bool data_aligned, unsigned int bp_settings_disp_vals)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdatesUseSIMDVectorsAVX256 (beliefprop::CheckerboardPart checkerboard_to_update, const beliefprop::BpLevelProperties &current_bp_level, const float data_cost_checkerboard_0, const float data_cost_checkerboard_1, float message_u_checkerboard_0, float message_d_checkerboard_0, float message_l_checkerboard_0, float message_r_checkerboard_0, float message_u_checkerboard_1, float message_d_checkerboard_1, float message_l_checkerboard_1, float message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdatesUseSIMDVectorsAVX256 (beliefprop::CheckerboardPart checkerboard_to_update, const beliefprop::BpLevelProperties &current_bp_level, const short data_cost_checkerboard_0, const short data_cost_checkerboard_1, short message_u_checkerboard_0, short message_d_checkerboard_0, short message_l_checkerboard_0, short message_r_checkerboard_0, short message_u_checkerboard_1, short message_d_checkerboard_1, short message_l_checkerboard_1, short message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdatesUseSIMDVectorsAVX256 (beliefprop::CheckerboardPart checkerboard_to_update, const beliefprop::BpLevelProperties &current_bp_level, const double data_cost_checkerboard_0, const double data_cost_checkerboard_1, double message_u_checkerboard_0, double message_d_checkerboard_0, double message_l_checkerboard_0, double message_r_checkerboard_0, double message_u_checkerboard_1, double message_d_checkerboard_1, double message_l_checkerboard_1, double message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdatesUseSIMDVectorsAVX512 (beliefprop::CheckerboardPart checkerboard_to_update, const beliefprop::BpLevelProperties &current_bp_level, const float data_cost_checkerboard_0, const float data_cost_checkerboard_1, float message_u_checkerboard_0, float message_d_checkerboard_0, float message_l_checkerboard_0, float message_r_checkerboard_0, float message_u_checkerboard_1, float message_d_checkerboard_1, float message_l_checkerboard_1, float message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdatesUseSIMDVectorsAVX512 (beliefprop::CheckerboardPart checkerboard_to_update, const beliefprop::BpLevelProperties &current_bp_level, const short data_cost_checkerboard_0, const short data_cost_checkerboard_1, short message_u_checkerboard_0, short message_d_checkerboard_0, short message_l_checkerboard_0, short message_r_checkerboard_0, short message_u_checkerboard_1, short message_d_checkerboard_1, short message_l_checkerboard_1, short message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdatesUseSIMDVectorsAVX512 (beliefprop::CheckerboardPart checkerboard_to_update, const beliefprop::BpLevelProperties &current_bp_level, const double data_cost_checkerboard_0, const double data_cost_checkerboard_1, double message_u_checkerboard_0, double message_d_checkerboard_0, double message_l_checkerboard_0, double message_r_checkerboard_0, double message_u_checkerboard_1, double message_d_checkerboard_1, double message_l_checkerboard_1, double message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdatesUseSIMDVectorsNEON (beliefprop::CheckerboardPart checkerboard_to_update, const beliefprop::BpLevelProperties &current_bp_level, const float data_cost_checkerboard_0, const float data_cost_checkerboard_1, float message_u_checkerboard_0, float message_d_checkerboard_0, float message_l_checkerboard_0, float message_r_checkerboard_0, float message_u_checkerboard_1, float message_d_checkerboard_1, float message_l_checkerboard_1, float message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<unsigned int DISP_VALS, run_environment::AccSetting ACCELERATION>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdatesUseSIMDVectorsNEON (beliefprop::CheckerboardPart checkerboard_to_update, const beliefprop::BpLevelProperties &current_bp_level, const double data_cost_checkerboard_0, const double data_cost_checkerboard_1, double message_u_checkerboard_0, double message_d_checkerboard_0, double message_l_checkerboard_0, double message_r_checkerboard_0, double message_u_checkerboard_1, double message_d_checkerboard_1, double message_l_checkerboard_1, double message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<RunData_t T, RunDataVect_t U, unsigned int DISP_VALS>
void	beliefprop_cpu::RunBPIterationUsingCheckerboardUpdatesUseSIMDVectorsProcess (beliefprop::CheckerboardPart checkerboard_to_update, const beliefprop::BpLevelProperties &current_bp_level, const T data_cost_checkerboard_0, const T data_cost_checkerboard_1, T message_u_checkerboard_0, T message_d_checkerboard_0, T message_l_checkerboard_0, T message_r_checkerboard_0, T message_u_checkerboard_1, T message_d_checkerboard_1, T message_l_checkerboard_1, T message_r_checkerboard_1, float disc_k_bp, unsigned int bp_settings_disp_vals, const ParallelParams &opt_cpu_params)

template<RunData_t T, RunDataVect_t U, unsigned int DISP_VALS>
void	beliefprop_cpu::MsgStereoSIMD (unsigned int x_val, unsigned int y_val, const beliefprop::BpLevelProperties &current_bp_level, const U messages_neighbor_1[DISP_VALS], const U messages_neighbor_2[DISP_VALS], const U messages_neighbor_3[DISP_VALS], const U data_costs[DISP_VALS], T *dst_message_array, const U &disc_k_bp, bool data_aligned)

template<RunData_t T, RunDataVect_t U>
void	beliefprop_cpu::MsgStereoSIMD (unsigned int x_val, unsigned int y_val, const beliefprop::BpLevelProperties &current_bp_level, const U messages_neighbor_1, const U messages_neighbor_2, const U messages_neighbor_3, const U data_costs, T *dst_message_array, const U &disc_k_bp, bool data_aligned, unsigned int bp_settings_disp_vals)

template<RunData_t T, RunDataVect_t U, RunDataProcess_t V, RunDataVectProcess_t W>
void	beliefprop_cpu::MsgStereoSIMDProcessing (unsigned int x_val, unsigned int y_val, const beliefprop::BpLevelProperties &current_bp_level, const U messages_neighbor_1, const U messages_neighbor_2, const U messages_neighbor_3, const U data_costs, T *dst_message_array, const U &disc_k_bp, bool data_aligned, unsigned int bp_settings_disp_vals)

template<RunData_t T, RunDataVect_t U, RunDataProcess_t V, RunDataVectProcess_t W, unsigned int DISP_VALS>
void	beliefprop_cpu::MsgStereoSIMDProcessing (unsigned int x_val, unsigned int y_val, const beliefprop::BpLevelProperties &current_bp_level, const U messages_neighbor_1[DISP_VALS], const U messages_neighbor_2[DISP_VALS], const U messages_neighbor_3[DISP_VALS], const U data_costs[DISP_VALS], T *dst_message_array, const U &disc_k_bp, bool data_aligned)

template<RunDataProcess_t T, RunDataVectProcess_t U, unsigned int DISP_VALS>
void	beliefprop_cpu::DtStereoSIMD (U f[DISP_VALS])

template<RunDataProcess_t T, RunDataVectProcess_t U>
void	beliefprop_cpu::DtStereoSIMD (U *f, unsigned int bp_settings_disp_vals)

template<RunDataVectProcess_t T>
void	beliefprop_cpu::UpdateBestDispBestVals (T &best_disparities, T &best_vals, const T &current_disparity, const T &val_at_disp)

template<RunData_t T, unsigned int DISP_VALS>
void	beliefprop_cpu::PrintDataAndMessageValsAtPointKernel (unsigned int x_val, unsigned int y_val, const beliefprop::BpLevelProperties &current_bp_level, const T data_cost_checkerboard_0, const T data_cost_checkerboard_1, const T message_u_checkerboard_0, const T message_d_checkerboard_0, const T message_l_checkerboard_0, const T message_r_checkerboard_0, const T message_u_checkerboard_1, const T message_d_checkerboard_1, const T message_l_checkerboard_1, const T message_r_checkerboard_1)

template<RunData_t T, unsigned int DISP_VALS>
void	beliefprop_cpu::PrintDataAndMessageValsToPointKernel (unsigned int x_val, unsigned int y_val, const beliefprop::BpLevelProperties &current_bp_level, const T data_cost_checkerboard_0, const T data_cost_checkerboard_1, const T message_u_checkerboard_0, const T message_d_checkerboard_0, const T message_l_checkerboard_0, const T message_r_checkerboard_0, const T message_u_checkerboard_1, const T message_d_checkerboard_1, const T message_l_checkerboard_1, const T message_r_checkerboard_1)

Detailed Description

This header declares the kernel functions to run optimized belief propagation on CPU.

Author: Scott Grauer-Gray

Definition in file KernelBpStereoCPU.h.

Namespaces

Functions

Detailed Description