COMPMID-344 Updated doxygen

Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae

1 files changed, 212 insertions, 0 deletions

diff --git a/src/runtime/NEON/functions/NEHarrisCorners.cpp b/src/runtime/NEON/functions/NEHarrisCorners.cpp
new file mode 100644
index 0000000000..b54fb67ab7
--- /dev/null
+++ b/src/runtime/NEON/functions/NEHarrisCorners.cpp
@@ -0,0 +1,212 @@
+/*
+ * 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/NEON/functions/NEHarrisCorners.h"
+
+#include "arm_compute/core/Error.h"
+#include "arm_compute/core/Helpers.h"
+#include "arm_compute/core/NEON/kernels/NEFillBorderKernel.h"
+#include "arm_compute/core/NEON/kernels/NEHarrisCornersKernel.h"
+#include "arm_compute/core/TensorInfo.h"
+#include "arm_compute/core/Validate.h"
+#include "arm_compute/runtime/Array.h"
+#include "arm_compute/runtime/NEON/NEScheduler.h"
+#include "arm_compute/runtime/NEON/functions/NESobel3x3.h"
+#include "arm_compute/runtime/NEON/functions/NESobel5x5.h"
+#include "arm_compute/runtime/NEON/functions/NESobel7x7.h"
+#include "arm_compute/runtime/TensorAllocator.h"
+
+#include <cmath>
+#include <utility>
+
+using namespace arm_compute;
+
+NEHarrisCorners::NEHarrisCorners()
+    : _sobel(), _harris_score(), _non_max_suppr(), _candidates(), _sort_euclidean(), _border_gx(), _border_gy(), _gx(), _gy(), _score(), _nonmax(), _corners_list(), _num_corner_candidates(0)
+{
+}
+
+void NEHarrisCorners::configure(IImage *input, float threshold, float min_dist,
+                                float sensitivity, int32_t gradient_size, int32_t block_size, KeyPointArray *corners,
+                                BorderMode border_mode, uint8_t constant_border_value, bool use_fp16)
+{
+    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));
+
+    const TensorShape shape = input->info()->tensor_shape();
+    TensorInfo        tensor_info_gxgy;
+
+    if(gradient_size < 7)
+    {
+        tensor_info_gxgy.init(shape, Format::S16);
+    }
+    else
+    {
+        tensor_info_gxgy.init(shape, Format::S32);
+    }
+
+    _gx.allocator()->init(tensor_info_gxgy);
+    _gy.allocator()->init(tensor_info_gxgy);
+
+    TensorInfo tensor_info_score(shape, Format::F32);
+    _score.allocator()->init(tensor_info_score);
+    _nonmax.allocator()->init(tensor_info_score);
+
+    _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<NESobel3x3>();
+            k->configure(input, &_gx, &_gy, border_mode, constant_border_value);
+            _sobel = std::move(k);
+            break;
+        }
+        case 5:
+        {
+            auto k = arm_compute::cpp14::make_unique<NESobel5x5>();
+            k->configure(input, &_gx, &_gy, border_mode, constant_border_value);
+            _sobel = std::move(k);
+            break;
+        }
+        case 7:
+        {
+            auto k = arm_compute::cpp14::make_unique<NESobel7x7>();
+            k->configure(input, &_gx, &_gy, border_mode, constant_border_value);
+            _sobel = std::move(k);
+            break;
+        }
+        default:
+            ARM_COMPUTE_ERROR("Gradient size not implemented");
+    }
+
+    // Normalization factor
+    const float norm_factor = 1.0f / (255.0f * pow(4.0f, gradient_size / 2) * block_size);
+
+    if(use_fp16)
+    {
+        switch(block_size)
+        {
+            case 3:
+            {
+                auto k = arm_compute::cpp14::make_unique<NEHarrisScoreFP16Kernel<3>>();
+                k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+                _harris_score = std::move(k);
+            }
+            break;
+            case 5:
+            {
+                auto k = arm_compute::cpp14::make_unique<NEHarrisScoreFP16Kernel<5>>();
+                k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+                _harris_score = std::move(k);
+            }
+            break;
+            case 7:
+            {
+                auto k = arm_compute::cpp14::make_unique<NEHarrisScoreFP16Kernel<7>>();
+                k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+                _harris_score = std::move(k);
+            }
+            default:
+                break;
+        }
+    }
+    else
+    {
+        // Set/init Harris Score kernel accordingly with block_size
+        switch(block_size)
+        {
+            case 3:
+            {
+                auto k = arm_compute::cpp14::make_unique<NEHarrisScoreKernel<3>>();
+                k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+                _harris_score = std::move(k);
+            }
+            break;
+            case 5:
+            {
+                auto k = arm_compute::cpp14::make_unique<NEHarrisScoreKernel<5>>();
+                k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+                _harris_score = std::move(k);
+            }
+            break;
+            case 7:
+            {
+                auto k = arm_compute::cpp14::make_unique<NEHarrisScoreKernel<7>>();
+                k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+                _harris_score = std::move(k);
+            }
+            default:
+                break;
+        }
+    }
+
+    // Configure border filling before harris score
+    _border_gx.configure(&_gx, _harris_score->border_size(), border_mode, constant_border_value);
+    _border_gy.configure(&_gy, _harris_score->border_size(), border_mode, constant_border_value);
+
+    // Init non-maxima suppression function
+    _non_max_suppr.configure(&_score, &_nonmax, border_mode);
+
+    // 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 once all the configure methods have been called
+    _gx.allocator()->allocate();
+    _gy.allocator()->allocate();
+    _score.allocator()->allocate();
+    _nonmax.allocator()->allocate();
+}
+
+void NEHarrisCorners::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
+    _border_gx.run(_border_gx.window());
+    _border_gy.run(_border_gy.window());
+
+    // Run harris score kernel
+    NEScheduler::get().schedule(_harris_score.get(), Window::DimY);
+
+    // Run non-maxima suppression
+    _non_max_suppr.run();
+
+    // Run corner candidate kernel
+    NEScheduler::get().schedule(&_candidates, Window::DimY);
+
+    // Run sort & euclidean distance
+    _sort_euclidean.run(_sort_euclidean.window());
+}