├── LICENSE ├── README.md ├── compile.sh ├── fast9.s └── main.cpp /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # fast9_arm_asm 2 | This is my implementation of the Fast9 Image Feature algorithm [2]. It is at least 2 times faster on Arm Processors then the OpenCv implementation and uses advanced Simd. But due to the fact that it is my first Assembler Program. I guess there is still some space for optimization. 3 | The Fast Algorithm is described in [2]. The Vector comparison is described in [1]. 4 | It is implemented for 320x240 uint8_t grayscale image. I did the optimization for Raspberry Pi Arm Cortex a53. For other Armv7 or Armv8 you need to adapt the compiler flags in compile.sh. 5 | 6 | To compile and run the program simply hit. 7 | ./compile.sh 8 | 9 | If it's not working try before with chmod +x compile.sh 10 | 11 | Basic idea of Fast is to find pixel on an image that are sorounded in a 3 pix radius by 9 pixels that have a higher or lower value then the center. 12 | 13 | 14 | Known issues: 15 | - no maximum supression 16 | - only 304 of the possible 314 (you always have to stay away 3 pixels from every edge) pixels. 17 | - thrashhold is fixed to 8 18 | 19 | Code is based on the paper 20 | [1]https://pdfs.semanticscholar.org/437d/1e988f0cdadce8e7ae6d6e9acb393ba25fad.pdf 21 | [2]https://www.edwardrosten.com/work/fast.html 22 | -------------------------------------------------------------------------------- /compile.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | COMP_FLAGS=" -Wall -mcpu=cortex-a53 -mfpu=neon-fp-armv8 -mfloat-abi=hard -mlittle-endian -munaligned-access -std=c++11" 3 | g++ -c $COMP_FLAGS fast9.s -o fast9.o 4 | g++ -c $COMP_FLAGS main.cpp -o main.o 5 | g++ fast9.o main.o -o fast9 6 | ./fast9 -------------------------------------------------------------------------------- /fast9.s: -------------------------------------------------------------------------------- 1 | .data 2 | .balign 4 3 | out: .skip 64 4 | output: 5 | .asciz "%08x %08x \n" 6 | output2: 7 | .asciz "was " 8 | output3: 9 | .asciz "here\n" 10 | output4: 11 | .asciz "%08x %08x \n" 12 | output5: 13 | .asciz "kps: %d %d \n" 14 | output6: 15 | .asciz "\n" 16 | output7: 17 | .asciz "R1 was %d %d\n" 18 | img .req r0 19 | kps .req r1 20 | kps_cnt .req r6 21 | result .req r8 22 | res .req r9 23 | threshold .req r11 24 | kps_const .req r12 25 | const2 .req r3 26 | cntx .req r2 27 | cnty .req r4 28 | const1 .req r5 29 | const0 .req r10 30 | 31 | .text 32 | .global fast9_asm 33 | .type fast9_asm, %function 34 | fast9_asm: 35 | push {r1-r12,lr} 36 | //mov const2,#200 37 | //add const2,const2,#110 38 | add img,img,#960 39 | add img,img,#4 40 | ldrh cnty,[r2] //y line counter 41 | ldrh kps_const,[r2,#2] //max keypoints 42 | ldrh threshold,[r2,#4] //threshold value 43 | sub cnty,#6 44 | //movw cnty, #234 45 | mov kps_cnt,#0 //reset keypoint counter 46 | start2: 47 | 48 | movw cntx,#19 49 | start: 50 | 51 | /* 52 | * Read in center Values 53 | * and values on the circle 54 | * compare circle values to upper and lower boundary 55 | * in the end of this section we have comparison reults of 16 56 | * circles 57 | * q12 and q14 representing comparison to lower boundary 58 | * q13 and q15 representing comparison to higher boundary 59 | * q1 and q0 are higher and lower boundary 60 | */ 61 | vld1.8 {q7}, [img] //#center 62 | 63 | VDUP.8 q2,threshold 64 | VADD.I8 q1,q7,q2 //create uper boundary 65 | VSUB.I8 q0,q7,q2 //create lower boundary 66 | 67 | VCLT.U8 q8, q0, q7 //if center was lower then threshold we set it to zero 68 | //when q0 was lower then threshold it would be negative now so it would be higher in u8 notation. 69 | VAND.U8 q0,q8,q0 70 | 71 | VCLT.U8 q8,q1,q7 //if center was higher then 255-threshold we set it to 255 72 | VORR.U8 q1,q8,q1 73 | 74 | 75 | sub img,img,#960 76 | mov const0,#128 77 | VDUP.U8 q2,const0 78 | vld1.U8 {q3}, [img] //0 79 | VCGT.U8 q4 , q3,q1 80 | VAND.U8 q15 , q2,q4 81 | VCLT.U8 q3 , q3,q0 82 | VAND.U8 q14 , q2,q3 83 | 84 | 85 | add img,img,#1 86 | VSHR.U8 q2,#1 //64 87 | vld1.U8 {q3}, [img] //1 88 | VCGT.U8 q4 , q3,q1 89 | VAND.U8 q6 , q2,q4 90 | VCLT.U8 q3 , q3,q0 91 | VAND.U8 q5 , q2,q3 92 | VORR.U8 q14,q5,q14 93 | VORR.U8 q15,q6,q15 94 | 95 | add img,img,#1920 96 | VSHR.U8 q2,#6 //1 97 | vld1.U8 {q3}, [img] //7 98 | VCGT.U8 q4 , q3,q1 99 | VAND.U8 q6 , q2,q4 100 | VCLT.U8 q3 , q3,q0 101 | VAND.U8 q5 , q2,q3 102 | VORR.U8 q14,q5,q14 103 | VORR.U8 q15,q6,q15 104 | 105 | sub img,img,#1 106 | VSHL.U8 q2,#7 //128 107 | vld1.U8 {q3}, [img] //8 108 | VCGT.U8 q4 , q3,q1 109 | VAND.U8 q13 , q2,q4 110 | VCLT.U8 q3 , q3,q0 111 | VAND.U8 q12 , q2,q3 112 | 113 | 114 | sub img,img,#1 115 | VSHR.U8 q2,#1 //64 116 | vld1.U8 {q3}, [img] //9 117 | VCGT.U8 q4 , q3,q1 118 | VAND.U8 q6 , q2,q4 119 | VCLT.U8 q3 , q3,q0 120 | VAND.U8 q5 , q2,q3 121 | VORR.U8 q12,q5 122 | VORR.U8 q13,q6 123 | 124 | sub img,img,#1920 125 | VSHR.U8 q2,#6 //1 126 | vld1.U8 {q3}, [img] //15 127 | VCGT.U8 q4 , q3,q1 128 | VAND.U8 q6 , q2,q4 129 | VCLT.U8 q3 , q3,q0 130 | VAND.U8 q5 , q2,q3 131 | VORR.U8 q12,q5 132 | VORR.U8 q13,q6 133 | 134 | 135 | 136 | add img,img,#320 137 | sub img,img,#1 138 | VSHL.U8 q2,#1 //2 139 | vld1.U8 {q3}, [img] //14 140 | VCGT.U8 q4 , q3,q1 141 | VAND.U8 q6 , q2,q4 142 | VCLT.U8 q3 , q3,q0 143 | VAND.U8 q5 , q2,q3 144 | VORR.U8 q12,q5 145 | VORR.U8 q13,q6 146 | 147 | 148 | add img,img,#4 149 | VSHL.U8 q2,#4 //32 150 | vld1.U8 {q3}, [img] //2 151 | VCGT.U8 q4 , q3,q1 152 | VAND.U8 q6 , q2,q4 153 | VCLT.U8 q3 , q3,q0 154 | VAND.U8 q5 , q2,q3 155 | VORR.U8 q14,q5 156 | VORR.U8 q15,q6 157 | 158 | add img,img,#1280 159 | VSHR.U8 q2,#4 //#2 160 | vld1.U8 {q3}, [img] //6 161 | VCGT.U8 q4 , q3,q1 162 | VAND.U8 q6 , q2,q4 163 | VCLT.U8 q3 , q3,q0 164 | VAND.U8 q5 , q2,q3 165 | VORR.U8 q14,q5 166 | VORR.U8 q15,q6 167 | 168 | 169 | sub img,img,#4 170 | VSHL.U8 q2,#4 //32 171 | vld1.U8 {q3}, [img] //10 172 | VCGT.U8 q4 , q3,q1 173 | VAND.U8 q6 , q2,q4 174 | VCLT.U8 q3 , q3,q0 175 | VAND.U8 q5 , q2,q3 176 | VORR.U8 q12,q5 177 | VORR.U8 q13,q6 178 | 179 | 180 | sub img,img,#960 181 | sub img,img,#1 182 | VSHR.U8 q2,#3 //4 183 | vld1.U8 {q3}, [img] //13 184 | VCGT.U8 q4 , q3,q1 185 | VAND.U8 q6 , q2,q4 186 | VCLT.U8 q3 , q3,q0 187 | VAND.U8 q5 , q2,q3 188 | VORR.U8 q12,q5,q12 189 | VORR.U8 q13,q6,q13 190 | 191 | 192 | add img,img,#6 193 | VSHL.U8 q2,#2 //16 194 | vld1.U8 {q3}, [img] //3 195 | VCGT.U8 q4 , q3,q1 196 | VAND.U8 q6 , q2,q4 197 | VCLT.U8 q3 , q3,q0 198 | VAND.U8 q5 , q2,q3 199 | VORR.U8 q14,q5,q14 200 | VORR.U8 q15,q6,q15 201 | 202 | add img,img,#320 203 | VSHR.U8 q2,#1 //8 204 | vld1.U8 {q3}, [img] //4 205 | VCGT.U8 q4 , q3,q1 206 | VAND.U8 q6 , q2,q4 207 | VCLT.U8 q3 , q3,q0 208 | VAND.U8 q5 , q2,q3 209 | VORR.U8 q14,q5,q14 210 | VORR.U8 q15,q6,q15 211 | 212 | add img,img,#320 213 | VSHR.U8 q2,#1 //4 214 | vld1.U8 {q3}, [img] //5 215 | VCGT.U8 q4 , q3,q1 216 | VAND.U8 q6 , q2,q4 217 | VCLT.U8 q3 , q3,q0 218 | VAND.U8 q5 , q2,q3 219 | VORR.U8 q14,q5,q14 220 | VORR.U8 q15,q6,q15 221 | 222 | sub img,img,#6 223 | VSHL.U8 q2,#2 //16 224 | vld1.U8 {q3}, [img] //11 225 | VCGT.U8 q4 , q3,q1 226 | VAND.U8 q6 , q2,q4 227 | VCLT.U8 q3 , q3,q0 228 | VAND.U8 q5 , q2,q3 229 | VORR.U8 q12,q5,q12 230 | VORR.U8 q13,q6,q13 231 | 232 | 233 | 234 | sub img,img,#320 235 | VSHR.U8 q2,#1 //8 236 | vld1.U8 {q3}, [img] //12 237 | VCGT.U8 q4 , q3,q1 238 | VAND.U8 q6 , q2,q4 239 | VCLT.U8 q3 , q3,q0 240 | VAND.U8 q5 , q2,q3 241 | VORR.U8 q12,q5,q12 242 | VORR.U8 q13,q6,q13 243 | 244 | 245 | /* 246 | * In this section we combine lower and upper results 247 | * only circles with 9 bits higher or lower then boundary 248 | * survive. values from 16 circles comparison are combined 249 | * in q13 and q15 250 | */ 251 | 252 | vcnt.u8 q0,q12 //check lower constraint 253 | vcnt.u8 q3,q14 254 | VADD.u8 q2,q0,q3 255 | 256 | 257 | 258 | vcnt.u8 q0,q13 //check higher constraint 259 | vcnt.u8 q3,q15 260 | VADD.u8 q3,q0,q3 261 | 262 | 263 | 264 | 265 | 266 | mov const0,#8 //build constraint mask 267 | vdup.u8 q1,const0 268 | vcgt.u8 q2,q2,q1 269 | vcgt.u8 q3,q3,q1 270 | 271 | 272 | 273 | 274 | 275 | vand.u8 q12,q12,q2 276 | vand.u8 q14,q14,q2 277 | 278 | vand.u8 q13,q13,q3 279 | vand.u8 q15,q15,q3 280 | 281 | vorr.u8 q15,q14,q15 282 | vorr.u8 q13,q12,q13 283 | 284 | 285 | 286 | 287 | 288 | vorr.u8 q2,q3 289 | vzip.u8 q13,q15 290 | 291 | 292 | 293 | 294 | 295 | /* 296 | * Now we have to check if at least 9 pixels are ordered in row on a circle 297 | * First we do a pre check. If at least one of the following 4 circles has 9 bits set 298 | * If not we skip check for four circles. Results are stored for always 4 Circles in one of the 299 | * Quad word vectors q3-q6 300 | */ 301 | 302 | mov const1,#0 303 | VDUP.U8 q7,const1 304 | VMOV.U32 const0,d4[0] 305 | cmp const0,#0 306 | beq notA0 307 | 308 | vmovl.u16 q11,d26 309 | vshl.u32 q10,q11,#16 310 | vorr.u32 q11,q10,q11 311 | VSHr.U32 q1,q11,#1 312 | VAND.U32 q0,q1,q11 313 | VSHR.U32 q1,q0,#2 314 | VAND.U32 q0,q1,q0 315 | VSHR.U32 q1,q0,#4 316 | VAND.U32 q0,q0,q1 317 | VSHR.U32 q1,q0,#1 318 | VAND.U32 q3,q0,q1 319 | VCGT.U32 q3,q3,q7 320 | 321 | 322 | bal yesA0 323 | notA0: 324 | vdup.U32 q3,const0 325 | yesA0: 326 | 327 | vdup.u32 q8,const1// debug 328 | VMOV.U32 const0,d4[1] 329 | cmp const0,#0 330 | beq notA1 331 | 332 | vmovl.u16 q11,d27 333 | vshl.u32 q10,q11,#16 334 | vorr.u32 q11,q10,q11 335 | VSHr.U32 q1,q11,#1 336 | VAND.U32 q0,q1,q11 337 | VSHR.U32 q1,q0,#2 338 | VAND.U32 q0,q1,q0 339 | VSHR.U32 q1,q0,#4 340 | VAND.U32 q0,q0,q1 341 | VSHR.U32 q1,q0,#1 342 | VAND.U32 q4,q0,q1 343 | VCGT.U32 q4,q4,q7 344 | bal yesA1 345 | notA1: 346 | vdup.U32 q4,const0 347 | yesA1: 348 | 349 | VMOV.U32 const0,d5[0] 350 | cmp const0,#0 351 | beq notA2 352 | 353 | vmovl.u16 q11,d30 354 | vshl.u32 q10,q11,#16 355 | vorr.u32 q11,q10,q11 356 | VSHr.U32 q1,q11,#1 357 | VAND.U32 q0,q1,q11 358 | VSHR.U32 q1,q0,#2 359 | VAND.U32 q0,q1,q0 360 | VSHR.U32 q1,q0,#4 361 | VAND.U32 q0,q0,q1 362 | VSHR.U32 q1,q0,#1 363 | VAND.U32 q5,q0,q1 364 | VCGT.U32 q5,q5,q7 365 | bal yesA2 366 | notA2: 367 | vdup.U32 q5,const0 368 | yesA2: 369 | 370 | VMOV.U32 const0,d5[1] 371 | cmp const0,#0 372 | beq notA3 373 | 374 | vmovl.u16 q11,d31 375 | vshl.u32 q10,q11,#16 376 | vorr.u32 q11,q10,q11 377 | VSHr.U32 q1,q11,#1 378 | VAND.U32 q0,q1,q11 379 | VSHR.U32 q1,q0,#2 380 | VAND.U32 q0,q1,q0 381 | VSHR.U32 q1,q0,#4 382 | VAND.U32 q0,q0,q1 383 | VSHR.U32 q1,q0,#1 384 | VAND.U32 q6,q0,q1 385 | VCGT.U32 q6,q6,q7 386 | bal yesA3 387 | notA3: 388 | vdup.U32 q6,const0 389 | yesA3: 390 | 391 | 392 | /* 393 | * comparison results are packed further 394 | * in a 16bit format. A set bit represents 395 | * a circle with at least 9 pixels that are in 396 | * a row smaller or higher then the boundary 397 | * the result is written in the register result. 398 | * if results is zero it means there is no circle 399 | * which fullfils the Fast 9 constraint and we can skip read out and go straight to the next 16 pixels 400 | */ 401 | mov const1,#8 //combine hi and lo result 402 | lsr const0,const1,#1 403 | vmov d0,const1,const0 404 | vshr.u32 d1,d0,#2 405 | vand.U32 q8,q6,q0 406 | vshl.u32 q0,#4 407 | vand.U32 q5,q0 408 | vorr.u32 q8,q5 409 | vshl.u32 q0,#4 410 | vand.U32 q4,q0 411 | vorr.u32 q8,q4 412 | vshl.u32 q0,#4 413 | vand.U32 q3,q0 414 | vorr.u32 q8,q3 415 | vorr.u32 d16,d17 416 | vpadd.u32 d16,d16 417 | 418 | VMOV.U16 result,d16[0] 419 | 420 | mov const0,#0 421 | cmp result,const0 422 | bls end //if d0 is zero go on 423 | 424 | /* 425 | * Result register is read out. always one bit is shifted out to the left with lsls 426 | * if bit is set we save it as a keypoint 427 | */ 428 | 429 | mov const1,#19 //prepare index 430 | sub const0,const1,cntx 431 | lsl const0,const0,#4 432 | add const0,const0,#4 433 | 434 | mov const2,#256 435 | sub const1,const2,const1 436 | sub const1,const1,cnty 437 | 438 | 439 | lsl result,result,#16 //align result bits on the left of the 32bit register 440 | lsls result,result,#1 441 | bcc not0 442 | str const0,[kps] 443 | add kps,#2 444 | str const1,[kps] 445 | add kps,#2 446 | add kps_cnt,#1 447 | cmp kps_cnt,kps_const 448 | beq finish 449 | 450 | not0: 451 | lsls result,result,#1 452 | bcc not1 453 | add const2,const0,#1 454 | str const2,[kps] 455 | add kps,#2 456 | str const1,[kps] 457 | add kps,#2 458 | add kps_cnt,#1 459 | cmp kps_cnt,kps_const 460 | beq finish 461 | 462 | not1: 463 | lsls result,result,#1 464 | bcc not2 465 | add const2,const0,#2 466 | str const2,[kps] 467 | add kps,#2 468 | str const1,[kps] 469 | add kps,#2 470 | add kps_cnt,#1 471 | cmp kps_cnt,kps_const 472 | beq finish 473 | 474 | not2: 475 | lsls result,result,#1 476 | bcc not3 477 | 478 | add const2,const0,#3 479 | str const2,[kps] 480 | add kps,#2 481 | str const1,[kps] 482 | add kps,#2 483 | add kps_cnt,#1 484 | cmp kps_cnt,kps_const 485 | beq finish 486 | 487 | not3: 488 | lsls result,result,#1 489 | bcc not4 490 | add const2,const0,#4 491 | str const2,[kps] 492 | add kps,#2 493 | str const1,[kps] 494 | add kps,#2 495 | add kps_cnt,#1 496 | cmp kps_cnt,kps_const 497 | beq finish 498 | 499 | not4: 500 | lsls result,result,#1 501 | bcc not5 502 | add const2,const0,#5 503 | str const2,[kps] 504 | add kps,#2 505 | str const1,[kps] 506 | add kps,#2 507 | add kps_cnt,#1 508 | cmp kps_cnt,kps_const 509 | beq finish 510 | 511 | not5: 512 | lsls result,result,#1 513 | bcc not6 514 | add const2,const0,#6 515 | str const2,[kps] 516 | add kps,#2 517 | str const1,[kps] 518 | add kps,#2 519 | add kps_cnt,#1 520 | cmp kps_cnt,kps_const 521 | beq finish 522 | 523 | not6: 524 | lsls result,result,#1 525 | bcc not7 526 | add const2,const0,#7 527 | str const2,[kps] 528 | add kps,#2 529 | str const1,[kps] 530 | add kps,#2 531 | add kps_cnt,#1 532 | cmp kps_cnt,kps_const 533 | beq finish 534 | 535 | not7: 536 | lsls result,result,#1 537 | bcc not8 538 | add const2,const0,#8 539 | str const2,[kps] 540 | add kps,#2 541 | str const1,[kps] 542 | add kps,#2 543 | add kps_cnt,#1 544 | cmp kps_cnt,kps_const 545 | beq finish 546 | 547 | not8: 548 | lsls result,result,#1 549 | bcc not9 550 | add const2,const0,#9 551 | str const2,[kps] 552 | add kps,#2 553 | str const1,[kps] 554 | add kps,#2 555 | add kps_cnt,#1 556 | cmp kps_cnt,kps_const 557 | beq finish 558 | 559 | not9: 560 | lsls result,result,#1 561 | bcc not10 562 | add const2,const0,#10 563 | str const2,[kps] 564 | add kps,#2 565 | str const1,[kps] 566 | add kps,#2 567 | add kps_cnt,#1 568 | cmp kps_cnt,kps_const 569 | beq finish 570 | 571 | not10: 572 | lsls result,result,#1 573 | bcc not11 574 | add const2,const0,#11 575 | str const2,[kps] 576 | add kps,#2 577 | str const1,[kps] 578 | add kps,#2 579 | add kps_cnt,#1 580 | cmp kps_cnt,kps_const 581 | beq finish 582 | 583 | not11: 584 | lsls result,result,#1 585 | bcc not12 586 | add const2,const0,#12 587 | str const2,[kps] 588 | add kps,#2 589 | str const1,[kps] 590 | add kps,#2 591 | add kps_cnt,#1 592 | cmp kps_cnt,kps_const 593 | beq finish 594 | 595 | not12: 596 | lsls result,result,#1 597 | bcc not13 598 | add const2,const0,#13 599 | str const2,[kps] 600 | add kps,#2 601 | str const1,[kps] 602 | add kps,#2 603 | add kps_cnt,#1 604 | cmp kps_cnt,kps_const 605 | beq finish 606 | 607 | not13: 608 | lsls result,result,#1 609 | bcc not14 610 | add const2,const0,#14 611 | str const2,[kps] 612 | add kps,#2 613 | str const1,[kps] 614 | add kps,#2 615 | add kps_cnt,#1 616 | cmp kps_cnt,kps_const 617 | beq finish 618 | 619 | not14: 620 | lsls result,result,#1 621 | bcc not15 622 | add const2,const0,#15 623 | str const2,[kps] 624 | add kps,#2 625 | str const1,[kps] 626 | add kps,#2 627 | add kps_cnt,#1 628 | cmp kps_cnt,kps_const 629 | beq finish 630 | 631 | not15: 632 | end: 633 | add img,img,#19 634 | subs cntx,cntx,#1 635 | bne start 636 | 637 | /* 638 | * Last 8 Bit of x row analyze 639 | * Last 8 Bit of x row analyze 640 | */ 641 | /* 642 | * Read in center Values 643 | * and values on the circle 644 | * compare circle values to upper and lower boundary 645 | * in the end of this section we have comparison reults of 16 646 | * circles 647 | * q12 and q14 representing comparison to lower boundary 648 | * q13 and q15 representing comparison to higher boundary 649 | * q1 and q0 are higher and lower boundary 650 | */ 651 | 652 | vld1.8 {d7}, [img] //#center 653 | 654 | VDUP.8 d2,threshold 655 | VADD.I8 d1,d7,d2 //create uper boundary 656 | VSUB.I8 d0,d7,d2 //create lower boundary 657 | 658 | VCLT.U8 d8, d0, d7 //if center was lower then threshold we set it to zero 659 | //when q0 was lower then threshold it would be negative now so it would be higher in u8 notation. 660 | VAND.U8 d0,d8,d0 661 | 662 | VCLT.U8 d8,d1,d7 //if center was higher then 255-threshold we set it to 255 663 | VORR.U8 d1,d8,d1 664 | 665 | 666 | sub img,img,#960 667 | mov const0,#128 668 | VDUP.U8 d2,const0 669 | vld1.U8 {d3}, [img] //0 670 | VCGT.U8 d4 , d3,d1 671 | VAND.U8 d15 , d2,d4 672 | VCLT.U8 d3 , d3,d0 673 | VAND.U8 d14 , d2,d3 674 | 675 | 676 | add img,img,#1 677 | VSHR.U8 d2,#1 //64 678 | vld1.U8 {d3}, [img] //1 679 | VCGT.U8 d4 , d3,d1 680 | VAND.U8 d6 , d2,d4 681 | VCLT.U8 d3 , d3,d0 682 | VAND.U8 d5 , d2,d3 683 | VORR.U8 d14,d5,d14 684 | VORR.U8 d15,d6,d15 685 | 686 | add img,img,#1920 687 | VSHR.U8 d2,#6 //1 688 | vld1.U8 {d3}, [img] //7 689 | VCGT.U8 d4 , d3,d1 690 | VAND.U8 d6 , d2,d4 691 | VCLT.U8 d3 , d3,d0 692 | VAND.U8 d5 , d2,d3 693 | VORR.U8 d14,d5,d14 694 | VORR.U8 d15,d6,d15 695 | 696 | sub img,img,#1 697 | VSHL.U8 d2,#7 //128 698 | vld1.U8 {d3}, [img] //8 699 | VCGT.U8 d4 , d3,d1 700 | VAND.U8 d13 , d2,d4 701 | VCLT.U8 d3 , d3,d0 702 | VAND.U8 d12 , d2,d3 703 | 704 | 705 | sub img,img,#1 706 | VSHR.U8 d2,#1 //64 707 | vld1.U8 {d3}, [img] //9 708 | VCGT.U8 d4 , d3,d1 709 | VAND.U8 d6 , d2,d4 710 | VCLT.U8 d3 , d3,d0 711 | VAND.U8 d5 , d2,d3 712 | VORR.U8 d12,d5 713 | VORR.U8 d13,d6 714 | 715 | sub img,img,#1920 716 | VSHR.U8 d2,#6 //1 717 | vld1.U8 {d3}, [img] //15 718 | VCGT.U8 d4 , d3,d1 719 | VAND.U8 d6 , d2,d4 720 | VCLT.U8 d3 , d3,d0 721 | VAND.U8 d5 , d2,d3 722 | VORR.U8 d12,d5 723 | VORR.U8 d13,d6 724 | 725 | 726 | 727 | add img,img,#320 728 | sub img,img,#1 729 | VSHL.U8 d2,#1 //2 730 | vld1.U8 {d3}, [img] //14 731 | VCGT.U8 d4 , d3,d1 732 | VAND.U8 d6 , d2,d4 733 | VCLT.U8 d3 , d3,d0 734 | VAND.U8 d5 , d2,d3 735 | VORR.U8 d12,d5 736 | VORR.U8 d13,d6 737 | 738 | 739 | add img,img,#4 740 | VSHL.U8 d2,#4 //32 741 | vld1.U8 {d3}, [img] //2 742 | VCGT.U8 d4 , d3,d1 743 | VAND.U8 d6 , d2,d4 744 | VCLT.U8 d3 , d3,d0 745 | VAND.U8 d5 , d2,d3 746 | VORR.U8 d14,d5 747 | VORR.U8 d15,d6 748 | 749 | add img,img,#1280 750 | VSHR.U8 d2,#4 //#2 751 | vld1.U8 {d3}, [img] //6 752 | VCGT.U8 d4 , d3,d1 753 | VAND.U8 d6 , d2,d4 754 | VCLT.U8 d3 , d3,d0 755 | VAND.U8 d5 , d2,d3 756 | VORR.U8 d14,d5 757 | VORR.U8 d15,d6 758 | 759 | 760 | sub img,img,#4 761 | VSHL.U8 d2,#4 //32 762 | vld1.U8 {d3}, [img] //10 763 | VCGT.U8 d4 , d3,d1 764 | VAND.U8 d6 , d2,d4 765 | VCLT.U8 d3 , d3,d0 766 | VAND.U8 d5 , d2,d3 767 | VORR.U8 d12,d5 768 | VORR.U8 d13,d6 769 | 770 | 771 | sub img,img,#960 772 | sub img,img,#1 773 | VSHR.U8 d2,#3 //4 774 | vld1.U8 {d3}, [img] //13 775 | VCGT.U8 d4 , d3,d1 776 | VAND.U8 d6 , d2,d4 777 | VCLT.U8 d3 , d3,d0 778 | VAND.U8 d5 , d2,d3 779 | VORR.U8 d12,d5,d12 780 | VORR.U8 d13,d6,d13 781 | 782 | 783 | add img,img,#6 784 | VSHL.U8 d2,#2 //16 785 | vld1.U8 {d3}, [img] //3 786 | VCGT.U8 d4 , d3,d1 787 | VAND.U8 d6 , d2,d4 788 | VCLT.U8 d3 , d3,d0 789 | VAND.U8 d5 , d2,d3 790 | VORR.U8 d14,d5,d14 791 | VORR.U8 d15,d6,d15 792 | 793 | add img,img,#320 794 | VSHR.U8 d2,#1 //8 795 | vld1.U8 {d3}, [img] //4 796 | VCGT.U8 d4 , d3,d1 797 | VAND.U8 d6 , d2,d4 798 | VCLT.U8 d3 , d3,d0 799 | VAND.U8 d5 , d2,d3 800 | VORR.U8 d14,d5,d14 801 | VORR.U8 d15,d6,d15 802 | 803 | add img,img,#320 804 | VSHR.U8 d2,#1 //4 805 | vld1.U8 {d3}, [img] //5 806 | VCGT.U8 d4 , d3,d1 807 | VAND.U8 d6 , d2,d4 808 | VCLT.U8 d3 , d3,d0 809 | VAND.U8 d5 , d2,d3 810 | VORR.U8 d14,d5,d14 811 | VORR.U8 d15,d6,d15 812 | 813 | sub img,img,#6 814 | VSHL.U8 d2,#2 //16 815 | vld1.U8 {d3}, [img] //11 816 | VCGT.U8 d4 , d3,d1 817 | VAND.U8 d6 , d2,d4 818 | VCLT.U8 d3 , d3,d0 819 | VAND.U8 d5 , d2,d3 820 | VORR.U8 d12,d5,d12 821 | VORR.U8 d13,d6,d13 822 | 823 | 824 | 825 | sub img,img,#320 826 | VSHR.U8 d2,#1 //8 827 | vld1.U8 {d3}, [img] //12 828 | VCGT.U8 d4 , d3,d1 829 | VAND.U8 d6 , d2,d4 830 | VCLT.U8 d3 , d3,d0 831 | VAND.U8 d5 , d2,d3 832 | VORR.U8 d12,d5,d12 833 | VORR.U8 d13,d6,d13 834 | 835 | 836 | /* 837 | * In this section we combine lower and upper results 838 | * only circles with 9 bits higher or lower then boundary 839 | * survive. values from 16 circles comparison are combined 840 | * in qd13 and d15 841 | */ 842 | 843 | 844 | vcnt.u8 d0,d12 //check lower constraint 845 | vcnt.u8 d3,d14 846 | VADD.u8 d2,d0,d3 847 | 848 | 849 | 850 | vcnt.u8 d0,d13 //check higher constraint 851 | vcnt.u8 d3,d15 852 | VADD.u8 d3,d0,d3 853 | 854 | 855 | 856 | 857 | 858 | mov const0,#8 //build constraint mask 859 | vdup.u8 d1,const0 860 | vcgt.u8 d2,d2,d1 861 | vcgt.u8 d3,d3,d1 862 | 863 | 864 | vand.u8 d12,d12,d2 865 | vand.u8 d14,d14,d2 866 | 867 | vand.u8 d13,d13,d3 868 | vand.u8 d15,d15,d3 869 | 870 | vorr.u8 d15,d14,d15 871 | vorr.u8 d13,d12,d13 872 | 873 | 874 | 875 | 876 | 877 | vorr.u8 d12,d2,d3 878 | vzip.u8 d13,d15 879 | 880 | 881 | 882 | 883 | 884 | /* 885 | * Now we have to check if at least 9 pixels are ordered in row on a circle 886 | * First we do a pre check. If at least one of the following 4 circles has 9 bits set 887 | * If not we skip check for four circles. Results are stored for always 4 Circles in one of the 888 | * Quad word vectors d3-d6 889 | */ 890 | 891 | mov const1,#0 892 | VDUP.U8 q8,const1 893 | VMOV.U32 const0,d12[0] 894 | cmp const0,#0 895 | beq notA0B8 896 | 897 | vmovl.u16 q11,d13 898 | vshl.u32 q10,q11,#16 899 | vorr.u32 q11,q10,q11 900 | VSHr.U32 q1,q11,#1 901 | VAND.U32 q0,q1,q11 902 | VSHR.U32 q1,q0,#2 903 | VAND.U32 q0,q1,q0 904 | VSHR.U32 q1,q0,#4 905 | VAND.U32 q0,q0,q1 906 | VSHR.U32 q1,q0,#1 907 | VAND.U32 q3,q0,q1 908 | VCGT.U32 q3,q3,q8 909 | 910 | 911 | bal yesA0B8 912 | notA0B8: 913 | vdup.U32 q3,const0 914 | yesA0B8: 915 | 916 | add const1,#4 917 | vdup.u32 q9,const1// debug 918 | VMOV.U32 const0,d12[1] 919 | cmp const0,#0 920 | beq notA1B8 921 | 922 | vmovl.u16 q11,d15 923 | vmov.u32 q9,q11 924 | vshl.u32 q10,q11,#16 925 | vorr.u32 q11,q10,q11 926 | 927 | VSHr.U32 q1,q11,#1 928 | VAND.U32 q0,q1,q11 929 | VSHR.U32 q1,q0,#2 930 | VAND.U32 q0,q1,q0 931 | VSHR.U32 q1,q0,#4 932 | VAND.U32 q0,q0,q1 933 | VSHR.U32 q1,q0,#1 934 | VAND.U32 q4,q0,q1 935 | 936 | VCGT.U32 q4,q4,q8 937 | bal yesA1B8 938 | notA1B8: 939 | vdup.U32 q4,const0 940 | yesA1B8: 941 | 942 | 943 | /* 944 | * comparison results are packed further 945 | * in a 16bit format. A set bit represents 946 | * a circle with at least 9 pixels that are in 947 | * a row smaller or higher then the boundary 948 | * the result is written in the register result. 949 | * if results is zero it means there is no circle 950 | * which fullfils the Fast 9 constraint and we can skip read out and go straight to the next 16 pixels 951 | */ 952 | mov const1,#8 //combine hi and lo result 953 | lsr const0,const1,#1 954 | vmov d0,const1,const0 955 | vshr.u32 d1,d0,#2 956 | vand.U32 q8,q4,q0 //q0:8 4 2 1 957 | vshl.u32 q0,#4 958 | vand.U32 q3,q0 959 | vorr.u32 q8,q3 960 | vshl.u32 q8,#8 961 | vorr.u32 d16,d17 962 | vpadd.u32 d16,d16 963 | 964 | VMOV.U16 result,d16[0] 965 | 966 | 967 | 968 | 969 | 970 | mov const0,#0 971 | cmp result,const0 972 | bls endB8 //if d0 is zero go on 973 | 974 | /* 975 | * Result register is read out. always one bit is shifted out to the left with lsls 976 | * if bit is set we save it as a keypoint 977 | */ 978 | 979 | mov const0,#20 //prepare index 980 | lsl const0,const0,#4 981 | sub const0,const0,#12 982 | 983 | mov const2,#234 984 | sub const1,const2,cnty 985 | add const1,#3 986 | 987 | 988 | 989 | 990 | 991 | 992 | 993 | lsl result,result,#16 //align result bits on the left of the 32bit register 994 | lsls result,result,#1 995 | bcc not0B8 996 | str const0,[kps] 997 | add kps,#2 998 | str const1,[kps] 999 | add kps,#2 1000 | add kps_cnt,#1 1001 | cmp kps_cnt,kps_const 1002 | beq finish 1003 | 1004 | not0B8: 1005 | lsls result,result,#1 1006 | bcc not1B8 1007 | add const2,const0,#1 1008 | str const2,[kps] 1009 | add kps,#2 1010 | str const1,[kps] 1011 | add kps,#2 1012 | add kps_cnt,#1 1013 | cmp kps_cnt,kps_const 1014 | beq finish 1015 | 1016 | not1B8: 1017 | lsls result,result,#1 1018 | bcc not2B8 1019 | add const2,const0,#2 1020 | str const2,[kps] 1021 | add kps,#2 1022 | str const1,[kps] 1023 | add kps,#2 1024 | add kps_cnt,#1 1025 | cmp kps_cnt,kps_const 1026 | beq finish 1027 | 1028 | not2B8: 1029 | lsls result,result,#1 1030 | bcc not3B8 1031 | 1032 | add const2,const0,#3 1033 | str const2,[kps] 1034 | add kps,#2 1035 | str const1,[kps] 1036 | add kps,#2 1037 | add kps_cnt,#1 1038 | cmp kps_cnt,kps_const 1039 | beq finish 1040 | 1041 | not3B8: 1042 | lsls result,result,#1 1043 | bcc not4B8 1044 | add const2,const0,#4 1045 | str const2,[kps] 1046 | add kps,#2 1047 | str const1,[kps] 1048 | add kps,#2 1049 | add kps_cnt,#1 1050 | cmp kps_cnt,kps_const 1051 | beq finish 1052 | 1053 | not4B8: 1054 | lsls result,result,#1 1055 | bcc not5B8 1056 | add const2,const0,#5 1057 | str const2,[kps] 1058 | add kps,#2 1059 | str const1,[kps] 1060 | add kps,#2 1061 | add kps_cnt,#1 1062 | cmp kps_cnt,kps_const 1063 | beq finish 1064 | 1065 | not5B8: 1066 | lsls result,result,#1 1067 | bcc not6B8 1068 | add const2,const0,#6 1069 | str const2,[kps] 1070 | add kps,#2 1071 | str const1,[kps] 1072 | add kps,#2 1073 | add kps_cnt,#1 1074 | cmp kps_cnt,kps_const 1075 | beq finish 1076 | 1077 | not6B8: 1078 | lsls result,result,#1 1079 | bcc not7B8 1080 | add const2,const0,#7 1081 | str const2,[kps] 1082 | add kps,#2 1083 | str const1,[kps] 1084 | add kps,#2 1085 | add kps_cnt,#1 1086 | cmp kps_cnt,kps_const 1087 | beq finish 1088 | 1089 | not7B8: 1090 | endB8: 1091 | add img,img,#19 1092 | subs cnty,cnty,#1 1093 | 1094 | bne start2 1095 | finish: 1096 | ldr r0,adress_out 1097 | str kps_cnt,[r0] 1098 | pop {r1-r12,pc} 1099 | 1100 | /*ldr kps_cnt,adress_out 1101 | mov const0,result 1102 | str const0,[kps_cnt],#4 1103 | VMOV.U32 const0,d31[0] 1104 | str const0,[kps_cnt],#4 1105 | VMOV.U32 const0,d30[1] 1106 | str const0,[kps_cnt],#4 1107 | VMOV.U32 const0,d30[0] 1108 | str const0,[kps_cnt],#4 1109 | VMOV.U32 const0,d27[1] 1110 | str const0,[kps_cnt],#4 1111 | VMOV.U32 const0,d27[0] 1112 | str const0,[kps_cnt],#4 1113 | VMOV.U32 const0,d26[1] 1114 | str const0,[kps_cnt],#4 1115 | VMOV.U32 const0,d26[0] 1116 | str const0,[kps_cnt],#4 1117 | VMOV.U32 const0,d26[0] 1118 | str const0,[kps_cnt],#4 1119 | VMOV.U32 const0,d26[1] 1120 | str const0,[kps_cnt],#4 1121 | VMOV.U32 const0,d27[0] 1122 | str const0,[kps_cnt],#4 1123 | VMOV.U32 const0,d27[1] 1124 | str const0,[kps_cnt],#4 1125 | VMOV.U32 const0,d30[0] 1126 | str const0,[kps_cnt],#4 1127 | VMOV.U32 const0,d30[1] 1128 | str const0,[kps_cnt],#4 1129 | VMOV.U32 const0,d31[0] 1130 | str const0,[kps_cnt],#4 1131 | VMOV.U32 const0,d31[1] 1132 | str const0,[kps_cnt],#4 1133 | ldr kps_cnt,adress_out*/ 1134 | // 1135 | 1136 | 1137 | 1138 | adress_output: .word output 1139 | adress_output2: .word output2 1140 | adress_output3: .word output3 1141 | adress_output4: .word output4 1142 | adress_output5: .word output5 1143 | adress_output6: .word output6 1144 | adress_output7: .word output7 1145 | adress_out: .word out 1146 | // bx lr 1147 | .global printf 1148 | 1149 | 1150 | -------------------------------------------------------------------------------- /main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | 8 | using namespace std; 9 | extern "C" int fast9_asm(uint8_t *img,uint32_t *kps,uint16_t *paras); 10 | #define HT 240 11 | #define WT 320 12 | #define KPS_CNT 5600 13 | #define THRESHOLD 8 14 | typedef std::chrono::high_resolution_clock clock2; 15 | typedef std::chrono::microseconds res; 16 | struct MY_Keypoint{ 17 | uint16_t x; 18 | uint16_t y; 19 | }; 20 | int main() { 21 | clock2::time_point t1, t2; 22 | uint8_t img[HT*WT]; 23 | for(int i=0;i((t2-t1)).count()<< " microseconds.\n"; 36 | return 0; 37 | } --------------------------------------------------------------------------------