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Diffstat (limited to 'src/core/CL/kernels/CLFastCornersKernel.cpp')
| -rw-r--r-- | src/core/CL/kernels/CLFastCornersKernel.cpp | 172 |
1 files changed, 172 insertions, 0 deletions
diff --git a/src/core/CL/kernels/CLFastCornersKernel.cpp b/src/core/CL/kernels/CLFastCornersKernel.cpp new file mode 100644 index 0000000000..1d4d776730 --- /dev/null +++ b/src/core/CL/kernels/CLFastCornersKernel.cpp @@ -0,0 +1,172 @@ +/* + * 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/core/CL/kernels/CLFastCornersKernel.h" + +#include "arm_compute/core/CL/CLKernelLibrary.h" +#include "arm_compute/core/CL/ICLTensor.h" +#include "arm_compute/core/CL/OpenCL.h" +#include "arm_compute/core/Error.h" +#include "arm_compute/core/Helpers.h" +#include "arm_compute/core/IAccessWindow.h" +#include "arm_compute/core/Validate.h" +#include "arm_compute/core/Window.h" + +#include <set> +#include <string> + +using namespace arm_compute; + +CLFastCornersKernel::CLFastCornersKernel() + : ICLKernel(), _input(nullptr), _output(nullptr) +{ +} + +BorderSize CLFastCornersKernel::border_size() const +{ + return BorderSize(3); +} + +void CLFastCornersKernel::configure(const ICLImage *input, ICLImage *output, float threshold, bool non_max_suppression, BorderMode border_mode) +{ + ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input); + ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(output); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::U8); + ARM_COMPUTE_ERROR_ON_MSG(border_mode != BorderMode::UNDEFINED, "Not implemented"); + + _input = input; + _output = output; + + // Create build options + std::set<std::string> build_opts; + + if(non_max_suppression) + { + build_opts.emplace("-DUSE_MAXSUPPRESSION"); + } + + // Create kernel + _kernel = static_cast<cl::Kernel>(CLKernelLibrary::get().create_kernel("fast_corners", build_opts)); + + // Set static kernel arguments + unsigned int idx = 2 * num_arguments_per_2D_tensor(); // Skip the input and output parameters + _kernel.setArg<cl_float>(idx, static_cast<float>(threshold)); + + // Configure kernel window + constexpr unsigned int num_elems_processed_per_iteration = 1; + constexpr unsigned int num_elems_read_per_iteration = 7; + constexpr unsigned int num_rows_read_per_iteration = 3; + + Window win = calculate_max_window(*input->info(), Steps(num_elems_processed_per_iteration), border_mode == BorderMode::UNDEFINED, BorderSize(3)); + + AccessWindowHorizontal output_access(output->info(), 0, num_elems_processed_per_iteration); + AccessWindowRectangle input_access(input->info(), -border_size().left, -border_size().top, num_elems_read_per_iteration, num_rows_read_per_iteration); + + update_window_and_padding(win, input_access, output_access); + + output_access.set_valid_region(win, input->info()->valid_region(), border_mode == BorderMode::UNDEFINED, border_size()); + + ICLKernel::configure(win); +} + +void CLFastCornersKernel::run(const Window &window, cl::CommandQueue &queue) +{ + ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); + ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICLKernel::window(), window); + + Window slice = window.first_slice_window_2D(); + + do + { + unsigned int idx = 0; + add_2D_tensor_argument(idx, _input, slice); + add_2D_tensor_argument(idx, _output, slice); + enqueue(queue, *this, slice); + } + while(window.slide_window_slice_2D(slice)); +} + +CLCopyToArrayKernel::CLCopyToArrayKernel() + : ICLKernel(), _input(nullptr), _corners(nullptr), _num_buffer(nullptr) +{ +} + +void CLCopyToArrayKernel::configure(const ICLImage *input, bool update_number, ICLKeyPointArray *corners, cl::Buffer *num_buffers) +{ + 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(corners == nullptr); + ARM_COMPUTE_ERROR_ON(num_buffers == nullptr); + + _input = input; + _corners = corners; + _num_buffer = num_buffers; + + std::set<std::string> build_opts; + + if(update_number) + { + build_opts.emplace("-DUPDATE_NUMBER"); + } + + // Create kernel + _kernel = static_cast<cl::Kernel>(CLKernelLibrary::get().create_kernel("copy_to_keypoint", build_opts)); + + //Get how many pixels skipped in the x dimension in the previous stages + unsigned int offset = _input->info()->valid_region().anchor.x(); + + // Set static kernel arguments + unsigned int idx = num_arguments_per_2D_tensor(); // Skip the input and output parameters + _kernel.setArg<unsigned int>(idx++, corners->max_num_values()); + _kernel.setArg<cl_uint>(idx++, offset); + _kernel.setArg(idx++, *_num_buffer); + _kernel.setArg(idx++, _corners->cl_buffer()); + + // Configure kernel window + constexpr unsigned int num_elems_processed_per_iteration = 1; + Window win = calculate_max_window(*input->info(), Steps(num_elems_processed_per_iteration)); + update_window_and_padding(win, + AccessWindowHorizontal(input->info(), 0, num_elems_processed_per_iteration)); + ICLKernel::configure(win); +} + +void CLCopyToArrayKernel::run(const Window &window, cl::CommandQueue &queue) +{ + ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); + ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICLKernel::window(), window); + + //Initialise the _num_buffer as it used as both input and output + static const unsigned int zero_init = 0; + queue.enqueueWriteBuffer(*_num_buffer, CL_FALSE, 0, sizeof(unsigned int), &zero_init); + + Window slice = window.first_slice_window_2D(); + + do + { + unsigned int idx = 0; + add_2D_tensor_argument(idx, _input, slice); + enqueue(queue, *this, slice); + } + while(window.slide_window_slice_2D(slice)); +} |