/// <summary>
/// Calculate "distance" of cloud at determined pose
/// TODO - It's actually slower than SISD. Need more parallelism.
/// </summary>
/// <param name="cloud">Cloud of points</param>
/// <param name="pose">Pose of cloud</param>
/// <returns></returns>
private int CalculateDistanceSSE41(ScanCloud cloud, Vector3 pose)
{
int nb_points = 0;
long sum = 0;
float px = pose.X * HoleMap.Scale;
float py = pose.Y * HoleMap.Scale;
float c = MathF.Cos(pose.Z) * HoleMap.Scale;
float s = MathF.Sin(pose.Z) * HoleMap.Scale;
Vector128 <float> sincos = Vector128.Create(c, -s, s, c);
Vector128 <float> posxy = Vector128.Create(px, py, px, py);
// Translate and rotate scan to robot position and compute the "distance"
for (int i = 0; i < cloud.Points.Count; i++)
{
Vector128 <float> xy = Vector128.Create(cloud.Points[i].X, cloud.Points[i].Y, cloud.Points[i].X, cloud.Points[i].Y);
xy = Sse41.Multiply(sincos, xy);
xy = Sse41.HorizontalAdd(xy, xy);
xy = Sse41.Add(xy, posxy);
xy = Sse41.RoundToNearestInteger(xy);
int x = (int)xy.GetElement(0);
int y = (int)xy.GetElement(1);
// Check boundaries
if ((x >= 0) && (x < HoleMap.Size) && (y >= 0) && (y < HoleMap.Size))
{
sum += HoleMap.Pixels[y * HoleMap.Size + x];
nb_points++;
}
}
if (nb_points > 0)
{
return((int)((sum * 1024) / cloud.Points.Count));
}
else
{
return(int.MaxValue);
}
}
