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Diffstat (limited to 'src/core/NEON/kernels/NECannyEdgeKernel.cpp')
| -rw-r--r-- | src/core/NEON/kernels/NECannyEdgeKernel.cpp | 1121 |
1 files changed, 0 insertions, 1121 deletions
diff --git a/src/core/NEON/kernels/NECannyEdgeKernel.cpp b/src/core/NEON/kernels/NECannyEdgeKernel.cpp deleted file mode 100644 index 094b77893a..0000000000 --- a/src/core/NEON/kernels/NECannyEdgeKernel.cpp +++ /dev/null @@ -1,1121 +0,0 @@ -/* - * Copyright (c) 2016-2019 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/NEON/kernels/NECannyEdgeKernel.h" - -#include "arm_compute/core/AccessWindowStatic.h" -#include "arm_compute/core/Error.h" -#include "arm_compute/core/Helpers.h" -#include "arm_compute/core/ITensor.h" -#include "arm_compute/core/TensorInfo.h" -#include "arm_compute/core/Types.h" -#include "arm_compute/core/Utils.h" -#include "arm_compute/core/Validate.h" - -#include <arm_neon.h> -#include <cstddef> -#include <cstdint> -#include <tuple> - -using namespace arm_compute; - -namespace arm_compute -{ -class Coordinates; -} // namespace arm_compute - -namespace -{ -constexpr int NO_EDGE = 0; -constexpr int EDGE = 255; -constexpr int MAYBE = 127; -} // namespace - -namespace -{ -inline uint8x8_t phase_quantization(const float32x4x2_t &gx, const float32x4x2_t &gy) -{ - // Constant use for evaluating score1 and score3 - static const float32x4_t const45 = vdupq_n_f32(0.70710678118655f); - static const float32x4_t zero = vdupq_n_f32(0.0f); - static const float32x4_t one = vdupq_n_f32(1.0f); - static const float32x4_t two = vdupq_n_f32(2.0f); - static const float32x4_t three = vdupq_n_f32(3.0f); - - // Score0: (1, 0) - const float32x4x2_t score0 = - { - { - vabsq_f32(gx.val[0]), - vabsq_f32(gx.val[1]) - } - }; - - // Score2: ( 0, 1 ) - const float32x4x2_t score2 = - { - { - vabsq_f32(gy.val[0]), - vabsq_f32(gy.val[1]) - } - }; - - // Score1 and Score3: ( sqrt(2) / 2, sqrt(2) / 2 ) - ( -sqrt(2) / 2, sqrt(2) / 2 ) - float32x4x2_t score1 = - { - { - vmulq_f32(gy.val[0], const45), - vmulq_f32(gy.val[1], const45) - } - }; - - float32x4x2_t score3 = score1; - - score1.val[0] = vmlaq_f32(score1.val[0], gx.val[0], const45); - score1.val[1] = vmlaq_f32(score1.val[1], gx.val[1], const45); - score3.val[0] = vmlsq_f32(score3.val[0], gx.val[0], const45); - score3.val[1] = vmlsq_f32(score3.val[1], gx.val[1], const45); - - score1.val[0] = vabsq_f32(score1.val[0]); - score1.val[1] = vabsq_f32(score1.val[1]); - score3.val[0] = vabsq_f32(score3.val[0]); - score3.val[1] = vabsq_f32(score3.val[1]); - - float32x4x2_t phase = - { - { - zero, - zero - } - }; - - float32x4x2_t old_score = score0; - - // score1 > old_score? - uint32x4x2_t mask = - { - { - vcgtq_f32(score1.val[0], old_score.val[0]), - vcgtq_f32(score1.val[1], old_score.val[1]) - } - }; - - phase.val[0] = vbslq_f32(mask.val[0], one, phase.val[0]); - phase.val[1] = vbslq_f32(mask.val[1], one, phase.val[1]); - old_score.val[0] = vbslq_f32(mask.val[0], score1.val[0], old_score.val[0]); - old_score.val[1] = vbslq_f32(mask.val[1], score1.val[1], old_score.val[1]); - - // score2 > old_score? - mask.val[0] = vcgtq_f32(score2.val[0], old_score.val[0]); - mask.val[1] = vcgtq_f32(score2.val[1], old_score.val[1]); - - phase.val[0] = vbslq_f32(mask.val[0], two, phase.val[0]); - phase.val[1] = vbslq_f32(mask.val[1], two, phase.val[1]); - old_score.val[0] = vbslq_f32(mask.val[0], score2.val[0], old_score.val[0]); - old_score.val[1] = vbslq_f32(mask.val[1], score2.val[1], old_score.val[1]); - - // score3 > old_score? - mask.val[0] = vcgtq_f32(score3.val[0], old_score.val[0]); - mask.val[1] = vcgtq_f32(score3.val[1], old_score.val[1]); - - phase.val[0] = vbslq_f32(mask.val[0], three, phase.val[0]); - phase.val[1] = vbslq_f32(mask.val[1], three, phase.val[1]); - old_score.val[0] = vbslq_f32(mask.val[0], score3.val[0], old_score.val[0]); - old_score.val[1] = vbslq_f32(mask.val[1], score3.val[1], old_score.val[1]); - - // Convert from float32x4_t to uint8x8_t - return vmovn_u16(vcombine_u16(vmovn_u32(vcvtq_u32_f32(phase.val[0])), - vmovn_u32(vcvtq_u32_f32(phase.val[1])))); -} - -/* Computes the gradient phase if gradient_size = 3 or 5. The output is quantized. - * 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° - * - * @param[in] gx Gx component - * @param[in] gy Gy component - * - * @return quantized phase for 8 pixels - */ -inline uint8x8_t phase_quantization_S16_S16(int16x8_t gx, int16x8_t gy) -{ - // Convert to float - const float32x4x2_t gx_f32 = - { - { - vcvtq_f32_s32(vmovl_s16(vget_low_s16(gx))), - vcvtq_f32_s32(vmovl_s16(vget_high_s16(gx))) - } - }; - - const float32x4x2_t gy_f32 = - { - { - vcvtq_f32_s32(vmovl_s16(vget_low_s16(gy))), - vcvtq_f32_s32(vmovl_s16(vget_high_s16(gy))) - } - }; - - return phase_quantization(gx_f32, gy_f32); -} - -/* Computes the gradient phase if gradient_size = 7. The output is quantized. - * 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° - * - * @param[in] gx Gx component - * @param[in] gy Gy component - * - * @return quantized phase for 8 pixels - */ -inline uint8x8_t phase_quantization_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) -{ - // Convert to float - const float32x4x2_t gx_f32 = - { - { - vcvtq_f32_s32(gx.val[0]), - vcvtq_f32_s32(gx.val[1]) - } - }; - - const float32x4x2_t gy_f32 = - { - { - vcvtq_f32_s32(gy.val[0]), - vcvtq_f32_s32(gy.val[1]) - } - }; - - return phase_quantization(gx_f32, gy_f32); -} - -/* Computes the magnitude using the L1-norm type if gradient_size = 3 or 5 - * - * @param[in] gx Gx component - * @param[in] gy Gy component - * - * @return magnitude for 8 pixels - */ -inline uint16x8_t mag_l1_S16_S16(int16x8_t gx, int16x8_t gy) -{ - return vaddq_u16(vreinterpretq_u16_s16(vabsq_s16(gx)), - vreinterpretq_u16_s16(vabsq_s16(gy))); -} - -/* Computes the magnitude using the L1-norm type if gradient_size = 7 - * - * @param[in] gx Gx component - * @param[in] gy Gy component - * - * @return magnitude for 8 pixels - */ -inline uint32x4x2_t mag_l1_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) -{ - const uint32x4x2_t gx_abs = - { - { - vreinterpretq_u32_s32(vabsq_s32(gx.val[0])), - vreinterpretq_u32_s32(vabsq_s32(gx.val[1])) - } - }; - - const uint32x4x2_t gy_abs = - { - { - vreinterpretq_u32_s32(vabsq_s32(gy.val[0])), - vreinterpretq_u32_s32(vabsq_s32(gy.val[1])) - } - }; - - const uint32x4x2_t output = - { - { - vaddq_u32(gx_abs.val[0], gy_abs.val[0]), - vaddq_u32(gx_abs.val[1], gy_abs.val[1]) - } - }; - - return output; -} - -inline float32x4x2_t mag_l2(const float32x4x2_t &gx, const float32x4x2_t &gy) -{ - // x^2 ... - float32x4x2_t magnitude = - { - { - vmulq_f32(gx.val[0], gx.val[0]), - vmulq_f32(gx.val[1], gx.val[1]) - } - }; - - // ... + y^2 - magnitude.val[0] = vmlaq_f32(magnitude.val[0], gy.val[0], gy.val[0]); - magnitude.val[1] = vmlaq_f32(magnitude.val[1], gy.val[1], gy.val[1]); - - // sqrt(...) - magnitude.val[0] = vmulq_f32(vrsqrteq_f32(magnitude.val[0]), magnitude.val[0]); - magnitude.val[1] = vmulq_f32(vrsqrteq_f32(magnitude.val[1]), magnitude.val[1]); - - return magnitude; -} - -/* Computes the magnitude using L2-norm if gradient_size = 3 or 5 - * - * @param[in] gx Gx component - * @param[in] gy Gy component - * - * @return magnitude for 8 pixels - */ -inline uint16x8_t mag_l2_S16_S16(int16x8_t gx, int16x8_t gy) -{ - // Compute magnitude using L2 normalization - const float32x4x2_t gx2 = - { - { - vcvtq_f32_s32(vmovl_s16(vget_low_s16(gx))), - vcvtq_f32_s32(vmovl_s16(vget_high_s16(gx))) - } - }; - - const float32x4x2_t gy2 = - { - { - vcvtq_f32_s32(vmovl_s16(vget_low_s16(gy))), - vcvtq_f32_s32(vmovl_s16(vget_high_s16(gy))) - } - }; - - const float32x4x2_t magnitude = mag_l2(gx2, gy2); - - // Store magnitude - Convert to uint16x8 - return vcombine_u16(vmovn_u32(vcvtq_u32_f32(magnitude.val[0])), - vmovn_u32(vcvtq_u32_f32(magnitude.val[1]))); -} - -/* Computes the magnitude using L2-norm if gradient_size = 7 - * - * @param[in] gx Gx component - * @param[in] gy Gy component - * - * @return magnitude for 8 pixels - */ -inline uint32x4x2_t mag_l2_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) -{ - // Compute magnitude using L2 normalization - float32x4x2_t gx2 = - { - { - vcvtq_f32_s32(gx.val[0]), - vcvtq_f32_s32(gx.val[1]) - } - }; - - float32x4x2_t gy2 = - { - { - vcvtq_f32_s32(gy.val[0]), - vcvtq_f32_s32(gy.val[1]) - } - }; - - const float32x4x2_t magnitude = mag_l2(gx2, gy2); - const uint32x4x2_t mag32 = - { - { - vcvtq_u32_f32(magnitude.val[0]), - vcvtq_u32_f32(magnitude.val[1]) - } - }; - - return mag32; -} - -/* Gradient function used when the gradient size = 3 or 5 and when the norm_type = L1-norm - * - * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S16 - * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S16 - * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U16 - * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type supported U8 - */ -void mag_phase_l1norm_S16_S16_U16_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) -{ - const auto gx = static_cast<const int16_t *__restrict>(gx_ptr); - const auto gy = static_cast<const int16_t *__restrict>(gy_ptr); - const auto magnitude = static_cast<uint16_t *__restrict>(magnitude_ptr); - const auto phase = static_cast<uint8_t *__restrict>(phase_ptr); - - const int16x8x4_t gx_val = - { - { - vld1q_s16(gx), - vld1q_s16(gx + 8), - vld1q_s16(gx + 16), - vld1q_s16(gx + 24) - } - }; - - const int16x8x4_t gy_val = - { - { - vld1q_s16(gy), - vld1q_s16(gy + 8), - vld1q_s16(gy + 16), - vld1q_s16(gy + 24) - } - }; - - // Compute and store phase - vst1_u8(phase + 0, phase_quantization_S16_S16(gx_val.val[0], gy_val.val[0])); - vst1_u8(phase + 8, phase_quantization_S16_S16(gx_val.val[1], gy_val.val[1])); - vst1_u8(phase + 16, phase_quantization_S16_S16(gx_val.val[2], gy_val.val[2])); - vst1_u8(phase + 24, phase_quantization_S16_S16(gx_val.val[3], gy_val.val[3])); - - // Compute ans store magnitude using L1 normalization - vst1q_u16(magnitude + 0, mag_l1_S16_S16(gx_val.val[0], gy_val.val[0])); - vst1q_u16(magnitude + 8, mag_l1_S16_S16(gx_val.val[1], gy_val.val[1])); - vst1q_u16(magnitude + 16, mag_l1_S16_S16(gx_val.val[2], gy_val.val[2])); - vst1q_u16(magnitude + 24, mag_l1_S16_S16(gx_val.val[3], gy_val.val[3])); -} - -/* Gradient function used when the gradient size = 3 or 5 and when the norm_type = L2-norm - * - * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S16 - * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S16 - * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U16 - * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type supported U8 - */ -void mag_phase_l2norm_S16_S16_U16_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) -{ - const auto gx = static_cast<const int16_t *__restrict>(gx_ptr); - const auto gy = static_cast<const int16_t *__restrict>(gy_ptr); - const auto magnitude = static_cast<uint16_t *__restrict>(magnitude_ptr); - const auto phase = static_cast<uint8_t *__restrict>(phase_ptr); - - const int16x8x4_t gx_val = - { - { - vld1q_s16(gx), - vld1q_s16(gx + 8), - vld1q_s16(gx + 16), - vld1q_s16(gx + 24) - } - }; - - const int16x8x4_t gy_val = - { - { - vld1q_s16(gy), - vld1q_s16(gy + 8), - vld1q_s16(gy + 16), - vld1q_s16(gy + 24) - } - }; - - // Compute and store phase - vst1_u8(phase + 0, phase_quantization_S16_S16(gx_val.val[0], gy_val.val[0])); - vst1_u8(phase + 8, phase_quantization_S16_S16(gx_val.val[1], gy_val.val[1])); - vst1_u8(phase + 16, phase_quantization_S16_S16(gx_val.val[2], gy_val.val[2])); - vst1_u8(phase + 24, phase_quantization_S16_S16(gx_val.val[3], gy_val.val[3])); - - // Compute and store magnitude using L2 normalization - vst1q_u16(magnitude + 0, mag_l2_S16_S16(gx_val.val[0], gy_val.val[0])); - vst1q_u16(magnitude + 8, mag_l2_S16_S16(gx_val.val[1], gy_val.val[1])); - vst1q_u16(magnitude + 16, mag_l2_S16_S16(gx_val.val[2], gy_val.val[2])); - vst1q_u16(magnitude + 24, mag_l2_S16_S16(gx_val.val[3], gy_val.val[3])); -} - -/* Gradient function used when the gradient size = 7 and when the norm_type = L1-norm - * - * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S32 - * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S32 - * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U32 - * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type support U8 - */ -void mag_phase_l1norm_S32_S32_U32_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) -{ - auto gx = static_cast<const int32_t *__restrict>(gx_ptr); - auto gy = static_cast<const int32_t *__restrict>(gy_ptr); - auto magnitude = static_cast<uint32_t *__restrict>(magnitude_ptr); - auto phase = static_cast<uint8_t *__restrict>(phase_ptr); - - // Process low and high part - for(size_t i = 0; i < 2; ++i, gx += 16, gy += 16, magnitude += 16, phase += 16) - { - const int32x4x2_t gx0 = - { - { - vld1q_s32(gx + 0), - vld1q_s32(gx + 4) - } - }; - - const int32x4x2_t gx1 = - { - { - vld1q_s32(gx + 8), - vld1q_s32(gx + 12) - } - }; - - const int32x4x2_t gy0 = - { - { - vld1q_s32(gy + 0), - vld1q_s32(gy + 4) - } - }; - - const int32x4x2_t gy1 = - { - { - vld1q_s32(gy + 8), - vld1q_s32(gy + 12) - } - }; - - // Compute and store phase - vst1_u8(phase + 0, phase_quantization_S32_S32(gx0, gy0)); - vst1_u8(phase + 8, phase_quantization_S32_S32(gx1, gy1)); - - // Compute magnitude using L1 normalization - const uint32x4x2_t mag0 = mag_l1_S32_S32(gx0, gy0); - const uint32x4x2_t mag1 = mag_l1_S32_S32(gx1, gy1); - - // Store magnitude - vst1q_u32(magnitude + 0, mag0.val[0]); - vst1q_u32(magnitude + 4, mag0.val[1]); - vst1q_u32(magnitude + 8, mag1.val[0]); - vst1q_u32(magnitude + 12, mag1.val[1]); - } -} - -/* Gradient function used when the gradient size = 7 and when the norm_type = L2-norm - * - * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S32 - * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S32 - * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U32 - * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type supported U8 - */ -void mag_phase_l2norm_S32_S32_U32_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) -{ - auto gx = static_cast<const int32_t *__restrict>(gx_ptr); - auto gy = static_cast<const int32_t *__restrict>(gy_ptr); - auto magnitude = static_cast<uint32_t *__restrict>(magnitude_ptr); - auto phase = static_cast<uint8_t *__restrict>(phase_ptr); - - // Process low and high part - for(size_t i = 0; i < 2; ++i, gx += 16, gy += 16, magnitude += 16, phase += 16) - { - const int32x4x2_t gx0 = - { - { - vld1q_s32(gx + 0), - vld1q_s32(gx + 4) - } - }; - - const int32x4x2_t gx1 = - { - { - vld1q_s32(gx + 8), - vld1q_s32(gx + 12) - } - }; - - const int32x4x2_t gy0 = - { - { - vld1q_s32(gy + 0), - vld1q_s32(gy + 4) - } - }; - - const int32x4x2_t gy1 = - { - { - vld1q_s32(gy + 8), - vld1q_s32(gy + 12) - } - }; - - // Compute and store phase - vst1_u8(phase + 0, phase_quantization_S32_S32(gx0, gy0)); - vst1_u8(phase + 8, phase_quantization_S32_S32(gx1, gy1)); - - // Compute magnitude using L2 normalization - const uint32x4x2_t mag0 = mag_l2_S32_S32(gx0, gy0); - const uint32x4x2_t mag1 = mag_l2_S32_S32(gx1, gy1); - - // Store magnitude - vst1q_u32(magnitude + 0, mag0.val[0]); - vst1q_u32(magnitude + 4, mag0.val[1]); - vst1q_u32(magnitude + 8, mag1.val[0]); - vst1q_u32(magnitude + 12, mag1.val[1]); - } -} - -/* Computes non-maxima suppression and hysteresis when the gradient size = 3 or 5 - * - * @param[in] magnitude_ptr Pointer to source image. Magnitude. Data type supported U16 - * @param[in] phase_ptr Pointer to source image. Quantized phase. Data type supported U8 - * @param[out] output_ptr Pointer to output image. Data type supported U8 - * @param[in] stride_mag Stride of magnitude image - * @param[in] lower_thr Lower threshold used for the hysteresis - * @param[in] upper_thr Upper threshold used for the hysteresis - */ -void non_max_suppression_U16_U8_U8(const void *__restrict magnitude_ptr, const void *__restrict phase_ptr, void *__restrict output_ptr, const uint32_t stride_mag, const int32_t lower_thr, - const int32_t upper_thr) -{ - const auto magnitude = static_cast<const uint16_t *__restrict>(magnitude_ptr); - const auto phase = static_cast<const uint8_t *__restrict>(phase_ptr); - const auto output = static_cast<uint8_t *__restrict>(output_ptr); - - // Get magnitude and phase of the centre pixels - uint16x8_t mc = vld1q_u16(magnitude); - - // Angle_quantized: 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° - const uint16x8_t pc16 = vmovl_u8(vld1_u8(phase)); - - // 0 degree - const uint16x8_t mk0_0 = vld1q_u16(magnitude - 1); - const uint16x8_t mk0_1 = vld1q_u16(magnitude + 1); - uint16x8_t mask0 = vceqq_u16(pc16, vdupq_n_u16(0)); - mask0 = vandq_u16(mask0, vcgtq_u16(mc, mk0_0)); - mask0 = vandq_u16(mask0, vcgtq_u16(mc, mk0_1)); - - // 45 degree - const uint16x8_t mk45_0 = vld1q_u16(magnitude - stride_mag - 1); - const uint16x8_t mk45_1 = vld1q_u16(magnitude + stride_mag + 1); - uint16x8_t mask1 = vceqq_u16(pc16, vdupq_n_u16(1)); - mask1 = vandq_u16(mask1, vcgtq_u16(mc, mk45_0)); - mask1 = vandq_u16(mask1, vcgtq_u16(mc, mk45_1)); - - // 90 degree - const uint16x8_t mk90_0 = vld1q_u16(magnitude - stride_mag); - const uint16x8_t mk90_1 = vld1q_u16(magnitude + stride_mag); - uint16x8_t mask2 = vceqq_u16(pc16, vdupq_n_u16(2)); - mask2 = vandq_u16(mask2, vcgtq_u16(mc, mk90_0)); - mask2 = vandq_u16(mask2, vcgtq_u16(mc, mk90_1)); - - // 135 degree - const uint16x8_t mk135_0 = vld1q_u16(magnitude - stride_mag + 1); - const uint16x8_t mk135_1 = vld1q_u16(magnitude + stride_mag - 1); - uint16x8_t mask3 = vceqq_u16(pc16, vdupq_n_u16(3)); - mask3 = vandq_u16(mask3, vcgtq_u16(mc, mk135_0)); - mask3 = vandq_u16(mask3, vcgtq_u16(mc, mk135_1)); - - // Merge masks - mask0 = vorrq_u16(mask0, mask1); - mask2 = vorrq_u16(mask2, mask3); - mask0 = vorrq_u16(mask0, mask2); - - mc = vbslq_u16(mask0, mc, vdupq_n_u16(0)); - - // mc > upper_thr - mask0 = vcgtq_u16(mc, vdupq_n_u16(upper_thr)); - - // mc <= lower_thr - mask1 = vcleq_u16(mc, vdupq_n_u16(lower_thr)); - - // mc <= upper_thr && mc > lower_thr - mask2 = vcleq_u16(mc, vdupq_n_u16(upper_thr)); - mask2 = vandq_u16(mask2, vcgtq_u16(mc, vdupq_n_u16(lower_thr))); - - mc = vbslq_u16(mask0, vdupq_n_u16(EDGE), mc); - mc = vbslq_u16(mask1, vdupq_n_u16(NO_EDGE), mc); - mc = vbslq_u16(mask2, vdupq_n_u16(MAYBE), mc); - - vst1_u8(output, vmovn_u16(mc)); -} - -inline uint16x4_t non_max_U32_helper(const uint32_t *input, const uint16x4_t pc, const uint32_t stride_mag, const int32_t lower_thr, const int32_t upper_thr) -{ - // Phase for 4 pixel - const uint32x4_t pc32 = vmovl_u16(pc); - - // Get magnitude for 4 pixel - uint32x4_t mc = vld1q_u32(input); - - // Angle_quantized: 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° - // 0 degree - const uint32x4_t mk0_0 = vld1q_u32(input - 1); - const uint32x4_t mk0_1 = vld1q_u32(input + 1); - uint32x4_t mask0 = vceqq_u32(pc32, vdupq_n_u32(0)); - mask0 = vandq_u32(mask0, vcgtq_u32(mc, mk0_0)); - mask0 = vandq_u32(mask0, vcgtq_u32(mc, mk0_1)); - - // 45 degree - const uint32x4_t mk45_0 = vld1q_u32(input - stride_mag - 1); - const uint32x4_t mk45_1 = vld1q_u32(input + stride_mag + 1); - uint32x4_t mask1 = vceqq_u32(pc32, vdupq_n_u32(1)); - mask1 = vandq_u32(mask1, vcgtq_u32(mc, mk45_0)); - mask1 = vandq_u32(mask1, vcgtq_u32(mc, mk45_1)); - - // 90 degree - const uint32x4_t mk90_0 = vld1q_u32(input - stride_mag); - const uint32x4_t mk90_1 = vld1q_u32(input + stride_mag); - uint32x4_t mask2 = vceqq_u32(pc32, vdupq_n_u32(2)); - mask2 = vandq_u32(mask2, vcgtq_u32(mc, mk90_0)); - mask2 = vandq_u32(mask2, vcgtq_u32(mc, mk90_1)); - - // 135 degree - const uint32x4_t mk135_0 = vld1q_u32(input - stride_mag + 1); - const uint32x4_t mk135_1 = vld1q_u32(input + stride_mag - 1); - uint32x4_t mask3 = vceqq_u32(pc32, vdupq_n_u32(3)); - mask3 = vandq_u32(mask3, vcgtq_u32(mc, mk135_0)); - mask3 = vandq_u32(mask3, vcgtq_u32(mc, mk135_1)); - - // Merge masks - mask0 = vorrq_u32(mask0, mask1); - mask2 = vorrq_u32(mask2, mask3); - mask0 = vorrq_u32(mask0, mask2); - - mc = vbslq_u32(mask0, mc, vdupq_n_u32(0)); - - // mc > upper_thr - mask0 = vcgtq_u32(mc, vdupq_n_u32(upper_thr)); - - // mc <= lower_thr - mask1 = vcleq_u32(mc, vdupq_n_u32(lower_thr)); - - // mc <= upper_thr && mc > lower_thr - mask2 = vcleq_u32(mc, vdupq_n_u32(upper_thr)); - mask2 = vandq_u32(mask2, vcgtq_u32(mc, vdupq_n_u32(lower_thr))); - - mc = vbslq_u32(mask0, vdupq_n_u32(EDGE), mc); - mc = vbslq_u32(mask1, vdupq_n_u32(NO_EDGE), mc); - mc = vbslq_u32(mask2, vdupq_n_u32(MAYBE), mc); - - return vmovn_u32(mc); -} - -/* Computes non-maxima suppression and hysteresis when the gradient_size = 7 - * - * @param[in] magnitude_ptr Pointer to source image. Magnitude. Data type supported U32 - * @param[in] phase_ptr Pointer to source image. Quantized phase. Data type supported U8 - * @param[out] output_ptr Pointer to destination image. Data type supported U8 - * @param[in] stride_mag Stride of magnitude image - * @param[in] lower_thr Lower threshold used for the hysteresis - * @param[in] upper_thr Upper threshold used for the hysteresis - */ -void non_max_suppression_U32_U8_U8(const void *__restrict magnitude_ptr, const void *__restrict phase_ptr, void *__restrict output_ptr, const uint32_t stride_mag, const int32_t lower_thr, - const int32_t upper_thr) -{ - const auto magnitude = static_cast<const uint32_t *__restrict>(magnitude_ptr); - const auto phase = static_cast<const uint8_t *__restrict>(phase_ptr); - const auto output = static_cast<uint8_t *__restrict>(output_ptr); - - // Get phase for 8 pixel - const uint16x8_t pc16 = vmovl_u8(vld1_u8(phase)); - - // Compute non maxima suppression - const uint16x4x2_t res = - { - { - non_max_U32_helper(magnitude, vget_low_u16(pc16), stride_mag, lower_thr, upper_thr), - non_max_U32_helper(magnitude + 4, vget_high_u16(pc16), stride_mag, lower_thr, upper_thr) - } - }; - - // Store result - vst1_u8(output, vmovn_u16(vcombine_u16(res.val[0], res.val[1]))); -} - -/* Computes edge tracing when is called by edge_trace_U8_U8 recursively - * - * @param[in] input Pointer to source image. Data type supported U8 - * @param[out] output Pointer to destination image. Data type supported U8 - * @param[in] input_stride Stride of the input image - * @param[in] output_stride Stride of the output image - */ -void edge_trace_recursive_U8_U8(uint8_t *__restrict input, uint8_t *__restrict output, const int32_t input_stride, const int32_t output_stride) -{ - // Look for MAYBE pixels in 8 directions - *output = EDGE; - - // (-1, 0) - uint8_t pixel = *(input - 1); - - if(pixel == MAYBE) - { - // Touched a MAYBE point. MAYBE becomes EDGE - *(input - 1) = EDGE; - - edge_trace_recursive_U8_U8(input - 1, output - 1, input_stride, output_stride); - } - - // (+1, 0) - pixel = *(input + 1); - - if(pixel == MAYBE) - { - // Touched a MAYBE point. MAYBE becomes EDGE - *(input + 1) = EDGE; - - edge_trace_recursive_U8_U8(input + 1, output + 1, input_stride, output_stride); - } - - input -= input_stride; - output -= output_stride; - - // (-1, -1) - pixel = *(input - 1); - - if(pixel == MAYBE) - { - // Touched a MAYBE point. MAYBE becomes EDGE - *(input - 1) = EDGE; - - edge_trace_recursive_U8_U8(input - 1, output - 1, input_stride, output_stride); - } - - // (0, -1) - pixel = *input; - - if(pixel == MAYBE) - { - // Touched a MAYBE point. MAYBE becomes EDGE - *input = EDGE; - - edge_trace_recursive_U8_U8(input, output, input_stride, output_stride); - } - - // (+1, -1) - pixel = *(input + 1); - - if(pixel == MAYBE) - { - // Touched a MAYBE point. MAYBE becomes EDGE - *(input + 1) = EDGE; - - edge_trace_recursive_U8_U8(input + 1, output + 1, input_stride, output_stride); - } - - input += input_stride * 2; - output += output_stride * 2; - - // (-1, +1) - pixel = *(input - 1); - - if(pixel == MAYBE) - { - // Touched a MAYBE point. MAYBE becomes EDGE - *(input - 1) = EDGE; - - edge_trace_recursive_U8_U8(input - 1, output - 1, input_stride, output_stride); - } - - // (0, +1) - pixel = *input; - - if(pixel == MAYBE) - { - // Touched a MAYBE point. MAYBE becomes EDGE - *input = EDGE; - - edge_trace_recursive_U8_U8(input, output, input_stride, output_stride); - } - - // (+1, +1) - pixel = *(input + 1); - - if(pixel == MAYBE) - { - // Touched a MAYBE point. MAYBE becomes EDGE - *(input + 1) = EDGE; - - edge_trace_recursive_U8_U8(input + 1, output + 1, input_stride, output_stride); - } -} - -/* Computes edge tracing - * - * @param[in] input Pointer to source image. Data type supported U8 - * @param[out] output Pointer to destination image. Data type supported U8 - * @param[in] input_stride Stride of the input image - * @param[in] output_stride Stride of the output image - */ -void edge_trace_U8_U8(uint8_t *__restrict input, uint8_t *__restrict output, const int32_t input_stride, const int32_t output_stride) -{ - if(*input == NO_EDGE) - { - *output = NO_EDGE; - } - // Check if EDGE and not yet touched - else if((*input == EDGE) && (*output == NO_EDGE)) - { - edge_trace_recursive_U8_U8(input, output, input_stride, output_stride); - } -} -} // namespace - -NEGradientKernel::NEGradientKernel() - : _func(nullptr), _gx(nullptr), _gy(nullptr), _magnitude(nullptr), _phase(nullptr) -{ -} - -void NEGradientKernel::configure(const ITensor *gx, const ITensor *gy, ITensor *magnitude, ITensor *phase, int32_t norm_type) -{ - ARM_COMPUTE_ERROR_ON_NULLPTR(gx, gy, magnitude, phase); - - set_shape_if_empty(*magnitude->info(), gx->info()->tensor_shape()); - set_shape_if_empty(*phase->info(), gx->info()->tensor_shape()); - - Format magnitude_format = gx->info()->data_type() == DataType::S16 ? Format::U16 : Format::U32; - set_format_if_unknown(*magnitude->info(), magnitude_format); - set_format_if_unknown(*phase->info(), Format::U8); - - ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(gx, gy, magnitude, phase); - ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(gx, 1, DataType::S16, DataType::S32); - ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(gy, 1, DataType::S16, DataType::S32); - ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(magnitude, 1, DataType::U16, DataType::U32); - ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(phase, 1, DataType::U8); - ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(gx, gy); - ARM_COMPUTE_ERROR_ON_MSG(element_size_from_data_type(gx->info()->data_type()) != element_size_from_data_type(magnitude->info()->data_type()), "Magnitude must have the same element size as Gx and Gy"); - - _gx = gx; - _gy = gy; - _magnitude = magnitude; - _phase = phase; - - if(_gx->info()->data_type() == DataType::S16) - { - if(norm_type == 1) - { - _func = &mag_phase_l1norm_S16_S16_U16_U8; - } - else - { - _func = &mag_phase_l2norm_S16_S16_U16_U8; - } - } - else - { - if(norm_type == 1) - { - _func = &mag_phase_l1norm_S32_S32_U32_U8; - } - else - { - _func = &mag_phase_l2norm_S32_S32_U32_U8; - } - } - - constexpr unsigned int num_elems_processed_per_iteration = 32; - - // Configure kernel window - Window win = calculate_max_window(*_gx->info(), Steps(num_elems_processed_per_iteration)); - - AccessWindowHorizontal gx_access(_gx->info(), 0, num_elems_processed_per_iteration); - AccessWindowHorizontal gy_access(_gy->info(), 0, num_elems_processed_per_iteration); - AccessWindowHorizontal mag_access(_magnitude->info(), 0, num_elems_processed_per_iteration); - AccessWindowHorizontal phase_access(_phase->info(), 0, num_elems_processed_per_iteration); - - ARM_COMPUTE_UNUSED(update_window_and_padding(win, gx_access, gy_access, mag_access, phase_access)); - - mag_access.set_valid_region(win, _gx->info()->valid_region()); - phase_access.set_valid_region(win, _gx->info()->valid_region()); - - INEKernel::configure(win); -} - -void NEGradientKernel::run(const Window &window, const ThreadInfo &info) -{ - ARM_COMPUTE_UNUSED(info); - ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); - ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); - ARM_COMPUTE_ERROR_ON(_func == nullptr); - Iterator gx(_gx, window); - Iterator gy(_gy, window); - Iterator magnitude(_magnitude, window); - Iterator phase(_phase, window); - - execute_window_loop(window, [&](const Coordinates &) - { - (*_func)(gx.ptr(), gy.ptr(), magnitude.ptr(), phase.ptr()); - }, - gx, gy, magnitude, phase); -} - -NEEdgeNonMaxSuppressionKernel::NEEdgeNonMaxSuppressionKernel() - : _func(nullptr), _magnitude(nullptr), _phase(nullptr), _output(nullptr), _lower_thr(0), _upper_thr(0) -{ -} - -BorderSize NEEdgeNonMaxSuppressionKernel::border_size() const -{ - return BorderSize(1); -} - -void NEEdgeNonMaxSuppressionKernel::configure(const ITensor *magnitude, const ITensor *phase, ITensor *output, - int32_t upper_thr, int32_t lower_thr, bool border_undefined) -{ - ARM_COMPUTE_ERROR_ON_NULLPTR(magnitude, phase, output); - - set_shape_if_empty(*output->info(), magnitude->info()->tensor_shape()); - - set_format_if_unknown(*phase->info(), Format::U8); - set_format_if_unknown(*output->info(), Format::U8); - - ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(magnitude, phase, output); - ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(magnitude, 1, DataType::U16, DataType::U32); - ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(phase, 1, DataType::U8); - ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::U8); - ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(phase, output); - - _magnitude = magnitude; - _phase = phase; - _output = output; - - switch(_magnitude->info()->data_type()) - { - case DataType::U16: - _func = &non_max_suppression_U16_U8_U8; - break; - case DataType::U32: - _func = &non_max_suppression_U32_U8_U8; - break; - default: - ARM_COMPUTE_ERROR("Unsupported data type!"); - } - - // Set thresholds - _lower_thr = lower_thr; - _upper_thr = upper_thr; - - constexpr unsigned int num_elems_processed_per_iteration = 8; - constexpr unsigned int num_elems_read_per_iteration = 10; - constexpr unsigned int num_rows_read_per_iteration = 3; - - // Configure kernel window - Window win = calculate_max_window(*_magnitude->info(), Steps(num_elems_processed_per_iteration), border_undefined, border_size()); - - AccessWindowRectangle mag_access(_magnitude->info(), -border_size().left, -border_size().top, num_elems_read_per_iteration, num_rows_read_per_iteration); - AccessWindowHorizontal phase_access(_phase->info(), 0, num_elems_processed_per_iteration); - AccessWindowHorizontal output_access(_output->info(), 0, num_elems_processed_per_iteration); - - update_window_and_padding(win, mag_access, phase_access, output_access); - - output_access.set_valid_region(win, _magnitude->info()->valid_region(), border_undefined, border_size()); - - INEKernel::configure(win); -} - -void NEEdgeNonMaxSuppressionKernel::run(const Window &window, const ThreadInfo &info) -{ - ARM_COMPUTE_UNUSED(info); - ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); - ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); - ARM_COMPUTE_ERROR_ON(_func == nullptr); - Iterator magnitude(_magnitude, window); - Iterator phase(_phase, window); - Iterator output(_output, window); - - const size_t input1_stride = _magnitude->info()->strides_in_bytes()[1]; - const size_t input1_stride_ushort = input1_stride / data_size_from_type(_magnitude->info()->data_type()); - - execute_window_loop(window, [&](const Coordinates &) - { - (*_func)(magnitude.ptr(), phase.ptr(), output.ptr(), input1_stride_ushort, _lower_thr, _upper_thr); - }, - magnitude, phase, output); -} - -NEEdgeTraceKernel::NEEdgeTraceKernel() - : _input(nullptr), _output(nullptr) -{ -} - -BorderSize NEEdgeTraceKernel::border_size() const -{ - return BorderSize(1); -} - -bool NEEdgeTraceKernel::is_parallelisable() const -{ - return false; -} - -void NEEdgeTraceKernel::configure(ITensor *input, ITensor *output) -{ - ARM_COMPUTE_ERROR_ON_NULLPTR(input, output); - - set_shape_if_empty(*output->info(), input->info()->tensor_shape()); - - set_format_if_unknown(*input->info(), Format::U8); - set_format_if_unknown(*output->info(), Format::U8); - - ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(input, 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_MISMATCHING_DATA_TYPES(input, output); - - _input = input; - _output = output; - - constexpr unsigned int num_elems_processed_per_iteration = 1; - - // Configure kernel window - Window win = calculate_max_window(*_input->info(), Steps(num_elems_processed_per_iteration)); - - const ValidRegion &input_valid_region = input->info()->valid_region(); - const ValidRegion &output_valid_region = output->info()->valid_region(); - - // Reads can occur within the valid region of the input + border - AccessWindowStatic input_access(input->info(), - input_valid_region.anchor[0] - border_size().left, - input_valid_region.anchor[1] - border_size().top, - input_valid_region.anchor[0] + input_valid_region.shape[0] + border_size().right, - input_valid_region.anchor[1] + input_valid_region.shape[1] + border_size().bottom); - - // Writes can occur within the valid region of the output + border - AccessWindowStatic output_access(output->info(), - output_valid_region.anchor[0] - border_size().left, - output_valid_region.anchor[1] - border_size().top, - output_valid_region.anchor[0] + output_valid_region.shape[0] + border_size().right, - output_valid_region.anchor[1] + output_valid_region.shape[1] + border_size().bottom); - - update_window_and_padding(win, input_access, output_access); - - output_access.set_valid_region(win, _input->info()->valid_region()); - - INEKernel::configure(win); -} - -void NEEdgeTraceKernel::run(const Window &window, const ThreadInfo &info) -{ - ARM_COMPUTE_UNUSED(info); - ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); - ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); - Iterator input(_input, window); - Iterator output(_output, window); - - const size_t input_stride = _input->info()->strides_in_bytes()[1]; - const size_t output_stride = _output->info()->strides_in_bytes()[1]; - - execute_window_loop(window, [&](const Coordinates &) - { - edge_trace_U8_U8(input.ptr(), output.ptr(), input_stride, output_stride); - }, - input, output); -} |