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Diffstat (limited to 'src/runtime/CL/functions/CLOpticalFlow.cpp')
| -rw-r--r-- | src/runtime/CL/functions/CLOpticalFlow.cpp | 150 |
1 files changed, 150 insertions, 0 deletions
diff --git a/src/runtime/CL/functions/CLOpticalFlow.cpp b/src/runtime/CL/functions/CLOpticalFlow.cpp new file mode 100644 index 0000000000..a6b0eb3bec --- /dev/null +++ b/src/runtime/CL/functions/CLOpticalFlow.cpp @@ -0,0 +1,150 @@ +/* + * Copyright (c) 2017 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/runtime/CL/functions/CLOpticalFlow.h" + +#include "arm_compute/core/CL/ICLTensor.h" +#include "arm_compute/core/CL/kernels/CLLKTrackerKernel.h" +#include "arm_compute/core/Error.h" +#include "arm_compute/core/Helpers.h" +#include "arm_compute/core/TensorInfo.h" +#include "arm_compute/core/Window.h" +#include "arm_compute/runtime/CL/CLPyramid.h" +#include "arm_compute/runtime/CL/CLScheduler.h" +#include "arm_compute/runtime/CL/CLTensor.h" +#include "arm_compute/runtime/CL/CLTensorAllocator.h" +#include "arm_compute/runtime/CL/functions/CLScharr3x3.h" + +using namespace arm_compute; + +CLOpticalFlow::CLOpticalFlow() + : _tracker_init_kernel(), _tracker_stage0_kernel(), _tracker_stage1_kernel(), _tracker_finalize_kernel(), _func_scharr(), _scharr_gx(), _scharr_gy(), _old_points(nullptr), + _new_points_estimates(nullptr), _new_points(nullptr), _old_points_internal(), _new_points_internal(), _coefficient_table(), _old_values(), _num_levels(0) +{ +} + +void CLOpticalFlow::configure(const CLPyramid *old_pyramid, const CLPyramid *new_pyramid, + const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points, + Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate, + BorderMode border_mode, uint8_t constant_border_value) +{ + ARM_COMPUTE_ERROR_ON(nullptr == old_pyramid); + ARM_COMPUTE_ERROR_ON(nullptr == new_pyramid); + ARM_COMPUTE_ERROR_ON(nullptr == old_points); + ARM_COMPUTE_ERROR_ON(nullptr == new_points_estimates); + ARM_COMPUTE_ERROR_ON(nullptr == new_points); + ARM_COMPUTE_ERROR_ON(old_pyramid->info()->num_levels() != new_pyramid->info()->num_levels()); + ARM_COMPUTE_ERROR_ON(0 == old_pyramid->info()->num_levels()); + ARM_COMPUTE_ERROR_ON(old_pyramid->info()->width() != new_pyramid->info()->width()); + ARM_COMPUTE_ERROR_ON(old_pyramid->info()->height() != new_pyramid->info()->height()); + ARM_COMPUTE_ERROR_ON(use_initial_estimate && old_points->num_values() != new_points_estimates->num_values()); + + // Set member variables + _old_points = old_points; + _new_points_estimates = new_points_estimates; + _new_points = new_points; + _num_levels = old_pyramid->info()->num_levels(); + + const float pyr_scale = old_pyramid->info()->scale(); + const int list_length = old_points->num_values(); + const int old_values_list_length = list_length * window_dimension * window_dimension; + + // Create kernels and tensors + _tracker_init_kernel = arm_compute::cpp14::make_unique<CLLKTrackerInitKernel[]>(_num_levels); + _tracker_stage0_kernel = arm_compute::cpp14::make_unique<CLLKTrackerStage0Kernel[]>(_num_levels); + _tracker_stage1_kernel = arm_compute::cpp14::make_unique<CLLKTrackerStage1Kernel[]>(_num_levels); + _func_scharr = arm_compute::cpp14::make_unique<CLScharr3x3[]>(_num_levels); + _scharr_gx = arm_compute::cpp14::make_unique<CLTensor[]>(_num_levels); + _scharr_gy = arm_compute::cpp14::make_unique<CLTensor[]>(_num_levels); + + // Create internal keypoint arrays + _old_points_internal = arm_compute::cpp14::make_unique<CLLKInternalKeypointArray>(list_length); + _old_points_internal->resize(list_length); + _new_points_internal = arm_compute::cpp14::make_unique<CLLKInternalKeypointArray>(list_length); + _new_points_internal->resize(list_length); + _coefficient_table = arm_compute::cpp14::make_unique<CLCoefficientTableArray>(list_length); + _coefficient_table->resize(list_length); + _old_values = arm_compute::cpp14::make_unique<CLOldValueArray>(old_values_list_length); + _old_values->resize(old_values_list_length); + _new_points->resize(list_length); + + for(size_t i = 0; i < _num_levels; ++i) + { + // Get images from the ith level of old and right pyramid + ICLImage *old_ith_input = old_pyramid->get_pyramid_level(i); + ICLImage *new_ith_input = new_pyramid->get_pyramid_level(i); + + // Get width and height of images + const unsigned int width_ith = old_ith_input->info()->dimension(0); + const unsigned int height_ith = new_ith_input->info()->dimension(1); + + // Initialize Scharr tensors + TensorInfo tensor_info(TensorShape(width_ith, height_ith), 1, DataType::S16); + _scharr_gx[i].allocator()->init(tensor_info); + _scharr_gy[i].allocator()->init(tensor_info); + + // Init Scharr kernel + _func_scharr[i].configure(old_ith_input, &_scharr_gx[i], &_scharr_gy[i], border_mode, constant_border_value); + + // Init Lucas-Kanade init kernel + _tracker_init_kernel[i].configure(old_points, new_points_estimates, _old_points_internal.get(), _new_points_internal.get(), use_initial_estimate, i, _num_levels, pyr_scale); + + // Init Lucas-Kanade stage0 kernel + _tracker_stage0_kernel[i].configure(old_ith_input, &_scharr_gx[i], &_scharr_gy[i], + _old_points_internal.get(), _new_points_internal.get(), _coefficient_table.get(), _old_values.get(), + window_dimension, i); + + // Init Lucas-Kanade stage1 kernel + _tracker_stage1_kernel[i].configure(new_ith_input, _new_points_internal.get(), _coefficient_table.get(), _old_values.get(), + termination, epsilon, num_iterations, window_dimension, i); + + // Allocate intermediate buffers + _scharr_gx[i].allocator()->allocate(); + _scharr_gy[i].allocator()->allocate(); + } + + // Finalize Lucas-Kanade + _tracker_finalize_kernel.configure(_new_points_internal.get(), new_points); +} + +void CLOpticalFlow::run() +{ + ARM_COMPUTE_ERROR_ON_MSG(_num_levels == 0, "Unconfigured function"); + + for(unsigned int level = _num_levels; level > 0; --level) + { + // Run Scharr kernel + _func_scharr[level - 1].run(); + + // Run Lucas-Kanade init kernel + CLScheduler::get().enqueue(_tracker_init_kernel[level - 1]); + + // Run Lucas-Kanade stage0 kernel + CLScheduler::get().enqueue(_tracker_stage0_kernel[level - 1]); + + // Run Lucas-Kanade stage1 kernel + CLScheduler::get().enqueue(_tracker_stage1_kernel[level - 1]); + } + + CLScheduler::get().enqueue(_tracker_finalize_kernel, true); +} |