text: /*
   Copyright (C) 2011  The Autonomous Systems Lab, ETH Zurich,
   Stefan Leutenegger, Simon Lynen and Margarita Chli.
  
   Copyright (C) 2013  The Autonomous Systems Lab, ETH Zurich,
   Stefan Leutenegger and Simon Lynen.
  
   All rights reserved.
  
   This is the Author's implementation of BRISK: Binary Robust Invariant
   Scalable Keypoints [1]. Various (partly unpublished) extensions are provided,
   some of which are described in [2].
  
   [1] Stefan Leutenegger, Margarita Chli and Roland Siegwart. BRISK: Binary
       Robust Invariant Scalable Keypoints. In Proceedings of the IEEE
       International Conference on Computer Vision (ICCV), 2011.
  
   [2] Stefan Leutenegger. Unmanned Solar Airplanes: Design and Algorithms for
       Efficient and Robust Autonomous Operation. Doctoral dissertation, 2014.
  
   This file is part of BRISK.
  
   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:
   * Redistributions of source code must retain the above copyright
     notice, this list of conditions and the following disclaimer.
   * Redistributions in binary form must reproduce the above copyright
     notice, this list of conditions and the following disclaimer in the
     documentation and/or other materials provided with the distribution.
   * Neither the name of the Autonomous Systems Lab, ETH Zurich nor the
     names of its contributors may be used to endorse or promote products
     derived from this software without specific prior written permission.
  
   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
   ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
   WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
   DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef INTERNAL_HAMMING_H_
  #define INTERNAL_HAMMING_H_
  #ifdef __ARM_NEON__
  #include <arm_neon.h>
  #else
  #include <emmintrin.h>
  #include <tmmintrin.h>
  #endif  // __ARM_NEON__
  
  
  #include <brisk/internal/macros.h>
  
  namespace brisk {
  // Faster Hamming distance functor - uses SSE
  // bit count of A exclusive XOR'ed with B.
  class  Hamming {
   public:
    Hamming() { }
  
  #ifdef __ARM_NEON__
    static __inline__ uint32_t NEONPopcntofXORed(const uint8x16_t* signature1,
                                                 const uint8x16_t* signature2,
                                                 const int numberOf128BitWords);
    static __inline__ uint32_t PopcntofXORed(const unsigned char* signature1,
                                             const unsigned char* signature2,
                                             const int numberOf128BitWords) {
      return NEONPopcntofXORed(reinterpret_cast<const uint8x16_t*>(signature1),
                               reinterpret_cast<const uint8x16_t*>(signature2),
                               numberOf128BitWords);
    }
    static __inline__ uint32_t PopcntofXORed(const uint8x16_t* signature1,
                                             const uint8x16_t* signature2,
                                             const int numberOf128BitWords) {
      return NEONPopcntofXORed(signature1, signature2, numberOf128BitWords);
    }
  #else
    static __inline__ uint32_t SSSE3PopcntofXORed(const __m128i* signature1,
                                                  const __m128i* signature2,
                                                  const int numberOf128BitWords);
    static __inline__ uint32_t PopcntofXORed(const __m128i* signature1,
                                             const __m128i* signature2,
                                             const int numberOf128BitWords) {
      return SSSE3PopcntofXORed(signature1, signature2, numberOf128BitWords);
    }
    static __inline__ uint32_t PopcntofXORed(const unsigned char* signature1,
                                             const unsigned char* signature2,
                                             const int numberOf128BitWords) {
      return SSSE3PopcntofXORed(reinterpret_cast<const __m128i*>(signature1),
                                reinterpret_cast<const __m128i*>(signature2),
                                numberOf128BitWords);
    }
  #endif  // __ARM_NEON__
  
    typedef unsigned char ValueType;
  
    // Important that this is signed as weird behavior happens in BruteForce if
    // not.
    typedef int ResultType;
  
    // This will count the bits in a ^ b.
    ResultType operator()(
        const unsigned char* a, const unsigned char* b, const int size) const {
  #ifdef __ARM_NEON__
      return NEONPopcntofXORed(reinterpret_cast<const uint8x16_t*>(a),
                               reinterpret_cast<const uint8x16_t*>(b),
                               size / 16);
  #else
      return SSSE3PopcntofXORed(reinterpret_cast<const __m128i*>(a),
                                reinterpret_cast<const __m128i*>(b),
                                size / 16);
  #endif  // __ARM_NEON__
    }
  };
  }  // namespace brisk
  #include <brisk/internal/hamming-inl.h>
  #endif  // INTERNAL_HAMMING_H_
  
  