COMPMID-2391: Created optical flow example

Change-Id: Ibf1c5cb9b3c20235f7231351bffe4c7e04d982b8
Signed-off-by: Pablo Tello <pablo.tello@arm.com>
Reviewed-on: https://review.mlplatform.org/c/1299
Comments-Addressed: Arm Jenkins <bsgcomp@arm.com>
Reviewed-by: Georgios Pinitas <georgios.pinitas@arm.com>
Tested-by: Arm Jenkins <bsgcomp@arm.com>
Reviewed-by: Gian Marco Iodice <gianmarco.iodice@arm.com>

1 files changed, 263 insertions, 0 deletions

diff --git a/examples/neon_opticalflow.cpp b/examples/neon_opticalflow.cpp
new file mode 100644
index 0000000000..b5df819e97
--- /dev/null
+++ b/examples/neon_opticalflow.cpp
@@ -0,0 +1,263 @@
+/*
+ * Copyright (c) 2019 ARM Limited.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "arm_compute/runtime/NEON/NEFunctions.h"
+
+#include "arm_compute/core/Types.h"
+#include "utils/ImageLoader.h"
+#include "utils/Utils.h"
+
+#include <fstream>
+#include <sstream>
+#include <vector>
+
+using namespace arm_compute;
+using namespace utils;
+
+class NeonOpticalFlowExample : public Example
+{
+public:
+    NeonOpticalFlowExample()
+        : input_points(100), output_points(100), point_estimates(100)
+    {
+    }
+
+    bool do_setup(int argc, char **argv) override
+    {
+        if(argc < 5)
+        {
+            // Print help
+            std::cout << "Usage: ./build/neon_opticalflow [src_1st.ppm] [src_2nd.ppm] [keypoints] [estimates]\n\n";
+            const unsigned int img_width  = 64;
+            const unsigned int img_height = 64;
+            const unsigned int rect_x     = 20;
+            const unsigned int rect_y     = 40;
+            const unsigned int rect_s     = 8;
+            const unsigned int offsetx    = 24;
+            const unsigned int offsety    = 3;
+            std::cout << "No input_image provided, creating test data:\n";
+            std::cout << "\t Image src_1st = (" << img_width << "," << img_height << ")" << std::endl;
+            std::cout << "\t Image src_2nd = (" << img_width << "," << img_height << ")" << std::endl;
+            init_img(src_1st, img_width, img_height, rect_x, rect_y, rect_s);
+            init_img(src_2nd, img_width, img_height, rect_x + offsetx, rect_y + offsety, rect_s);
+            const int num_points = 4;
+            input_points.resize(num_points);
+            point_estimates.resize(num_points);
+            const std::array<unsigned int, num_points> tracking_coordsx = { rect_x - 1, rect_x, rect_x + 1, rect_x + 2 };
+            const std::array<unsigned int, num_points> tracking_coordsy = { rect_y - 1, rect_y, rect_y + 1, rect_y + 2 };
+            const std::array<unsigned int, num_points> estimate_coordsx = { rect_x + offsetx - 1, rect_x + offsetx, rect_x + offsetx + 1, rect_x + offsetx + 2 };
+            const std::array<unsigned int, num_points> estimate_coordsy = { rect_y + offsety - 1, rect_y + offsety, rect_y + offsety + 1, rect_y + offsety + 2 };
+
+            for(int k = 0; k < num_points; ++k)
+            {
+                auto &keypoint           = input_points.at(k);
+                keypoint.x               = tracking_coordsx[k];
+                keypoint.y               = tracking_coordsy[k];
+                keypoint.tracking_status = 1;
+            }
+            for(int k = 0; k < num_points; ++k)
+            {
+                auto &keypoint           = point_estimates.at(k);
+                keypoint.x               = estimate_coordsx[k];
+                keypoint.y               = estimate_coordsy[k];
+                keypoint.tracking_status = 1;
+            }
+        }
+        else
+        {
+            load_ppm(argv[1], src_1st);
+            load_ppm(argv[2], src_2nd);
+            load_keypoints(argv[3], input_points);
+            load_keypoints(argv[4], point_estimates);
+        }
+
+        print_points(input_points, "Tracking points : ");
+        print_points(point_estimates, "Estimates points : ");
+
+        const unsigned int num_levels = 3;
+        // Initialise and allocate pyramids
+        PyramidInfo pyramid_info(num_levels, SCALE_PYRAMID_HALF, src_1st.info()->tensor_shape(), src_1st.info()->format());
+        pyr_1st.init_auto_padding(pyramid_info);
+        pyr_2nd.init_auto_padding(pyramid_info);
+
+        pyrf_1st.configure(&src_1st, &pyr_1st, BorderMode::UNDEFINED, 0);
+        pyrf_2nd.configure(&src_2nd, &pyr_2nd, BorderMode::UNDEFINED, 0);
+
+        output_points.resize(input_points.num_values());
+
+        optkf.configure(&pyr_1st, &pyr_2nd,
+                        &input_points, &point_estimates, &output_points,
+                        Termination::TERM_CRITERIA_BOTH, 0.01f, 15, 5, true, BorderMode::UNDEFINED, 0);
+
+        pyr_1st.allocate();
+        pyr_2nd.allocate();
+
+        return true;
+    }
+    void do_run() override
+    {
+        //Execute the functions:
+        pyrf_1st.run();
+        pyrf_2nd.run();
+        optkf.run();
+    }
+    void do_teardown() override
+    {
+        print_points(output_points, "Output points : ");
+    }
+
+private:
+    /** Loads the input keypoints from a file into an array
+     *
+     * @param[in]  fn  Filename containing the keypoints. Each line must have two values X Y.
+     * @param[out] img Reference to an unintialised KeyPointArray
+     */
+    bool load_keypoints(const std::string &fn, KeyPointArray &array)
+    {
+        assert(!fn.empty());
+        std::ifstream f(fn);
+        if(f.is_open())
+        {
+            std::cout << "Reading points from " << fn << std::endl;
+            std::vector<KeyPoint> v;
+            for(std::string line; std::getline(f, line);)
+            {
+                std::stringstream ss(line);
+                std::string       xcoord;
+                std::string       ycoord;
+                getline(ss, xcoord, ' ');
+                getline(ss, ycoord, ' ');
+                KeyPoint kp;
+                kp.x               = std::stoi(xcoord);
+                kp.y               = std::stoi(ycoord);
+                kp.tracking_status = 1;
+                v.push_back(kp);
+            }
+            const int num_points = v.size();
+            array.resize(num_points);
+            for(int k = 0; k < num_points; ++k)
+            {
+                auto &keypoint = array.at(k);
+                keypoint       = v[k];
+            }
+            return true;
+        }
+        else
+        {
+            std::cout << "Cannot open keypoints file " << fn << std::endl;
+            return false;
+        }
+    }
+
+    /** Creates and Image and fills it with the ppm data from the file
+     *
+     * @param[in]  fn  PPM filename to be loaded
+     * @param[out] img Reference to an unintialised image instance
+     */
+    bool load_ppm(const std::string &fn, Image &img)
+    {
+        assert(!fn.empty());
+        PPMLoader ppm;
+        ppm.open(fn);
+        ppm.init_image(img, Format::U8);
+        img.allocator()->allocate();
+        if(ppm.is_open())
+        {
+            std::cout << "Reading image " << fn << std::endl;
+            ppm.fill_image(img);
+            return true;
+        }
+        else
+        {
+            std::cout << "Cannot open " << fn << std::endl;
+            return false;
+        }
+    }
+    /** Creates and Image and draws a square in the specified coordinares.
+     *
+     * @param[out] img             Reference to an unintialised image instance
+     * @param[in]  img_width       Width of the image to be created
+     * @param[in]  img_height      Height of the image to be created
+     * @param[in]  square_center_x Coordinate along x-axis to be used as the center for the square
+     * @param[in]  square_center_y Coordinate along y-axis to be used as the center for the square
+     * @param[in]  square_size     Size in pixels to be used for the square
+     */
+    void init_img(Image &img, unsigned int img_width, unsigned int img_height,
+                  unsigned int square_center_x, unsigned int square_center_y,
+                  unsigned int square_size)
+    {
+        img.allocator()->init(TensorInfo(img_width, img_height, Format::U8));
+        img.allocator()->allocate();
+        const unsigned int square_half = square_size / 2;
+        // assert the square is in the bounds of the image
+        assert(square_center_x > square_half && square_center_x + square_half < img_width);
+        assert(square_center_y > square_half && square_center_y + square_half < img_height);
+        // get ptr to the top left pixel for the squeare
+        std::fill(img.buffer(), img.buffer() + img_width * img_height, 0);
+        for(unsigned int i = 0; i < square_size; ++i)
+        {
+            for(unsigned int j = 0; j < square_size; ++j)
+            {
+                uint8_t *ptr = img.ptr_to_element(Coordinates(square_center_x - square_half + j, square_center_y - square_half + i));
+                *ptr         = 0xFF;
+            }
+        }
+    }
+    /** Prints an array of keypoints and an optional label
+     *
+     * @param[in] a   Keypoint array to be printed
+     * @param[in] str Label to be printed before the array
+     */
+    void print_points(const KeyPointArray &a, const std::string &str = "")
+    {
+        std::cout << str << std::endl;
+        for(unsigned int k = 0; k < a.num_values(); ++k)
+        {
+            auto kp = a.at(k);
+            std::cout << "\t "
+                      << " (x,y) = (" << kp.x << "," << kp.y << ")";
+            std::cout << " strength = " << kp.strength << " "
+                      << " scale = " << kp.scale << " orientation " << kp.orientation << " status " << kp.tracking_status << " err = " << kp.error << std::endl;
+        }
+    }
+
+    Pyramid               pyr_1st{};
+    Pyramid               pyr_2nd{};
+    NEGaussianPyramidHalf pyrf_1st{};
+    NEGaussianPyramidHalf pyrf_2nd{};
+    NEOpticalFlow         optkf{};
+    Image                 src_1st{}, src_2nd{};
+    KeyPointArray         input_points;
+    KeyPointArray         output_points;
+    KeyPointArray         point_estimates;
+};
+
+/** Main program for optical flow test
+ *
+ * @param[in] argc Number of arguments
+ * @param[in] argv Arguments ( [optional] Path to PPM image to process )
+ */
+int main(int argc, char **argv)
+{
+    return utils::run_example<NeonOpticalFlowExample>(argc, argv);
+}