diff options
Diffstat (limited to 'src/runtime/NEON/functions/NEHarrisCorners.cpp')
-rw-r--r-- | src/runtime/NEON/functions/NEHarrisCorners.cpp | 212 |
1 files changed, 212 insertions, 0 deletions
diff --git a/src/runtime/NEON/functions/NEHarrisCorners.cpp b/src/runtime/NEON/functions/NEHarrisCorners.cpp new file mode 100644 index 0000000000..b54fb67ab7 --- /dev/null +++ b/src/runtime/NEON/functions/NEHarrisCorners.cpp @@ -0,0 +1,212 @@ +/* + * Copyright (c) 2016, 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/NEON/functions/NEHarrisCorners.h" + +#include "arm_compute/core/Error.h" +#include "arm_compute/core/Helpers.h" +#include "arm_compute/core/NEON/kernels/NEFillBorderKernel.h" +#include "arm_compute/core/NEON/kernels/NEHarrisCornersKernel.h" +#include "arm_compute/core/TensorInfo.h" +#include "arm_compute/core/Validate.h" +#include "arm_compute/runtime/Array.h" +#include "arm_compute/runtime/NEON/NEScheduler.h" +#include "arm_compute/runtime/NEON/functions/NESobel3x3.h" +#include "arm_compute/runtime/NEON/functions/NESobel5x5.h" +#include "arm_compute/runtime/NEON/functions/NESobel7x7.h" +#include "arm_compute/runtime/TensorAllocator.h" + +#include <cmath> +#include <utility> + +using namespace arm_compute; + +NEHarrisCorners::NEHarrisCorners() + : _sobel(), _harris_score(), _non_max_suppr(), _candidates(), _sort_euclidean(), _border_gx(), _border_gy(), _gx(), _gy(), _score(), _nonmax(), _corners_list(), _num_corner_candidates(0) +{ +} + +void NEHarrisCorners::configure(IImage *input, float threshold, float min_dist, + float sensitivity, int32_t gradient_size, int32_t block_size, KeyPointArray *corners, + BorderMode border_mode, uint8_t constant_border_value, bool use_fp16) +{ + ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8); + ARM_COMPUTE_ERROR_ON(!(block_size == 3 || block_size == 5 || block_size == 7)); + + const TensorShape shape = input->info()->tensor_shape(); + TensorInfo tensor_info_gxgy; + + if(gradient_size < 7) + { + tensor_info_gxgy.init(shape, Format::S16); + } + else + { + tensor_info_gxgy.init(shape, Format::S32); + } + + _gx.allocator()->init(tensor_info_gxgy); + _gy.allocator()->init(tensor_info_gxgy); + + TensorInfo tensor_info_score(shape, Format::F32); + _score.allocator()->init(tensor_info_score); + _nonmax.allocator()->init(tensor_info_score); + + _corners_list = arm_compute::cpp14::make_unique<InternalKeypoint[]>(shape.x() * shape.y()); + + // Set/init Sobel kernel accordingly with gradient_size + switch(gradient_size) + { + case 3: + { + auto k = arm_compute::cpp14::make_unique<NESobel3x3>(); + k->configure(input, &_gx, &_gy, border_mode, constant_border_value); + _sobel = std::move(k); + break; + } + case 5: + { + auto k = arm_compute::cpp14::make_unique<NESobel5x5>(); + k->configure(input, &_gx, &_gy, border_mode, constant_border_value); + _sobel = std::move(k); + break; + } + case 7: + { + auto k = arm_compute::cpp14::make_unique<NESobel7x7>(); + k->configure(input, &_gx, &_gy, border_mode, constant_border_value); + _sobel = std::move(k); + break; + } + default: + ARM_COMPUTE_ERROR("Gradient size not implemented"); + } + + // Normalization factor + const float norm_factor = 1.0f / (255.0f * pow(4.0f, gradient_size / 2) * block_size); + + if(use_fp16) + { + switch(block_size) + { + case 3: + { + auto k = arm_compute::cpp14::make_unique<NEHarrisScoreFP16Kernel<3>>(); + k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); + _harris_score = std::move(k); + } + break; + case 5: + { + auto k = arm_compute::cpp14::make_unique<NEHarrisScoreFP16Kernel<5>>(); + k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); + _harris_score = std::move(k); + } + break; + case 7: + { + auto k = arm_compute::cpp14::make_unique<NEHarrisScoreFP16Kernel<7>>(); + k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); + _harris_score = std::move(k); + } + default: + break; + } + } + else + { + // Set/init Harris Score kernel accordingly with block_size + switch(block_size) + { + case 3: + { + auto k = arm_compute::cpp14::make_unique<NEHarrisScoreKernel<3>>(); + k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); + _harris_score = std::move(k); + } + break; + case 5: + { + auto k = arm_compute::cpp14::make_unique<NEHarrisScoreKernel<5>>(); + k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); + _harris_score = std::move(k); + } + break; + case 7: + { + auto k = arm_compute::cpp14::make_unique<NEHarrisScoreKernel<7>>(); + k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); + _harris_score = std::move(k); + } + default: + break; + } + } + + // Configure border filling before harris score + _border_gx.configure(&_gx, _harris_score->border_size(), border_mode, constant_border_value); + _border_gy.configure(&_gy, _harris_score->border_size(), border_mode, constant_border_value); + + // Init non-maxima suppression function + _non_max_suppr.configure(&_score, &_nonmax, border_mode); + + // Init corner candidates kernel + _candidates.configure(&_nonmax, _corners_list.get(), &_num_corner_candidates); + + // Init euclidean distance + _sort_euclidean.configure(_corners_list.get(), corners, &_num_corner_candidates, min_dist); + + // Allocate once all the configure methods have been called + _gx.allocator()->allocate(); + _gy.allocator()->allocate(); + _score.allocator()->allocate(); + _nonmax.allocator()->allocate(); +} + +void NEHarrisCorners::run() +{ + ARM_COMPUTE_ERROR_ON_MSG(_sobel == nullptr, "Unconfigured function"); + + // Init to 0 number of corner candidates + _num_corner_candidates = 0; + + // Run Sobel kernel + _sobel->run(); + + // Fill border before harris score kernel + _border_gx.run(_border_gx.window()); + _border_gy.run(_border_gy.window()); + + // Run harris score kernel + NEScheduler::get().schedule(_harris_score.get(), Window::DimY); + + // Run non-maxima suppression + _non_max_suppr.run(); + + // Run corner candidate kernel + NEScheduler::get().schedule(&_candidates, Window::DimY); + + // Run sort & euclidean distance + _sort_euclidean.run(_sort_euclidean.window()); +} |