diff options
author | Moritz Pflanzer <moritz.pflanzer@arm.com> | 2017-09-24 12:09:41 +0100 |
---|---|---|
committer | Anthony Barbier <anthony.barbier@arm.com> | 2018-11-02 16:35:24 +0000 |
commit | 6c6597c1e17c32c6ad861780eee454a7deecfb75 (patch) | |
tree | 5df015557262a83e5e84a5fa365544bb1aa66762 /tests/validation/CPP | |
parent | c26ecf8ca13205cab2ce43d9f971e1569808e5bc (diff) | |
download | ComputeLibrary-6c6597c1e17c32c6ad861780eee454a7deecfb75.tar.gz |
COMPMID-500: Move HarrisCorners to new validation
Change-Id: I4e21ad98d029e360010c5927f04b716527700a00
Reviewed-on: http://mpd-gerrit.cambridge.arm.com/88888
Reviewed-by: Anthony Barbier <anthony.barbier@arm.com>
Tested-by: Kaizen <jeremy.johnson+kaizengerrit@arm.com>
Diffstat (limited to 'tests/validation/CPP')
-rw-r--r-- | tests/validation/CPP/HarrisCornerDetector.cpp | 205 | ||||
-rw-r--r-- | tests/validation/CPP/HarrisCornerDetector.h | 47 | ||||
-rw-r--r-- | tests/validation/CPP/NonMaximaSuppression.cpp | 75 | ||||
-rw-r--r-- | tests/validation/CPP/NonMaximaSuppression.h | 44 | ||||
-rw-r--r-- | tests/validation/CPP/Utils.cpp | 30 | ||||
-rw-r--r-- | tests/validation/CPP/Utils.h | 25 |
6 files changed, 395 insertions, 31 deletions
diff --git a/tests/validation/CPP/HarrisCornerDetector.cpp b/tests/validation/CPP/HarrisCornerDetector.cpp new file mode 100644 index 0000000000..3babfeed42 --- /dev/null +++ b/tests/validation/CPP/HarrisCornerDetector.cpp @@ -0,0 +1,205 @@ +/* + * Copyright (c) 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 "HarrisCornerDetector.h" + +#include "Utils.h" +#include "tests/validation/CPP/NonMaximaSuppression.h" +#include "tests/validation/CPP/Sobel.h" +#include "tests/validation/Helpers.h" + +namespace arm_compute +{ +namespace test +{ +namespace validation +{ +namespace reference +{ +namespace +{ +template <typename T> +std::tuple<SimpleTensor<T>, SimpleTensor<T>, float> compute_sobel(const SimpleTensor<uint8_t> &src, int gradient_size, int block_size, BorderMode border_mode, uint8_t constant_border_value) +{ + SimpleTensor<T> grad_x; + SimpleTensor<T> grad_y; + float norm_factor = 0.f; + + std::tie(grad_x, grad_y) = sobel<T>(src, gradient_size, border_mode, constant_border_value); + + switch(gradient_size) + { + case 3: + norm_factor = 1.f / (4 * 255 * block_size); + break; + case 5: + norm_factor = 1.f / (16 * 255 * block_size); + break; + case 7: + norm_factor = 1.f / (64 * 255 * block_size); + break; + default: + ARM_COMPUTE_ERROR("Gradient size not supported."); + } + + return std::make_tuple(grad_x, grad_y, norm_factor); +} + +template <typename T, typename U> +std::vector<KeyPoint> harris_corner_detector_impl(const SimpleTensor<U> &src, float threshold, float min_dist, float sensitivity, int gradient_size, int block_size, BorderMode border_mode, + U constant_border_value) +{ + ARM_COMPUTE_ERROR_ON(block_size != 3 && block_size != 5 && block_size != 7); + + SimpleTensor<T> grad_x; + SimpleTensor<T> grad_y; + float norm_factor = 0.f; + + // Sobel + std::tie(grad_x, grad_y, norm_factor) = compute_sobel<T>(src, gradient_size, block_size, border_mode, constant_border_value); + + SimpleTensor<float> scores(src.shape(), DataType::F32); + ValidRegion scores_region = shape_to_valid_region(scores.shape(), border_mode == BorderMode::UNDEFINED, BorderSize(gradient_size / 2 + block_size / 2)); + + // Calculate scores + for(int i = 0; i < scores.num_elements(); ++i) + { + Coordinates src_coord = index2coord(src.shape(), i); + Coordinates block_top_left{ src_coord.x() - block_size / 2, src_coord.y() - block_size / 2 }; + Coordinates block_bottom_right{ src_coord.x() + block_size / 2, src_coord.y() + block_size / 2 }; + + if(!is_in_valid_region(scores_region, src_coord)) + { + scores[i] = 0.f; + continue; + } + + float Gx2 = 0.f; + float Gy2 = 0.f; + float Gxy = 0.f; + + // Calculate Gx^2, Gy^2 and Gxy within the given window + for(int y = src_coord.y() - block_size / 2; y <= src_coord.y() + block_size / 2; ++y) + { + for(int x = src_coord.x() - block_size / 2; x <= src_coord.x() + block_size / 2; ++x) + { + Coordinates block_coord(x, y); + + const float norm_x = tensor_elem_at(grad_x, block_coord, border_mode, static_cast<T>(constant_border_value)) * norm_factor; + const float norm_y = tensor_elem_at(grad_y, block_coord, border_mode, static_cast<T>(constant_border_value)) * norm_factor; + + Gx2 += std::pow(norm_x, 2); + Gy2 += std::pow(norm_y, 2); + Gxy += norm_x * norm_y; + } + } + + const float trace2 = std::pow(Gx2 + Gy2, 2); + const float det = Gx2 * Gy2 - std::pow(Gxy, 2); + const float response = det - sensitivity * trace2; + + if(response > threshold) + { + scores[i] = response; + } + else + { + scores[i] = 0.f; + } + } + + // Suppress non-maxima candidates + SimpleTensor<float> suppressed_scores = non_maxima_suppression(scores, border_mode != BorderMode::UNDEFINED ? BorderMode::CONSTANT : BorderMode::UNDEFINED, 0.f); + ValidRegion suppressed_scores_region = shape_to_valid_region(suppressed_scores.shape(), border_mode == BorderMode::UNDEFINED, BorderSize(gradient_size / 2 + block_size / 2 + 1)); + + // Create vector of candidate corners + std::vector<KeyPoint> corner_candidates; + + for(int i = 0; i < suppressed_scores.num_elements(); ++i) + { + Coordinates coord = index2coord(suppressed_scores.shape(), i); + + if(is_in_valid_region(suppressed_scores_region, coord) && suppressed_scores[i] > 0.f) + { + KeyPoint corner; + corner.x = coord.x(); + corner.y = coord.y(); + corner.tracking_status = 1; + corner.strength = suppressed_scores[i]; + corner.scale = 0.f; + corner.orientation = 0.f; + corner.error = 0.f; + + corner_candidates.emplace_back(corner); + } + } + + // Sort descending by strength + std::sort(corner_candidates.begin(), corner_candidates.end(), [](const KeyPoint & a, const KeyPoint & b) + { + return a.strength > b.strength; + }); + + std::vector<KeyPoint> corners; + corners.reserve(corner_candidates.size()); + + // Only add corner if there is no stronger within min_dist + for(const KeyPoint &point : corner_candidates) + { + const auto strongest = std::find_if(corners.begin(), corners.end(), [&](const KeyPoint & other) + { + return std::sqrt((std::pow(point.x - other.x, 2) + std::pow(point.y - other.y, 2))) < min_dist; + }); + + if(strongest == corners.end()) + { + corners.emplace_back(point); + } + } + + corners.shrink_to_fit(); + + return corners; +} +} // namespace + +template <typename T> +std::vector<KeyPoint> harris_corner_detector(const SimpleTensor<T> &src, float threshold, float min_dist, float sensitivity, int gradient_size, int block_size, BorderMode border_mode, + T constant_border_value) +{ + if(gradient_size < 7) + { + return harris_corner_detector_impl<int16_t>(src, threshold, min_dist, sensitivity, gradient_size, block_size, border_mode, constant_border_value); + } + else + { + return harris_corner_detector_impl<int32_t>(src, threshold, min_dist, sensitivity, gradient_size, block_size, border_mode, constant_border_value); + } +} + +template std::vector<KeyPoint> harris_corner_detector(const SimpleTensor<uint8_t> &src, float threshold, float min_dist, float sensitivity, int gradient_size, int block_size, BorderMode border_mode, + uint8_t constant_border_value); +} // namespace reference +} // namespace validation +} // namespace test +} // namespace arm_compute diff --git a/tests/validation/CPP/HarrisCornerDetector.h b/tests/validation/CPP/HarrisCornerDetector.h new file mode 100644 index 0000000000..042e8570c2 --- /dev/null +++ b/tests/validation/CPP/HarrisCornerDetector.h @@ -0,0 +1,47 @@ +/* + * Copyright (c) 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. + */ +#ifndef __ARM_COMPUTE_TEST_HARRIS_CORNER_DETECTOR_H__ +#define __ARM_COMPUTE_TEST_HARRIS_CORNER_DETECTOR_H__ + +#include "arm_compute/core/Types.h" +#include "tests/SimpleTensor.h" + +#include <vector> + +namespace arm_compute +{ +namespace test +{ +namespace validation +{ +namespace reference +{ +template <typename T> +std::vector<KeyPoint> harris_corner_detector(const SimpleTensor<T> &src, float threshold, float min_dist, float sensitivity, int gradient_size, int block_size, BorderMode border_mode, + T constant_border_value = 0); +} // namespace reference +} // namespace validation +} // namespace test +} // namespace arm_compute +#endif /* __ARM_COMPUTE_TEST_HARRIS_CORNER_DETECTOR_H__ */ diff --git a/tests/validation/CPP/NonMaximaSuppression.cpp b/tests/validation/CPP/NonMaximaSuppression.cpp new file mode 100644 index 0000000000..eab5cecfc8 --- /dev/null +++ b/tests/validation/CPP/NonMaximaSuppression.cpp @@ -0,0 +1,75 @@ +/* + * Copyright (c) 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 "NonMaximaSuppression.h" + +#include "Utils.h" +#include "tests/validation/Helpers.h" + +namespace arm_compute +{ +namespace test +{ +namespace validation +{ +namespace reference +{ +template <typename T> +SimpleTensor<T> non_maxima_suppression(const SimpleTensor<T> &src, BorderMode border_mode, T constant_border_value) +{ + constexpr int block_size = 3; + SimpleTensor<T> dst(src.shape(), src.data_type(), src.num_channels()); + ValidRegion valid_region = shape_to_valid_region(src.shape(), border_mode == BorderMode::UNDEFINED, BorderSize(block_size / 2)); + + for(int i = 0; i < src.num_elements(); ++i) + { + Coordinates coord = index2coord(src.shape(), i); + int x = coord.x(); + int y = coord.y(); + + if(!is_in_valid_region(valid_region, coord)) + { + continue; + } + + if(src[i] >= tensor_elem_at(src, Coordinates(x - 1, y - 1), border_mode, constant_border_value) && src[i] >= tensor_elem_at(src, Coordinates(x, y - 1), border_mode, constant_border_value) + && src[i] >= tensor_elem_at(src, Coordinates(x + 1, y - 1), border_mode, constant_border_value) && src[i] >= tensor_elem_at(src, Coordinates(x - 1, y), border_mode, constant_border_value) + && src[i] > tensor_elem_at(src, Coordinates(x + 1, y), border_mode, constant_border_value) && src[i] > tensor_elem_at(src, Coordinates(x - 1, y + 1), border_mode, constant_border_value) + && src[i] > tensor_elem_at(src, Coordinates(x, y + 1), border_mode, constant_border_value) && src[i] > tensor_elem_at(src, Coordinates(x + 1, y + 1), border_mode, constant_border_value)) + { + dst[i] = src[i]; + } + else + { + dst[i] = T(0); + } + } + + return dst; +} + +template SimpleTensor<float> non_maxima_suppression(const SimpleTensor<float> &src, BorderMode border_mode, float constant_border_value); +} // namespace reference +} // namespace validation +} // namespace test +} // namespace arm_compute diff --git a/tests/validation/CPP/NonMaximaSuppression.h b/tests/validation/CPP/NonMaximaSuppression.h new file mode 100644 index 0000000000..2086abfe83 --- /dev/null +++ b/tests/validation/CPP/NonMaximaSuppression.h @@ -0,0 +1,44 @@ +/* + * Copyright (c) 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. + */ +#ifndef __ARM_COMPUTE_TEST_NON_MAXIMA_SUPPRESSION_H__ +#define __ARM_COMPUTE_TEST_NON_MAXIMA_SUPPRESSION_H__ + +#include "arm_compute/core/Types.h" +#include "tests/SimpleTensor.h" + +namespace arm_compute +{ +namespace test +{ +namespace validation +{ +namespace reference +{ +template <typename T> +SimpleTensor<T> non_maxima_suppression(const SimpleTensor<T> &src, BorderMode border_mode, T constant_border_value = 0); +} // namespace reference +} // namespace validation +} // namespace test +} // namespace arm_compute +#endif /* __ARM_COMPUTE_TEST_NON_MAXIMA_SUPPRESSION_H__ */ diff --git a/tests/validation/CPP/Utils.cpp b/tests/validation/CPP/Utils.cpp index e27688889d..af3ed9099f 100644 --- a/tests/validation/CPP/Utils.cpp +++ b/tests/validation/CPP/Utils.cpp @@ -31,36 +31,6 @@ namespace test { namespace validation { -// Return a tensor element at a specified coordinate with different border modes -template <typename T> -T tensor_elem_at(const SimpleTensor<T> &in, Coordinates coord, BorderMode border_mode, T constant_border_value) -{ - const int x = coord.x(); - const int y = coord.y(); - const auto width = static_cast<int>(in.shape().x()); - const auto height = static_cast<int>(in.shape().y()); - - // If coordinates beyond range of tensor's width or height - if(x < 0 || y < 0 || x >= width || y >= height) - { - if(border_mode == BorderMode::REPLICATE) - { - coord.set(0, std::max(0, std::min(x, width - 1))); - coord.set(1, std::max(0, std::min(y, height - 1))); - } - else - { - return static_cast<T>(constant_border_value); - } - } - return in[coord2index(in.shape(), coord)]; -} - -template uint8_t tensor_elem_at(const SimpleTensor<uint8_t> &in, Coordinates coord, BorderMode border_mode, uint8_t constant_border_value); -template int16_t tensor_elem_at(const SimpleTensor<int16_t> &in, Coordinates coord, BorderMode border_mode, int16_t constant_border_value); -template half tensor_elem_at(const SimpleTensor<half> &in, Coordinates coord, BorderMode border_mode, half constant_border_value); -template float tensor_elem_at(const SimpleTensor<float> &in, Coordinates coord, BorderMode border_mode, float constant_border_value); - // Return the bilinear value at a specified coordinate with different border modes template <typename T> T bilinear_policy(const SimpleTensor<T> &in, Coordinates id, float xn, float yn, BorderMode border_mode, T constant_border_value) diff --git a/tests/validation/CPP/Utils.h b/tests/validation/CPP/Utils.h index 2d879c129b..91d1afe1d7 100644 --- a/tests/validation/CPP/Utils.h +++ b/tests/validation/CPP/Utils.h @@ -41,8 +41,31 @@ namespace test { namespace validation { +// Return a tensor element at a specified coordinate with different border modes template <typename T> -T tensor_elem_at(const SimpleTensor<T> &in, Coordinates coord, BorderMode border_mode, T constant_border_value); +T tensor_elem_at(const SimpleTensor<T> &src, Coordinates coord, BorderMode border_mode, T constant_border_value) +{ + const int x = coord.x(); + const int y = coord.y(); + const int width = src.shape().x(); + const int height = src.shape().y(); + + // If coordinates beyond range of tensor's width or height + if(x < 0 || y < 0 || x >= width || y >= height) + { + if(border_mode == BorderMode::REPLICATE) + { + coord.set(0, std::max(0, std::min(x, width - 1))); + coord.set(1, std::max(0, std::min(y, height - 1))); + } + else + { + return constant_border_value; + } + } + + return src[coord2index(src.shape(), coord)]; +} template <typename T> T bilinear_policy(const SimpleTensor<T> &in, Coordinates id, float xn, float yn, BorderMode border_mode, T constant_border_value); |