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Diffstat (limited to 'src/core/NEON/kernels/NEHarrisCornersKernel.cpp')
| -rw-r--r-- | src/core/NEON/kernels/NEHarrisCornersKernel.cpp | 815 |
1 files changed, 0 insertions, 815 deletions
diff --git a/src/core/NEON/kernels/NEHarrisCornersKernel.cpp b/src/core/NEON/kernels/NEHarrisCornersKernel.cpp deleted file mode 100644 index 34e68e71cb..0000000000 --- a/src/core/NEON/kernels/NEHarrisCornersKernel.cpp +++ /dev/null @@ -1,815 +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/NEHarrisCornersKernel.h" - -#include "arm_compute/core/Coordinates.h" -#include "arm_compute/core/Error.h" -#include "arm_compute/core/Helpers.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_compute/core/Window.h" - -#include <algorithm> -#include <arm_neon.h> -#include <cmath> -#include <cstddef> - -using namespace arm_compute; - -template class arm_compute::NEHarrisScoreKernel<3>; -template class arm_compute::NEHarrisScoreKernel<5>; -template class arm_compute::NEHarrisScoreKernel<7>; -template arm_compute::NEHarrisScoreKernel<3>::NEHarrisScoreKernel(); -template arm_compute::NEHarrisScoreKernel<5>::NEHarrisScoreKernel(); -template arm_compute::NEHarrisScoreKernel<7>::NEHarrisScoreKernel(); - -namespace -{ -inline float32x4_t harris_score(float32x4_t gx2, float32x4_t gy2, float32x4_t gxgy, float32x4_t sensitivity, float32x4_t strength_thresh) -{ - // Trace^2 - float32x4_t trace2 = vaddq_f32(gx2, gy2); - trace2 = vmulq_f32(trace2, trace2); - - // Det(A) - float32x4_t det = vmulq_f32(gx2, gy2); - det = vmlsq_f32(det, gxgy, gxgy); - - // Det(A) - sensitivity * trace^2 - const float32x4_t mc = vmlsq_f32(det, sensitivity, trace2); - - // mc > strength_thresh - const uint32x4_t mask = vcgtq_f32(mc, strength_thresh); - - return vbslq_f32(mask, mc, vdupq_n_f32(0.0f)); -} - -inline void harris_score1x3_FLOAT_FLOAT_FLOAT(float32x4_t low_gx, float32x4_t low_gy, float32x4_t high_gx, float32x4_t high_gy, float32x4_t &gx2, float32x4_t &gy2, float32x4_t &gxgy, - float32x4_t norm_factor) -{ - // Normalize - low_gx = vmulq_f32(low_gx, norm_factor); - low_gy = vmulq_f32(low_gy, norm_factor); - high_gx = vmulq_f32(high_gx, norm_factor); - high_gy = vmulq_f32(high_gy, norm_factor); - - const float32x4_t l_gx = low_gx; - const float32x4_t l_gy = low_gy; - const float32x4_t m_gx = vextq_f32(low_gx, high_gx, 1); - const float32x4_t m_gy = vextq_f32(low_gy, high_gy, 1); - const float32x4_t r_gx = vextq_f32(low_gx, high_gx, 2); - const float32x4_t r_gy = vextq_f32(low_gy, high_gy, 2); - - // Gx*Gx - gx2 = vmlaq_f32(gx2, l_gx, l_gx); - gx2 = vmlaq_f32(gx2, m_gx, m_gx); - gx2 = vmlaq_f32(gx2, r_gx, r_gx); - - // Gy*Gy - gy2 = vmlaq_f32(gy2, l_gy, l_gy); - gy2 = vmlaq_f32(gy2, m_gy, m_gy); - gy2 = vmlaq_f32(gy2, r_gy, r_gy); - - // Gx*Gy - gxgy = vmlaq_f32(gxgy, l_gx, l_gy); - gxgy = vmlaq_f32(gxgy, m_gx, m_gy); - gxgy = vmlaq_f32(gxgy, r_gx, r_gy); -} - -inline void harris_score1x5_FLOAT_FLOAT_FLOAT(float32x4_t low_gx, float32x4_t low_gy, float32x4_t high_gx, float32x4_t high_gy, float32x4_t &gx2, float32x4_t &gy2, float32x4_t &gxgy, - float32x4_t norm_factor) -{ - // Normalize - low_gx = vmulq_f32(low_gx, norm_factor); - low_gy = vmulq_f32(low_gy, norm_factor); - high_gx = vmulq_f32(high_gx, norm_factor); - high_gy = vmulq_f32(high_gy, norm_factor); - - // L2 values - float32x4_t gx = low_gx; - float32x4_t gy = low_gy; - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); - - // L1 values - gx = vextq_f32(low_gx, high_gx, 1); - gy = vextq_f32(low_gy, high_gy, 1); - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); - - // M values - gx = vextq_f32(low_gx, high_gx, 2); - gy = vextq_f32(low_gy, high_gy, 2); - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); - - // R1 values - gx = vextq_f32(low_gx, high_gx, 3); - gy = vextq_f32(low_gy, high_gy, 3); - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); - - // R2 values - gx = high_gx; - gy = high_gy; - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); -} - -inline void harris_score1x7_FLOAT_FLOAT_FLOAT(float32x4_t low_gx, float32x4_t low_gy, float32x4_t high_gx, float32x4_t high_gy, float32x4_t high_gx1, float32x4_t high_gy1, float32x4_t &gx2, - float32x4_t &gy2, float32x4_t &gxgy, float32x4_t norm_factor) -{ - // Normalize - low_gx = vmulq_f32(low_gx, norm_factor); - low_gy = vmulq_f32(low_gy, norm_factor); - high_gx = vmulq_f32(high_gx, norm_factor); - high_gy = vmulq_f32(high_gy, norm_factor); - - // L3 values - float32x4_t gx = low_gx; - float32x4_t gy = low_gy; - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); - - // L2 values - gx = vextq_f32(low_gx, high_gx, 1); - gy = vextq_f32(low_gy, high_gy, 1); - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); - - // L1 values - gx = vextq_f32(low_gx, high_gx, 2); - gy = vextq_f32(low_gy, high_gy, 2); - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); - - // M values - gx = vextq_f32(low_gx, high_gx, 3); - gy = vextq_f32(low_gy, high_gy, 3); - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); - - // R1 values - gx = high_gx; - gy = high_gy; - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); - - // Change tmp_low and tmp_high for calculating R2 and R3 values - low_gx = high_gx; - low_gy = high_gy; - high_gx = high_gx1; - high_gy = high_gy1; - - // Normalize - high_gx = vmulq_f32(high_gx, norm_factor); - high_gy = vmulq_f32(high_gy, norm_factor); - - // R2 values - gx = vextq_f32(low_gx, high_gx, 1); - gy = vextq_f32(low_gy, high_gy, 1); - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); - - // R3 values - gx = vextq_f32(low_gx, high_gx, 2); - gy = vextq_f32(low_gy, high_gy, 2); - - // Accumulate - gx2 = vmlaq_f32(gx2, gx, gx); - gy2 = vmlaq_f32(gy2, gy, gy); - gxgy = vmlaq_f32(gxgy, gx, gy); -} - -inline void harris_score3x3_S16_S16_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, - float in_norm_factor, float in_sensitivity, float in_strength_thresh) - -{ - const auto gx_ptr_0 = static_cast<const int16_t *__restrict>(input1_ptr) - 1; - const auto gy_ptr_0 = static_cast<const int16_t *__restrict>(input2_ptr) - 1; - const int16_t *gx_ptr_1 = gx_ptr_0 + 4; - const int16_t *gy_ptr_1 = gy_ptr_0 + 4; - const auto output = static_cast<float *__restrict>(output_ptr); - - // Gx^2, Gy^2 and Gx*Gy - float32x4x2_t gx2 = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - float32x4x2_t gy2 = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - float32x4x2_t gxgy = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - - // Row0 - int16x8x2_t tmp_gx = - { - { - vld1q_s16(gx_ptr_0 - input_stride), - vld1q_s16(gx_ptr_1 - input_stride) - } - }; - int16x8x2_t tmp_gy = - { - { - vld1q_s16(gy_ptr_0 - input_stride), - vld1q_s16(gy_ptr_1 - input_stride) - } - }; - float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); - float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); - float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); - - float32x4_t low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0]))); - float32x4_t low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0]))); - float32x4_t high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0]))); - float32x4_t high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0]))); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); - - low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1]))); - low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1]))); - high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1]))); - high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1]))); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); - - // Row1 - tmp_gx.val[0] = vld1q_s16(gx_ptr_0); - tmp_gy.val[0] = vld1q_s16(gy_ptr_0); - tmp_gx.val[1] = vld1q_s16(gx_ptr_1); - tmp_gy.val[1] = vld1q_s16(gy_ptr_1); - - low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0]))); - low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0]))); - high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0]))); - high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0]))); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); - - low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1]))); - low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1]))); - high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1]))); - high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1]))); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); - - // Row2 - tmp_gx.val[0] = vld1q_s16(gx_ptr_0 + input_stride); - tmp_gy.val[0] = vld1q_s16(gy_ptr_0 + input_stride); - tmp_gx.val[1] = vld1q_s16(gx_ptr_1 + input_stride); - tmp_gy.val[1] = vld1q_s16(gy_ptr_1 + input_stride); - - low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0]))); - low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0]))); - high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0]))); - high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0]))); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); - - low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1]))); - low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1]))); - high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1]))); - high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1]))); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); - - // Calculate harris score - const float32x4x2_t mc = - { - { - harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh), - harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh) - } - }; - - // Store score - vst1q_f32(output + 0, mc.val[0]); - vst1q_f32(output + 4, mc.val[1]); -} - -inline void harris_score3x3_S32_S32_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, - float in_norm_factor, float in_sensitivity, float in_strength_thresh) -{ - auto gx_ptr_0 = static_cast<const int32_t *__restrict>(input1_ptr) - 1; - auto gy_ptr_0 = static_cast<const int32_t *__restrict>(input2_ptr) - 1; - const int32_t *gx_ptr_1 = gx_ptr_0 + 4; - const int32_t *gy_ptr_1 = gy_ptr_0 + 4; - const int32_t *gx_ptr_2 = gx_ptr_0 + 8; - const int32_t *gy_ptr_2 = gy_ptr_0 + 8; - const auto output = static_cast<float *__restrict>(output_ptr); - float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); - float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); - float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); - - // Gx^2, Gy^2 and Gx*Gy - float32x4x2_t gx2 = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - float32x4x2_t gy2 = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - float32x4x2_t gxgy = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - - // Row0 - float32x4_t low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0 - input_stride)); - float32x4_t low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0 - input_stride)); - float32x4_t high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 - input_stride)); - float32x4_t high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 - input_stride)); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); - - low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 - input_stride)); - low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 - input_stride)); - high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_2 - input_stride)); - high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_2 - input_stride)); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); - - // Row1 - low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0)); - low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0)); - high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1)); - high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1)); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); - - low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1)); - low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1)); - high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_2)); - high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_2)); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); - - // Row2 - low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0 + input_stride)); - low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0 + input_stride)); - high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 + input_stride)); - high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 + input_stride)); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); - - low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 + input_stride)); - low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 + input_stride)); - high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_2 + input_stride)); - high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_2 + input_stride)); - harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); - - // Calculate harris score - const float32x4x2_t mc = - { - { - harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh), - harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh) - } - }; - - // Store score - vst1q_f32(output + 0, mc.val[0]); - vst1q_f32(output + 4, mc.val[1]); -} - -inline void harris_score5x5_S16_S16_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, - float in_norm_factor, float in_sensitivity, float in_strength_thresh) -{ - auto gx_ptr_0 = static_cast<const int16_t *__restrict>(input1_ptr) - 2 - 2 * input_stride; - auto gy_ptr_0 = static_cast<const int16_t *__restrict>(input2_ptr) - 2 - 2 * input_stride; - const int16_t *gx_ptr_1 = gx_ptr_0 + 4; - const int16_t *gy_ptr_1 = gy_ptr_0 + 4; - const auto output = static_cast<float *__restrict>(output_ptr); - - // Gx^2, Gy^2 and Gx*Gy - float32x4x2_t gx2 = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - float32x4x2_t gy2 = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - float32x4x2_t gxgy = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); - float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); - float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); - - for(int i = 0; i < 5; ++i) - { - const int16x8x2_t tmp_gx = - { - { - vld1q_s16(gx_ptr_0), - vld1q_s16(gx_ptr_1) - } - }; - const int16x8x2_t tmp_gy = - { - { - vld1q_s16(gy_ptr_0), - vld1q_s16(gy_ptr_1) - } - }; - - float32x4_t low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0]))); - float32x4_t low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0]))); - float32x4_t high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0]))); - float32x4_t high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0]))); - harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); - - low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1]))); - low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1]))); - high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1]))); - high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1]))); - harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); - - // Update gx and gy pointer - gx_ptr_0 += input_stride; - gy_ptr_0 += input_stride; - gx_ptr_1 += input_stride; - gy_ptr_1 += input_stride; - } - - // Calculate harris score - const float32x4x2_t mc = - { - { - harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh), - harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh) - } - }; - - // Store score - vst1q_f32(output + 0, mc.val[0]); - vst1q_f32(output + 4, mc.val[1]); -} - -inline void harris_score5x5_S32_S32_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, - float in_norm_factor, float in_sensitivity, float in_strength_thresh) - -{ - auto gx_ptr_0 = static_cast<const int32_t *__restrict>(input1_ptr) - 2 - 2 * input_stride; - auto gy_ptr_0 = static_cast<const int32_t *__restrict>(input2_ptr) - 2 - 2 * input_stride; - const int32_t *gx_ptr_1 = gx_ptr_0 + 4; - const int32_t *gy_ptr_1 = gy_ptr_0 + 4; - const int32_t *gx_ptr_2 = gx_ptr_0 + 8; - const int32_t *gy_ptr_2 = gy_ptr_0 + 8; - const auto output = static_cast<float *__restrict>(output_ptr); - - // Gx^2, Gy^2 and Gx*Gy - float32x4x2_t gx2 = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - float32x4x2_t gy2 = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - float32x4x2_t gxgy = - { - { - vdupq_n_f32(0.0f), - vdupq_n_f32(0.0f) - } - }; - float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); - float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); - float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); - - for(int i = 0; i < 5; ++i) - { - const float32x4_t low_gx_0 = vcvtq_f32_s32(vld1q_s32(gx_ptr_0)); - const float32x4_t low_gy_0 = vcvtq_f32_s32(vld1q_s32(gy_ptr_0)); - const float32x4_t high_gx_0 = vcvtq_f32_s32(vld1q_s32(gx_ptr_1)); - const float32x4_t high_gy_0 = vcvtq_f32_s32(vld1q_s32(gy_ptr_1)); - harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx_0, low_gy_0, high_gx_0, high_gy_0, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); - - const float32x4_t low_gx_1 = vcvtq_f32_s32(vld1q_s32(gx_ptr_1)); - const float32x4_t low_gy_1 = vcvtq_f32_s32(vld1q_s32(gy_ptr_1)); - const float32x4_t high_gx_1 = vcvtq_f32_s32(vld1q_s32(gx_ptr_2)); - const float32x4_t high_gy_1 = vcvtq_f32_s32(vld1q_s32(gy_ptr_2)); - harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx_1, low_gy_1, high_gx_1, high_gy_1, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); - - // Update gx and gy pointer - gx_ptr_0 += input_stride; - gy_ptr_0 += input_stride; - gx_ptr_1 += input_stride; - gy_ptr_1 += input_stride; - gx_ptr_2 += input_stride; - gy_ptr_2 += input_stride; - } - - // Calculate harris score - const float32x4x2_t mc = - { - { - harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh), - harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh) - } - }; - - // Store score - vst1q_f32(output + 0, mc.val[0]); - vst1q_f32(output + 4, mc.val[1]); -} - -inline void harris_score7x7_S16_S16_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, - float in_norm_factor, float in_sensitivity, float in_strength_thresh) -{ - auto gx_ptr_0 = static_cast<const int16_t *__restrict>(input1_ptr) - 3 - 3 * input_stride; - auto gy_ptr_0 = static_cast<const int16_t *__restrict>(input2_ptr) - 3 - 3 * input_stride; - const int16_t *gx_ptr_1 = gx_ptr_0 + 8; - const int16_t *gy_ptr_1 = gy_ptr_0 + 8; - const auto output = static_cast<float *__restrict>(output_ptr); - - // Gx^2, Gy^2 and Gx*Gy - float32x4_t gx2 = vdupq_n_f32(0.0f); - float32x4_t gy2 = vdupq_n_f32(0.0f); - float32x4_t gxgy = vdupq_n_f32(0.0f); - float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); - float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); - float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); - - for(int i = 0; i < 7; ++i) - { - const int16x8_t tmp0_gx = vld1q_s16(gx_ptr_0); - const int16x8_t tmp0_gy = vld1q_s16(gy_ptr_0); - const int16x4_t tmp1_gx = vld1_s16(gx_ptr_1); - const int16x4_t tmp1_gy = vld1_s16(gy_ptr_1); - - float32x4_t low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp0_gx))); - float32x4_t low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp0_gy))); - float32x4_t high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp0_gx))); - float32x4_t high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp0_gy))); - float32x4_t high_gx1 = vcvtq_f32_s32(vmovl_s16(tmp1_gx)); - float32x4_t high_gy1 = vcvtq_f32_s32(vmovl_s16(tmp1_gy)); - harris_score1x7_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, high_gx1, high_gy1, gx2, gy2, gxgy, norm_factor); - - // Update gx and gy pointer - gx_ptr_0 += input_stride; - gy_ptr_0 += input_stride; - gx_ptr_1 += input_stride; - gy_ptr_1 += input_stride; - } - - // Calculate harris score - const float32x4_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh); - - // Store score - vst1q_f32(output, mc); -} - -inline void harris_score7x7_S32_S32_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, - float in_norm_factor, float in_sensitivity, float in_strength_thresh) -{ - auto gx_ptr_0 = static_cast<const int32_t *__restrict>(input1_ptr) - 3 - 3 * input_stride; - auto gy_ptr_0 = static_cast<const int32_t *__restrict>(input2_ptr) - 3 - 3 * input_stride; - const int32_t *gx_ptr_1 = gx_ptr_0 + 4; - const int32_t *gy_ptr_1 = gy_ptr_0 + 4; - const int32_t *gx_ptr_2 = gx_ptr_1 + 4; - const int32_t *gy_ptr_2 = gy_ptr_1 + 4; - const auto output = static_cast<float *__restrict>(output_ptr); - - // Gx^2, Gy^2 and Gx*Gy - float32x4_t gx2 = vdupq_n_f32(0.0f); - float32x4_t gy2 = vdupq_n_f32(0.0f); - float32x4_t gxgy = vdupq_n_f32(0.0f); - float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); - float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); - float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); - - for(int i = 0; i < 7; ++i) - { - const float32x4_t low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0)); - const float32x4_t low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0)); - const float32x4_t high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1)); - const float32x4_t high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1)); - const float32x4_t high_gx1 = vcvtq_f32_s32(vld1q_s32(gx_ptr_2)); - const float32x4_t high_gy1 = vcvtq_f32_s32(vld1q_s32(gy_ptr_2)); - harris_score1x7_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, high_gx1, high_gy1, gx2, gy2, gxgy, norm_factor); - - // Update gx and gy pointer - gx_ptr_0 += input_stride; - gy_ptr_0 += input_stride; - gx_ptr_1 += input_stride; - gy_ptr_1 += input_stride; - gx_ptr_2 += input_stride; - gy_ptr_2 += input_stride; - } - - // Calculate harris score - const float32x4_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh); - - // Store score - vst1q_f32(output, mc); -} - -} // namespace - -INEHarrisScoreKernel::INEHarrisScoreKernel() - : _input1(nullptr), _input2(nullptr), _output(nullptr), _sensitivity(0.0f), _strength_thresh(0.0f), _norm_factor(0.0f), _border_size() -{ -} - -template <int32_t block_size> -NEHarrisScoreKernel<block_size>::NEHarrisScoreKernel() - : INEHarrisScoreKernel(), _func(nullptr) -{ -} - -template <int32_t block_size> -void NEHarrisScoreKernel<block_size>::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 input1(_input1, window); - Iterator input2(_input2, window); - Iterator output(_output, window); - - const size_t input_stride = _input1->info()->strides_in_bytes()[1] / element_size_from_data_type(_input1->info()->data_type()); - - execute_window_loop(window, [&](const Coordinates &) - { - (*_func)(input1.ptr(), input2.ptr(), output.ptr(), input_stride, _norm_factor, _sensitivity, _strength_thresh); - }, - input1, input2, output); -} - -template <int32_t block_size> -BorderSize NEHarrisScoreKernel<block_size>::border_size() const -{ - return _border_size; -} - -template <int32_t block_size> -void NEHarrisScoreKernel<block_size>::configure(const IImage *input1, const IImage *input2, IImage *output, float norm_factor, float strength_thresh, float sensitivity, - bool border_undefined) -{ - ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input1); - ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input2); - ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(output); - ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input1, 1, DataType::S16, DataType::S32); - ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input2, 1, DataType::S16, DataType::S32); - ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::F32); - ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(input1, input2); - ARM_COMPUTE_ERROR_ON(0.0f == norm_factor); - - _input1 = input1; - _input2 = input2; - _output = output; - _sensitivity = sensitivity; - _strength_thresh = strength_thresh; - _norm_factor = norm_factor; - _border_size = BorderSize(block_size / 2); - - if(input1->info()->data_type() == DataType::S16) - { - switch(block_size) - { - case 3: - _func = &harris_score3x3_S16_S16_FLOAT; - break; - case 5: - _func = &harris_score5x5_S16_S16_FLOAT; - break; - case 7: - _func = &harris_score7x7_S16_S16_FLOAT; - break; - default: - ARM_COMPUTE_ERROR("Invalid block size"); - break; - } - } - else - { - switch(block_size) - { - case 3: - _func = &harris_score3x3_S32_S32_FLOAT; - break; - case 5: - _func = &harris_score5x5_S32_S32_FLOAT; - break; - case 7: - _func = &harris_score7x7_S32_S32_FLOAT; - break; - default: - ARM_COMPUTE_ERROR("Invalid block size"); - break; - } - } - - ARM_COMPUTE_ERROR_ON(nullptr == _func); - - constexpr unsigned int num_elems_processed_per_iteration = block_size != 7 ? 8 : 4; - constexpr unsigned int num_elems_read_per_iteration = block_size != 7 ? 16 : 12; - constexpr unsigned int num_elems_written_per_iteration = block_size != 7 ? 8 : 4; - constexpr unsigned int num_rows_read_per_iteration = block_size; - - // Configure kernel window - Window win = calculate_max_window(*input1->info(), Steps(num_elems_processed_per_iteration), border_undefined, border_size()); - AccessWindowHorizontal output_access(output->info(), 0, num_elems_written_per_iteration); - - update_window_and_padding(win, - AccessWindowRectangle(input1->info(), -_border_size.left, -_border_size.top, num_elems_read_per_iteration, num_rows_read_per_iteration), - AccessWindowRectangle(input2->info(), -_border_size.left, -_border_size.top, num_elems_read_per_iteration, num_rows_read_per_iteration), - output_access); - - ValidRegion valid_region = intersect_valid_regions(input1->info()->valid_region(), - input2->info()->valid_region()); - - output_access.set_valid_region(win, valid_region, border_undefined, border_size()); - - INEKernel::configure(win); -} |