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Diffstat (limited to 'tests/validation/reference/FastCorners.cpp')
| -rw-r--r-- | tests/validation/reference/FastCorners.cpp | 241 |
1 files changed, 0 insertions, 241 deletions
diff --git a/tests/validation/reference/FastCorners.cpp b/tests/validation/reference/FastCorners.cpp deleted file mode 100644 index 32b911573b..0000000000 --- a/tests/validation/reference/FastCorners.cpp +++ /dev/null @@ -1,241 +0,0 @@ -/* - * Copyright (c) 2017-2019 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 "FastCorners.h" - -#include "Utils.h" -#include "tests/validation/Helpers.h" -#include "tests/validation/reference/NonMaximaSuppression.h" - -#include "tests/framework/Asserts.h" -#include <iomanip> - -namespace arm_compute -{ -namespace test -{ -namespace validation -{ -namespace reference -{ -namespace -{ -constexpr unsigned int bresenham_radius = 3; -constexpr unsigned int bresenham_count = 16; - -/* - Offsets of the 16 pixels in the Bresenham circle of radius 3 centered on P - . . . . . . . . . - . . . F 0 1 . . . - . . E . . . 2 . . - . D . . . . . 3 . - . C . . P . . 4 . - . B . . . . . 5 . - . . A . . . 6 . . - . . . 9 8 7 . . . - . . . . . . . . . -*/ -const std::array<std::array<int, 2>, 16> circle_offsets = -{ - { - { { 0, -3 } }, // 0 - pixel #1 - { { 1, -3 } }, // 1 - pixel #2 - { { 2, -2 } }, // 2 - pixel #3 - { { 3, -1 } }, // 3 - pixel #4 - { { 3, 0 } }, // 4 - pixel #5 - { { 3, 1 } }, // 5 - pixel #6 - { { 2, 2 } }, // 6 - pixel #7 - { { 1, 3 } }, // 7 - pixel #8 - { { 0, 3 } }, // 8 - pixel #9 - { { -1, 3 } }, // 9 - pixel #10 - { { -2, 2 } }, // A - pixel #11 - { { -3, 1 } }, // B - pixel #12 - { { -3, 0 } }, // C - pixel #13 - { { -3, -1 } }, // D - pixel #14 - { { -2, -2 } }, // E - pixel #15 - { { -1, -3 } } // F - pixel #16 - } -}; - -/* - FAST-9 bit masks for consecutive points surrounding a corner candidate - Rejection of non-corners is expedited by checking pixels 1, 9, then 5, 13... -*/ -const std::array<uint16_t, 16> fast9_masks = -{ - { - 0x01FF, // 0000 0001 1111 1111 - 0x03FE, // 0000 0011 1111 1110 - 0x07FC, // 0000 0111 1111 1100 - 0x0FF8, // 0000 1111 1111 1000 - 0x1FF0, // 0001 1111 1111 0000 - 0x3FE0, // 0011 1111 1110 0000 - 0x7FC0, // 0111 1111 1100 0000 - 0xFF80, // 1111 1111 1000 0000 - 0xFF01, // 1111 1111 0000 0001 - 0xFE03, // 1111 1110 0000 0011 - 0xFC07, // 1111 1100 0000 0111 - 0xF80F, // 1111 1000 0000 1111 - 0xF01F, // 1111 0000 0001 1111 - 0xE03F, // 1110 0000 0011 1111 - 0xC07F, // 1100 0000 0111 1111 - 0x80FF // 1000 0000 1111 1111 - } -}; - -inline bool in_range(const uint8_t low, const uint8_t high, const uint8_t val) -{ - return low <= val && val <= high; -} - -template <typename T, typename F> -bool is_a_corner(const Coordinates &candidate, const SimpleTensor<T> &src, uint8_t threshold, BorderMode border_mode, T constant_border_value, F intensity_at) -{ - const auto intensity_p = tensor_elem_at(src, candidate, border_mode, constant_border_value); - const auto thresh_bright = intensity_p + threshold; - const auto thresh_dark = intensity_p - threshold; - - // Quicker rejection of non-corner points by checking pixels 1, 9 then 5, 13 around the candidate - const auto p1 = intensity_at(candidate, 0); - const auto p9 = intensity_at(candidate, 8); - const auto p5 = intensity_at(candidate, 4); - const auto p13 = intensity_at(candidate, 12); - - if((in_range(thresh_dark, thresh_bright, p1) && in_range(thresh_dark, thresh_bright, p9)) - || (in_range(thresh_dark, thresh_bright, p5) && in_range(thresh_dark, thresh_bright, p13))) - { - return false; - } - - uint16_t mask_bright = 0; - uint16_t mask_dark = 0; - - // Set bits of the brighter/darker pixels mask accordingly - for(unsigned int n = 0; n < bresenham_count; ++n) - { - T intensity_n = intensity_at(candidate, n); - mask_bright |= (intensity_n > thresh_bright) << n; - mask_dark |= (intensity_n < thresh_dark) << n; - } - - // Mark as corner candidate if brighter/darker pixel sequence satisfies any one of the FAST-9 masks - const auto found = std::find_if(fast9_masks.begin(), fast9_masks.end(), [&](decltype(fast9_masks[0]) mask) - { - return (mask_bright & mask) == mask || (mask_dark & mask) == mask; - }); - - return found != fast9_masks.end(); -} -} // namespace - -template <typename T> -std::vector<KeyPoint> fast_corners(const SimpleTensor<T> &src, float input_thresh, bool suppress_nonmax, BorderMode border_mode, T constant_border_value) -{ - // Get intensity of pixel at given index on the Bresenham circle around a candidate point - const auto intensity_at = [&](const Coordinates & point, const unsigned int idx) - { - const auto offset = circle_offsets[idx]; - Coordinates px{ point.x() + offset[0], point.y() + offset[1] }; - return tensor_elem_at(src, px, border_mode, constant_border_value); - }; - - const auto threshold = static_cast<uint8_t>(input_thresh); - std::vector<KeyPoint> corners; - - // 1. Detect potential corners (the segment test) - std::vector<Coordinates> corner_candidates; - SimpleTensor<uint8_t> scores(src.shape(), DataType::U8); - ValidRegion valid_region = shape_to_valid_region(src.shape(), BorderMode::UNDEFINED == border_mode, BorderSize(bresenham_radius)); - - const uint32_t num_elements = src.num_elements(); - for(uint32_t i = 0; i < num_elements; ++i) - { - Coordinates candidate = index2coord(src.shape(), i); - scores[i] = 0; - if(!is_in_valid_region(valid_region, candidate)) - { - continue; - } - - if(is_a_corner(candidate, src, threshold, border_mode, constant_border_value, intensity_at)) - { - corner_candidates.emplace_back(candidate); - scores[i] = 1; - } - } - - // 2. Calculate corner scores if necessary - if(suppress_nonmax) - { - for(const auto &candidate : corner_candidates) - { - const auto index = coord2index(scores.shape(), candidate); - uint8_t thresh_max = UINT8_MAX; - uint8_t thresh_min = threshold; - uint8_t response = (thresh_min + thresh_max) / 2; - - // Corner score (response) is the largest threshold for which the pixel remains a corner - while(thresh_max - thresh_min > 1) - { - response = (thresh_min + thresh_max) / 2; - if(is_a_corner(candidate, src, response, border_mode, constant_border_value, intensity_at)) - { - thresh_min = response; // raise threshold - } - else - { - thresh_max = response; // lower threshold - } - } - scores[index] = thresh_min; - } - - scores = non_maxima_suppression(scores, border_mode, constant_border_value); - valid_region = shape_to_valid_region(scores.shape(), BorderMode::UNDEFINED == border_mode, BorderSize(bresenham_radius + 1)); - } - - for(const auto &candidate : corner_candidates) - { - const auto index = coord2index(scores.shape(), candidate); - if(scores[index] > 0.f && is_in_valid_region(valid_region, candidate)) - { - KeyPoint corner; - corner.x = candidate.x(); - corner.y = candidate.y(); - corner.strength = scores[index]; - corner.tracking_status = 1; - corner.scale = 0.f; - corner.orientation = 0.f; - corner.error = 0.f; - corners.emplace_back(corner); - } - } - - return corners; -} - -template std::vector<KeyPoint> fast_corners(const SimpleTensor<uint8_t> &src, float threshold, bool suppress_nonmax, BorderMode border_mode, uint8_t constant_border_value); -} // namespace reference -} // namespace validation -} // namespace test -} // namespace arm_compute |