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-rw-r--r--src/core/CL/kernels/CLLKTrackerKernel.cpp314
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diff --git a/src/core/CL/kernels/CLLKTrackerKernel.cpp b/src/core/CL/kernels/CLLKTrackerKernel.cpp
deleted file mode 100644
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--- a/src/core/CL/kernels/CLLKTrackerKernel.cpp
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-/*
- * Copyright (c) 2017-2020 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 "src/core/CL/kernels/CLLKTrackerKernel.h"
-
-#include "arm_compute/core/CL/CLKernelLibrary.h"
-#include "arm_compute/core/CL/ICLArray.h"
-#include "arm_compute/core/CL/ICLTensor.h"
-#include "arm_compute/core/Coordinates.h"
-#include "arm_compute/core/Helpers.h"
-#include "arm_compute/core/TensorInfo.h"
-#include "arm_compute/core/Validate.h"
-#include "src/core/AccessWindowStatic.h"
-#include "src/core/helpers/WindowHelpers.h"
-
-#include <cmath>
-
-using namespace arm_compute;
-
-void CLLKTrackerInitKernel::configure(const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates,
- ICLLKInternalKeypointArray *old_points_internal, ICLLKInternalKeypointArray *new_points_internal,
- bool use_initial_estimate, size_t level, size_t num_levels, float pyramid_scale)
-{
- configure(CLKernelLibrary::get().get_compile_context(), old_points, new_points_estimates, old_points_internal, new_points_internal, use_initial_estimate, level, num_levels, pyramid_scale);
-}
-
-void CLLKTrackerInitKernel::configure(const CLCompileContext &compile_context, const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates,
- ICLLKInternalKeypointArray *old_points_internal, ICLLKInternalKeypointArray *new_points_internal,
- bool use_initial_estimate, size_t level, size_t num_levels, float pyramid_scale)
-
-{
- ARM_COMPUTE_ERROR_ON(old_points == nullptr);
- ARM_COMPUTE_ERROR_ON(old_points_internal == nullptr);
- ARM_COMPUTE_ERROR_ON(new_points_internal == nullptr);
-
- const float scale = std::pow(pyramid_scale, level);
-
- // Create kernel
- std::string kernel_name = "init_level";
- if(level == (num_levels - 1))
- {
- kernel_name += (use_initial_estimate) ? std::string("_max_initial_estimate") : std::string("_max");
- }
- _kernel = create_kernel(compile_context, kernel_name);
-
- // Set static kernel arguments
- unsigned int idx = 0;
- if(level == (num_levels - 1))
- {
- _kernel.setArg(idx++, old_points->cl_buffer());
- if(use_initial_estimate)
- {
- _kernel.setArg(idx++, new_points_estimates->cl_buffer());
- }
- }
- _kernel.setArg(idx++, old_points_internal->cl_buffer());
- _kernel.setArg(idx++, new_points_internal->cl_buffer());
- _kernel.setArg<cl_float>(idx++, scale);
-
- // Configure kernel window
- Window window;
- window.set(Window::DimX, Window::Dimension(0, old_points->num_values(), 1));
- window.set(Window::DimY, Window::Dimension(0, 1, 1));
- ICLKernel::configure_internal(window);
-}
-
-void CLLKTrackerInitKernel::run(const Window &window, cl::CommandQueue &queue)
-{
- ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
- ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICLKernel::window(), window);
-
- enqueue(queue, *this, window, lws_hint());
-}
-
-void CLLKTrackerFinalizeKernel::configure(ICLLKInternalKeypointArray *new_points_internal, ICLKeyPointArray *new_points)
-{
- configure(CLKernelLibrary::get().get_compile_context(), new_points_internal, new_points);
-}
-
-void CLLKTrackerFinalizeKernel::configure(const CLCompileContext &compile_context, ICLLKInternalKeypointArray *new_points_internal, ICLKeyPointArray *new_points)
-
-{
- ARM_COMPUTE_ERROR_ON(new_points_internal == nullptr);
- ARM_COMPUTE_ERROR_ON(new_points == nullptr);
-
- // Create kernel
- _kernel = create_kernel(compile_context, "finalize");
-
- // Set static kernel arguments
- unsigned int idx = 0;
- _kernel.setArg(idx++, new_points_internal->cl_buffer());
- _kernel.setArg(idx++, new_points->cl_buffer());
-
- // Configure kernel window
- Window window;
- window.set(Window::DimX, Window::Dimension(0, new_points_internal->num_values(), 1));
- window.set(Window::DimY, Window::Dimension(0, 1, 1));
- ICLKernel::configure_internal(window);
-}
-
-void CLLKTrackerFinalizeKernel::run(const Window &window, cl::CommandQueue &queue)
-{
- ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
- ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICLKernel::window(), window);
-
- enqueue(queue, *this, window, lws_hint());
-}
-
-CLLKTrackerStage0Kernel::CLLKTrackerStage0Kernel()
- : _old_input(nullptr), _old_scharr_gx(nullptr), _old_scharr_gy(nullptr)
-{
-}
-
-void CLLKTrackerStage0Kernel::configure(const ICLTensor *old_input, const ICLTensor *old_scharr_gx, const ICLTensor *old_scharr_gy,
- ICLLKInternalKeypointArray *old_points_internal, ICLLKInternalKeypointArray *new_points_internal,
- ICLCoefficientTableArray *coeff_table, ICLOldValArray *old_ival,
- size_t window_dimension, size_t level)
-{
- configure(CLKernelLibrary::get().get_compile_context(), old_input, old_scharr_gx, old_scharr_gy, old_points_internal, new_points_internal, coeff_table, old_ival, window_dimension, level);
-}
-
-void CLLKTrackerStage0Kernel::configure(const CLCompileContext &compile_context, const ICLTensor *old_input, const ICLTensor *old_scharr_gx, const ICLTensor *old_scharr_gy,
- ICLLKInternalKeypointArray *old_points_internal, ICLLKInternalKeypointArray *new_points_internal,
- ICLCoefficientTableArray *coeff_table, ICLOldValArray *old_ival,
- size_t window_dimension, size_t level)
-
-{
- ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(old_input, 1, DataType::U8);
- ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(old_scharr_gx, 1, DataType::S16);
- ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(old_scharr_gy, 1, DataType::S16);
- ARM_COMPUTE_ERROR_ON(old_points_internal == nullptr);
- ARM_COMPUTE_ERROR_ON(new_points_internal == nullptr);
- ARM_COMPUTE_ERROR_ON(coeff_table == nullptr);
- ARM_COMPUTE_ERROR_ON(old_ival == nullptr);
-
- _old_input = old_input;
- _old_scharr_gx = old_scharr_gx;
- _old_scharr_gy = old_scharr_gy;
-
- // Configure kernel window
- Window window;
- window.set(Window::DimX, Window::Dimension(0, new_points_internal->num_values(), 1));
- window.set(Window::DimY, Window::Dimension(0, 1, 1));
-
- const ValidRegion valid_region = intersect_valid_regions(
- old_input->info()->valid_region(),
- old_scharr_gx->info()->valid_region(),
- old_scharr_gy->info()->valid_region());
-
- update_window_and_padding(window,
- AccessWindowStatic(old_input->info(), valid_region.start(0), valid_region.start(1),
- valid_region.end(0), valid_region.end(1)),
- AccessWindowStatic(old_scharr_gx->info(), valid_region.start(0), valid_region.start(1),
- valid_region.end(0), valid_region.end(1)),
- AccessWindowStatic(old_scharr_gy->info(), valid_region.start(0), valid_region.start(1),
- valid_region.end(0), valid_region.end(1)));
-
- ICLKernel::configure_internal(window);
-
- // Initialize required variables
- const int level0 = (level == 0) ? 1 : 0;
- const int window_size = window_dimension;
- const int window_size_squared = window_dimension * window_dimension;
- const int window_size_half = window_dimension / 2;
- const float eig_const = 1.0f / (2.0f * window_size_squared);
- const cl_float3 border_limits =
- {
- {
- // -1 because we load 2 values at once for bilinear interpolation
- static_cast<cl_float>(valid_region.end(0) - window_size - 1),
- static_cast<cl_float>(valid_region.end(1) - window_size - 1),
- static_cast<cl_float>(valid_region.start(0))
- }
- };
-
- // Create kernel
- _kernel = create_kernel(compile_context, "lktracker_stage0");
-
- // Set arguments
- unsigned int idx = 3 * num_arguments_per_2D_tensor();
- _kernel.setArg(idx++, old_points_internal->cl_buffer());
- _kernel.setArg(idx++, new_points_internal->cl_buffer());
- _kernel.setArg(idx++, coeff_table->cl_buffer());
- _kernel.setArg(idx++, old_ival->cl_buffer());
- _kernel.setArg<cl_int>(idx++, window_size);
- _kernel.setArg<cl_int>(idx++, window_size_squared);
- _kernel.setArg<cl_int>(idx++, window_size_half);
- _kernel.setArg<cl_float3>(idx++, border_limits);
- _kernel.setArg<cl_float>(idx++, eig_const);
- _kernel.setArg<cl_int>(idx++, level0);
-}
-
-void CLLKTrackerStage0Kernel::run(const Window &window, cl::CommandQueue &queue)
-{
- ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
- ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICLKernel::window(), window);
-
- // Set static tensor arguments. Setting here as allocation might be deferred.
- unsigned int idx = 0;
- add_2D_tensor_argument(idx, _old_input, window);
- add_2D_tensor_argument(idx, _old_scharr_gx, window);
- add_2D_tensor_argument(idx, _old_scharr_gy, window);
-
- enqueue(queue, *this, window, lws_hint());
-}
-
-CLLKTrackerStage1Kernel::CLLKTrackerStage1Kernel()
- : _new_input(nullptr)
-{
-}
-
-void CLLKTrackerStage1Kernel::configure(const ICLTensor *new_input, ICLLKInternalKeypointArray *new_points_internal, ICLCoefficientTableArray *coeff_table, ICLOldValArray *old_ival,
- Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, size_t level)
-{
- configure(CLKernelLibrary::get().get_compile_context(), new_input, new_points_internal, coeff_table, old_ival, termination, epsilon, num_iterations, window_dimension, level);
-}
-
-void CLLKTrackerStage1Kernel::configure(const CLCompileContext &compile_context, const ICLTensor *new_input, ICLLKInternalKeypointArray *new_points_internal, ICLCoefficientTableArray *coeff_table,
- ICLOldValArray *old_ival,
- Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, size_t level)
-
-{
- ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(new_input, 1, DataType::U8);
- ARM_COMPUTE_ERROR_ON(new_points_internal == nullptr);
- ARM_COMPUTE_ERROR_ON(coeff_table == nullptr);
- ARM_COMPUTE_ERROR_ON(old_ival == nullptr);
-
- _new_input = new_input;
-
- // Configure kernel window
- Window window;
- window.set(Window::DimX, Window::Dimension(0, new_points_internal->num_values(), 1));
- window.set(Window::DimY, Window::Dimension(0, 1, 1));
-
- const ValidRegion &valid_region = new_input->info()->valid_region();
-
- update_window_and_padding(window,
- AccessWindowStatic(new_input->info(), valid_region.start(0), valid_region.start(1),
- valid_region.end(0), valid_region.end(1)));
-
- ICLKernel::configure_internal(window);
-
- // Initialize required variables
- const int level0 = (level == 0) ? 1 : 0;
- const int window_size = window_dimension;
- const int window_size_squared = window_dimension * window_dimension;
- const int window_size_half = window_dimension / 2;
- const float eig_const = 1.0f / (2.0f * window_size_squared);
- const cl_float3 border_limits =
- {
- {
- // -1 because we load 2 values at once for bilinear interpolation
- static_cast<cl_float>(valid_region.end(0) - window_size - 1),
- static_cast<cl_float>(valid_region.end(1) - window_size - 1),
- static_cast<cl_float>(valid_region.start(0))
- }
- };
-
- // Set maximum number of iterations used for convergence
- const size_t max_iterations = 1000;
- num_iterations = (termination == Termination::TERM_CRITERIA_EPSILON) ? max_iterations : num_iterations;
-
- const int term_epsilon = (termination == Termination::TERM_CRITERIA_EPSILON || termination == Termination::TERM_CRITERIA_BOTH) ? 1 : 0;
-
- // Create kernel
- _kernel = create_kernel(compile_context, "lktracker_stage1");
-
- // Set static kernel arguments
- unsigned int idx = num_arguments_per_2D_tensor();
- _kernel.setArg(idx++, new_points_internal->cl_buffer());
- _kernel.setArg(idx++, coeff_table->cl_buffer());
- _kernel.setArg(idx++, old_ival->cl_buffer());
- _kernel.setArg<cl_int>(idx++, window_size);
- _kernel.setArg<cl_int>(idx++, window_size_squared);
- _kernel.setArg<cl_int>(idx++, window_size_half);
- _kernel.setArg<cl_int>(idx++, num_iterations);
- _kernel.setArg<cl_float>(idx++, epsilon);
- _kernel.setArg<cl_float3>(idx++, border_limits);
- _kernel.setArg<cl_float>(idx++, eig_const);
- _kernel.setArg<cl_int>(idx++, level0);
- _kernel.setArg<cl_int>(idx++, term_epsilon);
-}
-
-void CLLKTrackerStage1Kernel::run(const Window &window, cl::CommandQueue &queue)
-{
- ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
- ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICLKernel::window(), window);
-
- // Set static tensor arguments. Setting here as allocation might be deferred.
- unsigned int idx = 0;
- add_2D_tensor_argument(idx, _new_input, window);
-
- enqueue(queue, *this, window, lws_hint());
-}
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