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#include "precomp.hpp"
#include "undistort.hpp"

namespace cv
{

int initUndistortRectifyMapLine_AVX(float* m1f, float* m2f, short* m1, ushort* m2, double* matTilt, const double* ir,
                                    double& _x, double& _y, double& _w, int width, int m1type,
                                    double& k1, double& k2, double& k3, double& k4, double& k5, double& k6,
                                    double& p1, double& p2, double& s1, double& s2, double& s3, double& s4,
                                    double& u0, double& v0, double& fx, double& fy)
{
    int j = 0;

    static const __m256d __one = _mm256_set1_pd(1.0);
    static const __m256d __two = _mm256_set1_pd(2.0);

    const __m256d __matTilt_00 = _mm256_set1_pd(matTilt[0]);
    const __m256d __matTilt_10 = _mm256_set1_pd(matTilt[3]);
    const __m256d __matTilt_20 = _mm256_set1_pd(matTilt[6]);

    const __m256d __matTilt_01 = _mm256_set1_pd(matTilt[1]);
    const __m256d __matTilt_11 = _mm256_set1_pd(matTilt[4]);
    const __m256d __matTilt_21 = _mm256_set1_pd(matTilt[7]);

    const __m256d __matTilt_02 = _mm256_set1_pd(matTilt[2]);
    const __m256d __matTilt_12 = _mm256_set1_pd(matTilt[5]);
    const __m256d __matTilt_22 = _mm256_set1_pd(matTilt[8]);

    for (; j <= width - 4; j += 4, _x += 4 * ir[0], _y += 4 * ir[3], _w += 4 * ir[6])
    {
        // Question: Should we load the constants first?
        __m256d __w = _mm256_div_pd(__one, _mm256_set_pd(_w + 3 * ir[6], _w + 2 * ir[6], _w + ir[6], _w));
        __m256d __x = _mm256_mul_pd(_mm256_set_pd(_x + 3 * ir[0], _x + 2 * ir[0], _x + ir[0], _x), __w);
        __m256d __y = _mm256_mul_pd(_mm256_set_pd(_y + 3 * ir[3], _y + 2 * ir[3], _y + ir[3], _y), __w);
        __m256d __x2 = _mm256_mul_pd(__x, __x);
        __m256d __y2 = _mm256_mul_pd(__y, __y);
        __m256d __r2 = _mm256_add_pd(__x2, __y2);
        __m256d __2xy = _mm256_mul_pd(__two, _mm256_mul_pd(__x, __y));
        __m256d __kr = _mm256_div_pd(
#if CV_FMA3
            _mm256_fmadd_pd(_mm256_fmadd_pd(_mm256_fmadd_pd(_mm256_set1_pd(k3), __r2, _mm256_set1_pd(k2)), __r2, _mm256_set1_pd(k1)), __r2, __one),
            _mm256_fmadd_pd(_mm256_fmadd_pd(_mm256_fmadd_pd(_mm256_set1_pd(k6), __r2, _mm256_set1_pd(k5)), __r2, _mm256_set1_pd(k4)), __r2, __one)
#else
            _mm256_add_pd(__one, _mm256_mul_pd(_mm256_add_pd(_mm256_mul_pd(_mm256_add_pd(_mm256_mul_pd(_mm256_set1_pd(k3), __r2), _mm256_set1_pd(k2)), __r2), _mm256_set1_pd(k1)), __r2)),
            _mm256_add_pd(__one, _mm256_mul_pd(_mm256_add_pd(_mm256_mul_pd(_mm256_add_pd(_mm256_mul_pd(_mm256_set1_pd(k6), __r2), _mm256_set1_pd(k5)), __r2), _mm256_set1_pd(k4)), __r2))
#endif
        );
        __m256d __r22 = _mm256_mul_pd(__r2, __r2);
#if CV_FMA3
        __m256d __xd = _mm256_fmadd_pd(__x, __kr,
            _mm256_add_pd(
                _mm256_fmadd_pd(_mm256_set1_pd(p1), __2xy, _mm256_mul_pd(_mm256_set1_pd(p2), _mm256_fmadd_pd(__two, __x2, __r2))),
                _mm256_fmadd_pd(_mm256_set1_pd(s1), __r2, _mm256_mul_pd(_mm256_set1_pd(s2), __r22))));
        __m256d __yd = _mm256_fmadd_pd(__y, __kr,
            _mm256_add_pd(
                _mm256_fmadd_pd(_mm256_set1_pd(p1), _mm256_fmadd_pd(__two, __y2, __r2), _mm256_mul_pd(_mm256_set1_pd(p2), __2xy)),
                _mm256_fmadd_pd(_mm256_set1_pd(s3), __r2, _mm256_mul_pd(_mm256_set1_pd(s4), __r22))));

        __m256d __vecTilt2 = _mm256_fmadd_pd(__matTilt_20, __xd, _mm256_fmadd_pd(__matTilt_21, __yd, __matTilt_22));
#else
        __m256d __xd = _mm256_add_pd(
            _mm256_mul_pd(__x, __kr),
            _mm256_add_pd(
                _mm256_add_pd(
                    _mm256_mul_pd(_mm256_set1_pd(p1), __2xy),
                    _mm256_mul_pd(_mm256_set1_pd(p2), _mm256_add_pd(__r2, _mm256_mul_pd(__two, __x2)))),
                _mm256_add_pd(
                    _mm256_mul_pd(_mm256_set1_pd(s1), __r2),
                    _mm256_mul_pd(_mm256_set1_pd(s2), __r22))));
        __m256d __yd = _mm256_add_pd(
            _mm256_mul_pd(__y, __kr),
            _mm256_add_pd(
                _mm256_add_pd(
                    _mm256_mul_pd(_mm256_set1_pd(p1), _mm256_add_pd(__r2, _mm256_mul_pd(__two, __y2))),
                    _mm256_mul_pd(_mm256_set1_pd(p2), __2xy)),
                _mm256_add_pd(
                    _mm256_mul_pd(_mm256_set1_pd(s3), __r2),
                    _mm256_mul_pd(_mm256_set1_pd(s4), __r22))));

        __m256d __vecTilt2 = _mm256_add_pd(_mm256_add_pd(
            _mm256_mul_pd(__matTilt_20, __xd), _mm256_mul_pd(__matTilt_21, __yd)), __matTilt_22);
#endif
        __m256d __invProj = _mm256_blendv_pd(
            __one, _mm256_div_pd(__one, __vecTilt2),
            _mm256_cmp_pd(__vecTilt2, _mm256_setzero_pd(), _CMP_EQ_OQ));

#if CV_FMA3
        __m256d __u = _mm256_fmadd_pd(__matTilt_00, __xd, _mm256_fmadd_pd(__matTilt_01, __yd, __matTilt_02));
        __u = _mm256_fmadd_pd(_mm256_mul_pd(_mm256_set1_pd(fx), __invProj), __u, _mm256_set1_pd(u0));

        __m256d __v = _mm256_fmadd_pd(__matTilt_10, __xd, _mm256_fmadd_pd(__matTilt_11, __yd, __matTilt_12));
        __v = _mm256_fmadd_pd(_mm256_mul_pd(_mm256_set1_pd(fy), __invProj), __v, _mm256_set1_pd(v0));
#else
        __m256d __u = _mm256_add_pd(_mm256_add_pd(
            _mm256_mul_pd(__matTilt_00, __xd), _mm256_mul_pd(__matTilt_01, __yd)), __matTilt_02);
        __u = _mm256_add_pd(_mm256_mul_pd(_mm256_mul_pd(_mm256_set1_pd(fx), __invProj), __u), _mm256_set1_pd(u0));

        __m256d __v = _mm256_add_pd(_mm256_add_pd(
            _mm256_mul_pd(__matTilt_10, __xd), _mm256_mul_pd(__matTilt_11, __yd)), __matTilt_12);
        __v = _mm256_add_pd(_mm256_mul_pd(_mm256_mul_pd(_mm256_set1_pd(fy), __invProj), __v), _mm256_set1_pd(v0));
#endif

        if (m1type == CV_32FC1)
        {
            _mm_storeu_ps(&m1f[j], _mm256_cvtpd_ps(__u));
            _mm_storeu_ps(&m2f[j], _mm256_cvtpd_ps(__v));
        }
        else if (m1type == CV_32FC2)
        {
            __m128 __u_float = _mm256_cvtpd_ps(__u);
            __m128 __v_float = _mm256_cvtpd_ps(__v);

            _mm_storeu_ps(&m1f[j * 2], _mm_unpacklo_ps(__u_float, __v_float));
            _mm_storeu_ps(&m1f[j * 2 + 4], _mm_unpackhi_ps(__u_float, __v_float));
        }
        else // m1type == CV_16SC2
        {
            __u = _mm256_mul_pd(__u, _mm256_set1_pd(INTER_TAB_SIZE));
            __v = _mm256_mul_pd(__v, _mm256_set1_pd(INTER_TAB_SIZE));

            __m128 __u_float = _mm256_cvtpd_ps(__u);
            __m128 __v_float = _mm256_cvtpd_ps(__v);
            _mm256_zeroupper();
            static const __m128 __int_max = _mm_set1_ps((float)(std::numeric_limits<int>::max()));
            static const __m128 __int_min = _mm_set1_ps((float)(std::numeric_limits<int>::min()));
            __u_float = _mm_max_ps(_mm_min_ps(__u_float, __int_max), __int_min);
            __v_float = _mm_max_ps(_mm_min_ps(__v_float, __int_max), __int_min);

            __m128i __iu = _mm_cvtps_epi32(__u_float);
            __m128i __iv = _mm_cvtps_epi32(__v_float);

            static const __m128i __INTER_TAB_SIZE_m1 = _mm_set1_epi32(INTER_TAB_SIZE - 1);
            __m128i __m2 = _mm_add_epi32(
                _mm_mullo_epi32(_mm_and_si128(__iv, __INTER_TAB_SIZE_m1), _mm_set1_epi32(INTER_TAB_SIZE)),
                _mm_and_si128(__iu, __INTER_TAB_SIZE_m1));
            __m2 = _mm_packus_epi32(__m2, __m2);
            _mm_maskstore_epi64((long long int*) &m2[j], _mm_set_epi32(0, 0, 0xFFFFFFFF, 0xFFFFFFFF), __m2);

            // gcc4.9 does not support _mm256_set_m128
            // __m256i __m1 = _mm256_set_m128i(__iv, __iu);
            __m256i __m1 = _mm256_setzero_si256();
            __m1 = _mm256_inserti128_si256(__m1, __iu, 0);
            __m1 = _mm256_inserti128_si256(__m1, __iv, 1);
            __m1 = _mm256_srai_epi32(__m1, INTER_BITS); // v3 v2 v1 v0 u3 u2 u1 u0 (int32_t)
            static const __m256i __permute_mask = _mm256_set_epi32(7, 3, 6, 2, 5, 1, 4, 0);
            __m1 = _mm256_permutevar8x32_epi32(__m1, __permute_mask); // v3 u3 v2 u2 v1 u1 v0 u0 (int32_t)
            __m1 = _mm256_packs_epi32(__m1, __m1); // x x x x v3 u3 v2 u2 x x x x v1 u1 v0 u0 (int16_t)
            _mm_storeu_si128((__m128i*) &m1[j * 2], _mm256_extracti128_si256(_mm256_permute4x64_epi64(__m1, (2 << 2) + 0), 0));
        }
    }

    return j;
}

}

/*  End of file  */
