diff options
Diffstat (limited to 'src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp')
| -rw-r--r-- | src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp | 110 |
1 files changed, 70 insertions, 40 deletions
diff --git a/src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp b/src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp index c1187ff2b3..1224ec14a7 100644 --- a/src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp +++ b/src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp @@ -35,15 +35,22 @@ namespace arm_compute { namespace { -Status validate_arguments(const ITensorInfo *bboxes, const ITensorInfo *scores, const ITensorInfo *output_indices, unsigned int max_output_size, - const float score_threshold, const float iou_threshold) +Status validate_arguments(const ITensorInfo *bboxes, + const ITensorInfo *scores, + const ITensorInfo *output_indices, + unsigned int max_output_size, + const float score_threshold, + const float iou_threshold) { ARM_COMPUTE_RETURN_ERROR_ON_NULLPTR(bboxes, scores, output_indices); ARM_COMPUTE_RETURN_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(bboxes, 1, DataType::F32); ARM_COMPUTE_RETURN_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output_indices, 1, DataType::S32); - ARM_COMPUTE_RETURN_ERROR_ON_MSG(bboxes->num_dimensions() > 2, "The bboxes tensor must be a 2-D float tensor of shape [4, num_boxes]."); - ARM_COMPUTE_RETURN_ERROR_ON_MSG(scores->num_dimensions() > 1, "The scores tensor must be a 1-D float tensor of shape [num_boxes]."); - ARM_COMPUTE_RETURN_ERROR_ON_MSG(output_indices->num_dimensions() > 1, "The indices must be 1-D integer tensor of shape [M], where max_output_size <= M"); + ARM_COMPUTE_RETURN_ERROR_ON_MSG(bboxes->num_dimensions() > 2, + "The bboxes tensor must be a 2-D float tensor of shape [4, num_boxes]."); + ARM_COMPUTE_RETURN_ERROR_ON_MSG(scores->num_dimensions() > 1, + "The scores tensor must be a 1-D float tensor of shape [num_boxes]."); + ARM_COMPUTE_RETURN_ERROR_ON_MSG(output_indices->num_dimensions() > 1, + "The indices must be 1-D integer tensor of shape [M], where max_output_size <= M"); ARM_COMPUTE_RETURN_ERROR_ON_MISMATCHING_DATA_TYPES(bboxes, scores); ARM_COMPUTE_RETURN_ERROR_ON_MSG(output_indices->dimension(0) == 0, "Indices tensor must be bigger than 0"); ARM_COMPUTE_RETURN_ERROR_ON_MSG(max_output_size == 0, "Max size cannot be 0"); @@ -55,15 +62,26 @@ Status validate_arguments(const ITensorInfo *bboxes, const ITensorInfo *scores, } // namespace CPPNonMaximumSuppressionKernel::CPPNonMaximumSuppressionKernel() - : _input_bboxes(nullptr), _input_scores(nullptr), _output_indices(nullptr), _max_output_size(0), _score_threshold(0.f), _iou_threshold(0.f), _num_boxes(0) + : _input_bboxes(nullptr), + _input_scores(nullptr), + _output_indices(nullptr), + _max_output_size(0), + _score_threshold(0.f), + _iou_threshold(0.f), + _num_boxes(0) { } -void CPPNonMaximumSuppressionKernel::configure(const ITensor *input_bboxes, const ITensor *input_scores, ITensor *output_indices, - unsigned int max_output_size, const float score_threshold, const float iou_threshold) +void CPPNonMaximumSuppressionKernel::configure(const ITensor *input_bboxes, + const ITensor *input_scores, + ITensor *output_indices, + unsigned int max_output_size, + const float score_threshold, + const float iou_threshold) { ARM_COMPUTE_ERROR_ON_NULLPTR(input_bboxes, input_scores, output_indices); - ARM_COMPUTE_ERROR_THROW_ON(validate_arguments(input_bboxes->info(), input_scores->info(), output_indices->info(), max_output_size, score_threshold, iou_threshold)); + ARM_COMPUTE_ERROR_THROW_ON(validate_arguments(input_bboxes->info(), input_scores->info(), output_indices->info(), + max_output_size, score_threshold, iou_threshold)); auto_init_if_empty(*output_indices->info(), TensorShape(max_output_size), 1, DataType::U8, QuantizationInfo()); @@ -82,10 +100,15 @@ void CPPNonMaximumSuppressionKernel::configure(const ITensor *input_bboxes, cons ICPPKernel::configure(win); } -Status CPPNonMaximumSuppressionKernel::validate(const ITensorInfo *bboxes, const ITensorInfo *scores, const ITensorInfo *output_indices, - unsigned int max_output_size, const float score_threshold, const float iou_threshold) +Status CPPNonMaximumSuppressionKernel::validate(const ITensorInfo *bboxes, + const ITensorInfo *scores, + const ITensorInfo *output_indices, + unsigned int max_output_size, + const float score_threshold, + const float iou_threshold) { - ARM_COMPUTE_RETURN_ON_ERROR(validate_arguments(bboxes, scores, output_indices, max_output_size, score_threshold, iou_threshold)); + ARM_COMPUTE_RETURN_ON_ERROR( + validate_arguments(bboxes, scores, output_indices, max_output_size, score_threshold, iou_threshold)); return Status{}; } @@ -99,10 +122,10 @@ void CPPNonMaximumSuppressionKernel::run(const Window &window, const ThreadInfo // Auxiliary tensors std::vector<int> indices_above_thd; std::vector<float> scores_above_thd; - for(unsigned int i = 0; i < _num_boxes; ++i) + for (unsigned int i = 0; i < _num_boxes; ++i) { const float score_i = *(reinterpret_cast<float *>(_input_scores->ptr_to_element(Coordinates(i)))); - if(score_i >= _score_threshold) + if (score_i >= _score_threshold) { scores_above_thd.emplace_back(score_i); indices_above_thd.emplace_back(i); @@ -114,12 +137,9 @@ void CPPNonMaximumSuppressionKernel::run(const Window &window, const ThreadInfo std::vector<unsigned int> sorted_indices; sorted_indices.resize(num_above_thd); std::iota(sorted_indices.data(), sorted_indices.data() + num_above_thd, 0); - std::sort(std::begin(sorted_indices), - std::end(sorted_indices), + std::sort(std::begin(sorted_indices), std::end(sorted_indices), [&](unsigned int first, unsigned int second) - { - return scores_above_thd[first] > scores_above_thd[second]; - }); + { return scores_above_thd[first] > scores_above_thd[second]; }); // Number of output is the minimum between max_detection and the scores above the threshold const unsigned int num_output = std::min(_max_output_size, num_above_thd); @@ -127,19 +147,20 @@ void CPPNonMaximumSuppressionKernel::run(const Window &window, const ThreadInfo std::vector<bool> visited(num_above_thd, false); // Keep only boxes with small IoU - for(unsigned int i = 0; i < num_above_thd; ++i) + for (unsigned int i = 0; i < num_above_thd; ++i) { // Check if the output is full - if(output_idx >= num_output) + if (output_idx >= num_output) { break; } // Check if it was already visited, if not add it to the output and update the indices counter - if(!visited[sorted_indices[i]]) + if (!visited[sorted_indices[i]]) { - *(reinterpret_cast<int *>(_output_indices->ptr_to_element(Coordinates(output_idx)))) = indices_above_thd[sorted_indices[i]]; - visited[sorted_indices[i]] = true; + *(reinterpret_cast<int *>(_output_indices->ptr_to_element(Coordinates(output_idx)))) = + indices_above_thd[sorted_indices[i]]; + visited[sorted_indices[i]] = true; ++output_idx; } else @@ -148,28 +169,36 @@ void CPPNonMaximumSuppressionKernel::run(const Window &window, const ThreadInfo } // Once added one element at the output check if the next ones overlap and can be skipped - for(unsigned int j = i + 1; j < num_above_thd; ++j) + for (unsigned int j = i + 1; j < num_above_thd; ++j) { - if(!visited[sorted_indices[j]]) + if (!visited[sorted_indices[j]]) { // Calculate IoU const unsigned int i_index = indices_above_thd[sorted_indices[i]]; const unsigned int j_index = indices_above_thd[sorted_indices[j]]; // Box-corner format: xmin, ymin, xmax, ymax - const auto box_i_xmin = *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(0, i_index)))); - const auto box_i_ymin = *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(1, i_index)))); - const auto box_i_xmax = *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(2, i_index)))); - const auto box_i_ymax = *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(3, i_index)))); - - const auto box_j_xmin = *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(0, j_index)))); - const auto box_j_ymin = *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(1, j_index)))); - const auto box_j_xmax = *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(2, j_index)))); - const auto box_j_ymax = *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(3, j_index)))); + const auto box_i_xmin = + *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(0, i_index)))); + const auto box_i_ymin = + *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(1, i_index)))); + const auto box_i_xmax = + *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(2, i_index)))); + const auto box_i_ymax = + *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(3, i_index)))); + + const auto box_j_xmin = + *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(0, j_index)))); + const auto box_j_ymin = + *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(1, j_index)))); + const auto box_j_xmax = + *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(2, j_index)))); + const auto box_j_ymax = + *(reinterpret_cast<float *>(_input_bboxes->ptr_to_element(Coordinates(3, j_index)))); const float area_i = (box_i_xmax - box_i_xmin) * (box_i_ymax - box_i_ymin); const float area_j = (box_j_xmax - box_j_xmin) * (box_j_ymax - box_j_ymin); float overlap; - if(area_i <= 0 || area_j <= 0) + if (area_i <= 0 || area_j <= 0) { overlap = 0.0f; } @@ -179,11 +208,12 @@ void CPPNonMaximumSuppressionKernel::run(const Window &window, const ThreadInfo const auto x_min_intersection = std::max<float>(box_i_xmin, box_j_xmin); const auto y_max_intersection = std::min<float>(box_i_ymax, box_j_ymax); const auto x_max_intersection = std::min<float>(box_i_xmax, box_j_xmax); - const auto area_intersection = std::max<float>(y_max_intersection - y_min_intersection, 0.0f) * std::max<float>(x_max_intersection - x_min_intersection, 0.0f); - overlap = area_intersection / (area_i + area_j - area_intersection); + const auto area_intersection = std::max<float>(y_max_intersection - y_min_intersection, 0.0f) * + std::max<float>(x_max_intersection - x_min_intersection, 0.0f); + overlap = area_intersection / (area_i + area_j - area_intersection); } - if(overlap > _iou_threshold) + if (overlap > _iou_threshold) { visited[sorted_indices[j]] = true; } @@ -192,7 +222,7 @@ void CPPNonMaximumSuppressionKernel::run(const Window &window, const ThreadInfo } // The output could be full but not the output indices tensor // Instead return values not valid we put -1 - for(; output_idx < _max_output_size; ++output_idx) + for (; output_idx < _max_output_size; ++output_idx) { *(reinterpret_cast<int *>(_output_indices->ptr_to_element(Coordinates(output_idx)))) = -1; } |