brisk_2d does not use the SSE4.1 intrinsic instructions

brisk_2d use the SSE2 and SSSE3 intrinsic instructions. "_mm_shuffle_epi8" is SSSE3, others is SSE2.
PointCloudLibrary · Feb 6, 2016 · 332d157 · 332d157
1 parent aa58bc5
commit 332d157
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Showing 2 changed files with 8 additions and 7 deletions.
diff --git a/keypoints/src/brisk_2d.cpp b/keypoints/src/brisk_2d.cpp
@@ -42,8 +42,9 @@
 #include <pcl/keypoints/brisk_2d.h>
 #include <pcl/point_types.h>
 #include <pcl/impl/instantiate.hpp>
-#if defined(__SSE4_1__) && !defined(__i386__)
+#if defined(__SSSE3__) && !defined(__i386__)
 #include <tmmintrin.h>
+#include <emmintrin.h>
 #endif
 
 /////////////////////////////////////////////////////////////////////////////////////////
@@ -1568,7 +1569,7 @@ pcl::keypoints::brisk::Layer::halfsample (
     int dstwidth, int dstheight)
 {
   (void)dstheight;
-#if defined(__SSE4_1__) && !defined(__i386__)
+#if defined(__SSSE3__) && !defined(__i386__)
   const unsigned short leftoverCols = static_cast<unsigned short> ((srcwidth % 16) / 2); // take care with border...
   const bool noleftover = (srcwidth % 16) == 0; // note: leftoverCols can be zero but this still false...
 
@@ -1720,7 +1721,7 @@ pcl::keypoints::brisk::Layer::halfsample (
   (void) (srcheight);
   (void) (dstimg); 
   (void) (dstwidth);
-  PCL_ERROR("brisk without SSE4.1 support not implemented");
+  PCL_ERROR("brisk without SSSE3 support not implemented");
 #endif
 }
 
@@ -1733,7 +1734,7 @@ pcl::keypoints::brisk::Layer::twothirdsample (
     int dstwidth, int dstheight)
 {
   (void)dstheight;
-#if defined(__SSE4_1__) && !defined(__i386__)
+#if defined(__SSSE3__) && !defined(__i386__)
   const unsigned short leftoverCols = static_cast<unsigned short> (((srcwidth / 3) * 3) % 15);// take care with border...
 
   // make sure the destination image is of the right size:
@@ -1834,7 +1835,7 @@ pcl::keypoints::brisk::Layer::twothirdsample (
   (void) (srcheight);
   (void) (dstimg); 
   (void) (dstwidth);
-  PCL_ERROR("brisk without SSE4.1 support not implemented");
+  PCL_ERROR("brisk without SSSE3 support not implemented");
 #endif
 }
 
diff --git a/test/features/test_brisk.cpp b/test/features/test_brisk.cpp
@@ -60,7 +60,7 @@ PointCloud<BRISKSignature512>::Ptr cloud_descriptors_gt (new PointCloud<BRISKSig
 //////////////////////////////////////////////////////////////////////////////////////////////
 TEST (PCL, BRISK_2D)
 {
-#if defined(__SSE4_1__) && !defined(__i386__)
+#if defined(__SSSE3__) && !defined(__i386__)
   // Compute BRISK keypoints 
   BriskKeypoint2D<PointT> brisk_keypoint_estimation;
   brisk_keypoint_estimation.setThreshold (60);
@@ -120,7 +120,7 @@ TEST (PCL, BRISK_2D)
     EXPECT_NEAR (0.0f, sqr_dist, 1e-4);
   }
 #else
-  PCL_WARN ("Not compiled with SSE4.1, skipping test of Brisk.\n");
+  PCL_WARN ("Not compiled with SSSE3, skipping test of Brisk.\n");
 #endif
 }