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-rw-r--r--src/core/NEON/kernels/NEFastCornersKernel.cpp74
1 files changed, 36 insertions, 38 deletions
diff --git a/src/core/NEON/kernels/NEFastCornersKernel.cpp b/src/core/NEON/kernels/NEFastCornersKernel.cpp
index 919efd2ae2..81bcc8bc3c 100644
--- a/src/core/NEON/kernels/NEFastCornersKernel.cpp
+++ b/src/core/NEON/kernels/NEFastCornersKernel.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2016, 2017 ARM Limited.
+ * Copyright (c) 2016-2019 ARM Limited.
*
* SPDX-License-Identifier: MIT
*
@@ -49,32 +49,30 @@ inline uint8x8x2_t create_permutation_index(size_t k)
{
ARM_COMPUTE_ERROR_ON(k >= PERMUTATIONS);
- static const uint8_t permutations_table[PERMUTATIONS][PERM_SIZE]
- {
- { 0, 1, 2, 3, 4, 5, 6, 7, 8, 255, 255, 255, 255, 255, 255, 255 },
- { 15, 0, 1, 2, 3, 4, 5, 6, 7, 255, 255, 255, 255, 255, 255, 255 },
- { 14, 15, 0, 1, 2, 3, 4, 5, 6, 255, 255, 255, 255, 255, 255, 255 },
- { 13, 14, 15, 0, 1, 2, 3, 4, 5, 255, 255, 255, 255, 255, 255, 255 },
- { 12, 13, 14, 15, 0, 1, 2, 3, 4, 255, 255, 255, 255, 255, 255, 255 },
- { 11, 12, 13, 14, 15, 0, 1, 2, 3, 255, 255, 255, 255, 255, 255, 255 },
- { 10, 11, 12, 13, 14, 15, 0, 1, 2, 255, 255, 255, 255, 255, 255, 255 },
- { 9, 10, 11, 12, 13, 14, 15, 0, 1, 255, 255, 255, 255, 255, 255, 255 },
- { 8, 9, 10, 11, 12, 13, 14, 15, 0, 255, 255, 255, 255, 255, 255, 255 },
- { 7, 8, 9, 10, 11, 12, 13, 14, 15, 255, 255, 255, 255, 255, 255, 255 },
- { 6, 7, 8, 9, 10, 11, 12, 13, 14, 255, 255, 255, 255, 255, 255, 255 },
- { 5, 6, 7, 8, 9, 10, 11, 12, 13, 255, 255, 255, 255, 255, 255, 255 },
- { 4, 5, 6, 7, 8, 9, 10, 11, 12, 255, 255, 255, 255, 255, 255, 255 },
- { 3, 4, 5, 6, 7, 8, 9, 10, 11, 255, 255, 255, 255, 255, 255, 255 },
- { 2, 3, 4, 5, 6, 7, 8, 9, 10, 255, 255, 255, 255, 255, 255, 255 },
- { 1, 2, 3, 4, 5, 6, 7, 8, 9, 255, 255, 255, 255, 255, 255, 255 }
-
- };
+ static const std::array<std::array<uint8_t, PERMUTATIONS>, PERM_SIZE> permutations_table{ { { 0, 1, 2, 3, 4, 5, 6, 7, 8, 255, 255, 255, 255, 255, 255, 255 },
+ { 15, 0, 1, 2, 3, 4, 5, 6, 7, 255, 255, 255, 255, 255, 255, 255 },
+ { 14, 15, 0, 1, 2, 3, 4, 5, 6, 255, 255, 255, 255, 255, 255, 255 },
+ { 13, 14, 15, 0, 1, 2, 3, 4, 5, 255, 255, 255, 255, 255, 255, 255 },
+ { 12, 13, 14, 15, 0, 1, 2, 3, 4, 255, 255, 255, 255, 255, 255, 255 },
+ { 11, 12, 13, 14, 15, 0, 1, 2, 3, 255, 255, 255, 255, 255, 255, 255 },
+ { 10, 11, 12, 13, 14, 15, 0, 1, 2, 255, 255, 255, 255, 255, 255, 255 },
+ { 9, 10, 11, 12, 13, 14, 15, 0, 1, 255, 255, 255, 255, 255, 255, 255 },
+ { 8, 9, 10, 11, 12, 13, 14, 15, 0, 255, 255, 255, 255, 255, 255, 255 },
+ { 7, 8, 9, 10, 11, 12, 13, 14, 15, 255, 255, 255, 255, 255, 255, 255 },
+ { 6, 7, 8, 9, 10, 11, 12, 13, 14, 255, 255, 255, 255, 255, 255, 255 },
+ { 5, 6, 7, 8, 9, 10, 11, 12, 13, 255, 255, 255, 255, 255, 255, 255 },
+ { 4, 5, 6, 7, 8, 9, 10, 11, 12, 255, 255, 255, 255, 255, 255, 255 },
+ { 3, 4, 5, 6, 7, 8, 9, 10, 11, 255, 255, 255, 255, 255, 255, 255 },
+ { 2, 3, 4, 5, 6, 7, 8, 9, 10, 255, 255, 255, 255, 255, 255, 255 },
+ { 1, 2, 3, 4, 5, 6, 7, 8, 9, 255, 255, 255, 255, 255, 255, 255 }
+
+ } };
const uint8x8x2_t index =
{
{
- vld1_u8(permutations_table[k]),
- vld1_u8(permutations_table[k] + 8)
+ vld1_u8(permutations_table[k].data()),
+ vld1_u8(permutations_table[k].data() + 8)
}
};
@@ -112,7 +110,7 @@ inline uint8x8x4_t create_circle_index_register()
. . 9 8 7 . . .
*/
- static const uint8_t top_right[8] =
+ static const std::array<uint8_t, 8> top_right =
{
/* The register r.val[0] will be used to retrieve these texels:
. . . 0 1 . . .
@@ -130,7 +128,7 @@ inline uint8x8x4_t create_circle_index_register()
255
};
- static const uint8_t bottom_right[8] =
+ static const std::array<uint8_t, 8> bottom_right =
{
/* The register r.val[1] will be used to retrieve these texels:
. . . . . . 5 .
@@ -147,7 +145,7 @@ inline uint8x8x4_t create_circle_index_register()
20 /* low table, third row, elem 5, value 7 in the diagram above*/
};
- static const uint8_t top_left[8] =
+ static const std::array<uint8_t, 8> top_left =
{
/* The register r.val[2] will be used to retrieve these texels:
. . F . . . . .
@@ -165,7 +163,7 @@ inline uint8x8x4_t create_circle_index_register()
2 /* top table, first row, elem 3, value F in the diagram above*/
};
- static const uint8_t bottom_left[8] =
+ static const std::array<uint8_t, 8> bottom_left =
{
/* The register r.val[3] will be used to retrieve these texels:
B . . . . . . .
@@ -185,10 +183,10 @@ inline uint8x8x4_t create_circle_index_register()
const uint8x8x4_t reg =
{
{
- vld1_u8(top_right),
- vld1_u8(bottom_right),
- vld1_u8(top_left),
- vld1_u8(bottom_left)
+ vld1_u8(top_right.data()),
+ vld1_u8(bottom_right.data()),
+ vld1_u8(top_left.data()),
+ vld1_u8(bottom_left.data())
}
};
@@ -268,7 +266,7 @@ inline bool is_permutation_corner(const uint8x16_t &permutation, const uint8x16_
return is_permutation_brighter(permutation, pg) || is_permutation_darker(permutation, pl);
}
-inline bool point_is_fast_corner(uint8_t p, uint8_t threshold, const uint8x8x2_t &tbl_circle_texels, uint8x8x2_t perm_indices[PERMUTATIONS])
+inline bool point_is_fast_corner(uint8_t p, uint8_t threshold, const uint8x8x2_t &tbl_circle_texels, std::array<uint8x8x2_t, PERMUTATIONS> &perm_indices)
{
/*
This function determines whether the point 'p' is a corner.
@@ -287,7 +285,7 @@ inline bool point_is_fast_corner(uint8_t p, uint8_t threshold, const uint8x8x2_t
return corner_detected;
}
-inline uint8x8x2_t create_circle_tbl(const uint8_t *const __restrict buffer[7], size_t in_offset, const uint8x8x4_t &circle_index_r)
+inline uint8x8x2_t create_circle_tbl(const std::array<uint8_t *const __restrict, 7> &buffer, size_t in_offset, const uint8x8x4_t &circle_index_r)
{
/*
This function builds a LUT holding the 16 texels in the Brensenham circle radius 3.
@@ -329,7 +327,7 @@ inline uint8x8x2_t create_circle_tbl(const uint8_t *const __restrict buffer[7],
return tbl_circle_texels;
}
-inline uint8_t get_point_score(uint8_t p, uint8_t tolerance, const uint8x8x2_t &tbl_circle, uint8x8x2_t perm_indices[PERMUTATIONS])
+inline uint8_t get_point_score(uint8_t p, uint8_t tolerance, const uint8x8x2_t &tbl_circle, std::array<uint8x8x2_t, PERMUTATIONS> &perm_indices)
{
uint8_t b = 255;
uint8_t a = tolerance;
@@ -411,7 +409,7 @@ void NEFastCornersKernel::run(const Window &window, const ThreadInfo &info)
Iterator in(_input, window);
Iterator out(_output, window);
- const uint8_t *const __restrict in_row[7] =
+ const std::array<uint8_t *const __restrict, 7> in_row
{
_input->ptr_to_element(Coordinates(-3, -3)),
_input->ptr_to_element(Coordinates(-3, -2)),
@@ -429,7 +427,7 @@ void NEFastCornersKernel::run(const Window &window, const ThreadInfo &info)
return p_is_in_ab && q_is_in_ab;
};
- execute_window_loop(window, [&](const Coordinates & id)
+ execute_window_loop(window, [&](const Coordinates &)
{
const size_t in_offset = in.offset();
const uint8_t p0 = *in.ptr();
@@ -455,11 +453,11 @@ void NEFastCornersKernel::run(const Window &window, const ThreadInfo &info)
/* at this stage we use the full test with the 16 permutations to classify the point as corner or not */
const uint8x8x2_t tbl_circle_texel = create_circle_tbl(in_row, in_offset, circle_index_r);
- if(point_is_fast_corner(p0, _threshold, tbl_circle_texel, perm_index.data()))
+ if(point_is_fast_corner(p0, _threshold, tbl_circle_texel, perm_index))
{
if(_non_max_suppression)
{
- score = get_point_score(p0, _threshold, tbl_circle_texel, perm_index.data());
+ score = get_point_score(p0, _threshold, tbl_circle_texel, perm_index);
}
else
{
generated by cgit v1.2.1 (git 2.23.0) at 2024-05-04 19:48:30 +0000