COMPMID-344 Updated doxygen

Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae

1 files changed, 157 insertions, 0 deletions

diff --git a/src/runtime/CL/functions/CLHarrisCorners.cpp b/src/runtime/CL/functions/CLHarrisCorners.cpp
new file mode 100644
index 0000000000..2db277fa4d
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+++ b/src/runtime/CL/functions/CLHarrisCorners.cpp
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+/*
+ * Copyright (c) 2016, 2017 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/CL/functions/CLHarrisCorners.h"
+
+#include "arm_compute/core/CL/OpenCL.h"
+#include "arm_compute/core/CL/kernels/CLFillBorderKernel.h"
+#include "arm_compute/core/CL/kernels/CLHarrisCornersKernel.h"
+#include "arm_compute/core/Error.h"
+#include "arm_compute/core/Helpers.h"
+#include "arm_compute/core/TensorInfo.h"
+#include "arm_compute/core/Validate.h"
+#include "arm_compute/runtime/CL/CLScheduler.h"
+#include "arm_compute/runtime/CL/functions/CLSobel3x3.h"
+#include "arm_compute/runtime/CL/functions/CLSobel5x5.h"
+#include "arm_compute/runtime/CL/functions/CLSobel7x7.h"
+#include "arm_compute/runtime/ITensorAllocator.h"
+#include "arm_compute/runtime/Scheduler.h"
+
+#include <cmath>
+#include <utility>
+
+using namespace arm_compute;
+
+CLHarrisCorners::CLHarrisCorners()
+    : _sobel(), _harris_score(), _non_max_suppr(), _candidates(), _sort_euclidean(), _border_gx(), _border_gy(), _gx(), _gy(), _score(), _nonmax(), _corners_list(), _num_corner_candidates(0),
+      _corners(nullptr)
+{
+}
+
+void CLHarrisCorners::configure(ICLImage *input, float threshold, float min_dist,
+                                float sensitivity, int32_t gradient_size, int32_t block_size, ICLKeyPointArray *corners,
+                                BorderMode border_mode, uint8_t constant_border_value)
+{
+    ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input);
+    ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8);
+    ARM_COMPUTE_ERROR_ON(!(block_size == 3 || block_size == 5 || block_size == 7));
+    ARM_COMPUTE_ERROR_ON(nullptr == corners);
+
+    _corners = corners;
+
+    const TensorShape shape = input->info()->tensor_shape();
+    const DataType    dt    = (gradient_size < 7) ? DataType::S16 : DataType::S32;
+    TensorInfo        tensor_info(shape, 1, dt);
+    _gx.allocator()->init(tensor_info);
+    _gy.allocator()->init(tensor_info);
+
+    TensorInfo info_f32(shape, 1, DataType::F32);
+    _score.allocator()->init(info_f32);
+    _nonmax.allocator()->init(info_f32);
+
+    _corners_list = arm_compute::cpp14::make_unique<InternalKeypoint[]>(shape.x() * shape.y());
+
+    /* Set/init Sobel kernel accordingly with gradient_size */
+    switch(gradient_size)
+    {
+        case 3:
+        {
+            auto k = arm_compute::cpp14::make_unique<CLSobel3x3>();
+            k->configure(input, &_gx, &_gy, border_mode, constant_border_value);
+            _sobel = std::move(k);
+            break;
+        }
+        case 5:
+        {
+            auto k = arm_compute::cpp14::make_unique<CLSobel5x5>();
+            k->configure(input, &_gx, &_gy, border_mode, constant_border_value);
+            _sobel = std::move(k);
+            break;
+        }
+        case 7:
+        {
+            auto k = arm_compute::cpp14::make_unique<CLSobel7x7>();
+            k->configure(input, &_gx, &_gy, border_mode, constant_border_value);
+            _sobel = std::move(k);
+            break;
+        }
+        default:
+            ARM_COMPUTE_ERROR("Gradient size not implemented");
+    }
+
+    // Configure border filling before harris score
+    _border_gx.configure(&_gx, block_size / 2, border_mode, constant_border_value);
+    _border_gy.configure(&_gy, block_size / 2, border_mode, constant_border_value);
+
+    // Normalization factor
+    const float norm_factor               = 1.0f / (255.0f * pow(4.0f, gradient_size / 2) * block_size);
+    const float pow4_normalization_factor = pow(norm_factor, 4);
+
+    // Set/init Harris Score kernel accordingly with block_size
+    _harris_score.configure(&_gx, &_gy, &_score, block_size, pow4_normalization_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+
+    // Init non-maxima suppression function
+    _non_max_suppr.configure(&_score, &_nonmax, border_mode == BorderMode::UNDEFINED);
+
+    // Init corner candidates kernel
+    _candidates.configure(&_nonmax, _corners_list.get(), &_num_corner_candidates);
+
+    // Init euclidean distance
+    _sort_euclidean.configure(_corners_list.get(), _corners, &_num_corner_candidates, min_dist);
+
+    // Allocate intermediate buffers
+    _gx.allocator()->allocate();
+    _gy.allocator()->allocate();
+    _score.allocator()->allocate();
+    _nonmax.allocator()->allocate();
+}
+
+void CLHarrisCorners::run()
+{
+    ARM_COMPUTE_ERROR_ON_MSG(_sobel == nullptr, "Unconfigured function");
+
+    // Init to 0 number of corner candidates
+    _num_corner_candidates = 0;
+
+    // Run Sobel kernel
+    _sobel->run();
+
+    // Fill border before harris score kernel
+    CLScheduler::get().enqueue(_border_gx, false);
+    CLScheduler::get().enqueue(_border_gy, false);
+
+    // Run harris score kernel
+    CLScheduler::get().enqueue(_harris_score, false);
+
+    // Run non-maxima suppression
+    CLScheduler::get().enqueue(_non_max_suppr);
+
+    // Run corner candidate kernel
+    _nonmax.map(true);
+    Scheduler::get().schedule(&_candidates, Window::DimY);
+    _nonmax.unmap();
+
+    _corners->map(CLScheduler::get().queue(), true);
+    _sort_euclidean.run(_sort_euclidean.window());
+    _corners->unmap(CLScheduler::get().queue());
+}