diff options
Diffstat (limited to 'src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp')
| -rw-r--r-- | src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp | 60 |
1 files changed, 27 insertions, 33 deletions
diff --git a/src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp b/src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp index f7edf8edd0..750f44d972 100644 --- a/src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp +++ b/src/core/CPP/kernels/CPPNonMaximumSuppressionKernel.cpp @@ -28,7 +28,7 @@ #include "arm_compute/core/Validate.h" #include "support/ToolchainSupport.h" -#include <list> +#include <algorithm> namespace arm_compute { @@ -54,14 +54,12 @@ 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), _scores_above_thd_vector(), - _indices_above_thd_vector(), _visited(), _sorted_indices() + : _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)); @@ -76,14 +74,6 @@ void CPPNonMaximumSuppressionKernel::configure( _max_output_size = max_output_size; _num_boxes = input_scores->info()->dimension(0); - _scores_above_thd_vector.reserve(_num_boxes); - _indices_above_thd_vector.reserve(_num_boxes); - - // Visited and sorted_indices are preallocated as num_boxes size, which is the maximum size possible - // Will be used only N elements where N is the number of score above the threshold - _visited.reserve(_num_boxes); - _sorted_indices.reserve(_num_boxes); - // Configure kernel window Window win = calculate_max_window(*output_indices->info(), Steps()); @@ -91,9 +81,8 @@ void CPPNonMaximumSuppressionKernel::configure( 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)); return Status{}; @@ -106,33 +95,37 @@ void CPPNonMaximumSuppressionKernel::run(const Window &window, const ThreadInfo ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICPPKernel::window(), window); - unsigned int num_above_thd = 0; + // Auxiliary tensors + std::vector<int> indices_above_thd; + std::vector<float> scores_above_thd; 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) { - _indices_above_thd_vector.emplace_back(i); - _scores_above_thd_vector.emplace_back(score_i); - // Initialize respective index and visited - _sorted_indices.emplace_back(num_above_thd); - _visited.push_back(false); - ++num_above_thd; + scores_above_thd.emplace_back(score_i); + indices_above_thd.emplace_back(i); } } // Sort selected indices based on scores - std::sort(_sorted_indices.begin(), - _sorted_indices.end(), + const unsigned int num_above_thd = indices_above_thd.size(); + 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), [&](unsigned int first, unsigned int second) { - return _scores_above_thd_vector[first] > _scores_above_thd_vector[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); unsigned int output_idx = 0; + std::vector<bool> visited(num_above_thd, false); + // Keep only boxes with small IoU for(unsigned int i = 0; i < num_above_thd; ++i) { // Check if the output is full @@ -142,9 +135,10 @@ void CPPNonMaximumSuppressionKernel::run(const Window &window, const ThreadInfo } // 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_vector[_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; ++output_idx; } else @@ -155,11 +149,11 @@ 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) { - if(!_visited[_sorted_indices[j]]) + if(!visited[sorted_indices[j]]) { // Calculate IoU - const unsigned int i_index = _indices_above_thd_vector[_sorted_indices[i]]; - const unsigned int j_index = _indices_above_thd_vector[_sorted_indices[j]]; + 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)))); @@ -190,7 +184,7 @@ void CPPNonMaximumSuppressionKernel::run(const Window &window, const ThreadInfo if(overlap > _iou_threshold) { - _visited[_sorted_indices[j]] = true; + visited[sorted_indices[j]] = true; } } } |