From e99196cf25a24fabd66ef33764d3c532f7cddf49 Mon Sep 17 00:00:00 2001 From: Pablo Tello Date: Wed, 5 Jun 2019 15:51:52 +0100 Subject: COMPMID-2391: Created optical flow example Change-Id: Ibf1c5cb9b3c20235f7231351bffe4c7e04d982b8 Signed-off-by: Pablo Tello Reviewed-on: https://review.mlplatform.org/c/1299 Comments-Addressed: Arm Jenkins Reviewed-by: Georgios Pinitas Tested-by: Arm Jenkins Reviewed-by: Gian Marco Iodice --- examples/neon_opticalflow.cpp | 263 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 263 insertions(+) create mode 100644 examples/neon_opticalflow.cpp (limited to 'examples') diff --git a/examples/neon_opticalflow.cpp b/examples/neon_opticalflow.cpp new file mode 100644 index 0000000000..b5df819e97 --- /dev/null +++ b/examples/neon_opticalflow.cpp @@ -0,0 +1,263 @@ +/* + * Copyright (c) 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/runtime/NEON/NEFunctions.h" + +#include "arm_compute/core/Types.h" +#include "utils/ImageLoader.h" +#include "utils/Utils.h" + +#include +#include +#include + +using namespace arm_compute; +using namespace utils; + +class NeonOpticalFlowExample : public Example +{ +public: + NeonOpticalFlowExample() + : input_points(100), output_points(100), point_estimates(100) + { + } + + bool do_setup(int argc, char **argv) override + { + if(argc < 5) + { + // Print help + std::cout << "Usage: ./build/neon_opticalflow [src_1st.ppm] [src_2nd.ppm] [keypoints] [estimates]\n\n"; + const unsigned int img_width = 64; + const unsigned int img_height = 64; + const unsigned int rect_x = 20; + const unsigned int rect_y = 40; + const unsigned int rect_s = 8; + const unsigned int offsetx = 24; + const unsigned int offsety = 3; + std::cout << "No input_image provided, creating test data:\n"; + std::cout << "\t Image src_1st = (" << img_width << "," << img_height << ")" << std::endl; + std::cout << "\t Image src_2nd = (" << img_width << "," << img_height << ")" << std::endl; + init_img(src_1st, img_width, img_height, rect_x, rect_y, rect_s); + init_img(src_2nd, img_width, img_height, rect_x + offsetx, rect_y + offsety, rect_s); + const int num_points = 4; + input_points.resize(num_points); + point_estimates.resize(num_points); + const std::array tracking_coordsx = { rect_x - 1, rect_x, rect_x + 1, rect_x + 2 }; + const std::array tracking_coordsy = { rect_y - 1, rect_y, rect_y + 1, rect_y + 2 }; + const std::array estimate_coordsx = { rect_x + offsetx - 1, rect_x + offsetx, rect_x + offsetx + 1, rect_x + offsetx + 2 }; + const std::array estimate_coordsy = { rect_y + offsety - 1, rect_y + offsety, rect_y + offsety + 1, rect_y + offsety + 2 }; + + for(int k = 0; k < num_points; ++k) + { + auto &keypoint = input_points.at(k); + keypoint.x = tracking_coordsx[k]; + keypoint.y = tracking_coordsy[k]; + keypoint.tracking_status = 1; + } + for(int k = 0; k < num_points; ++k) + { + auto &keypoint = point_estimates.at(k); + keypoint.x = estimate_coordsx[k]; + keypoint.y = estimate_coordsy[k]; + keypoint.tracking_status = 1; + } + } + else + { + load_ppm(argv[1], src_1st); + load_ppm(argv[2], src_2nd); + load_keypoints(argv[3], input_points); + load_keypoints(argv[4], point_estimates); + } + + print_points(input_points, "Tracking points : "); + print_points(point_estimates, "Estimates points : "); + + const unsigned int num_levels = 3; + // Initialise and allocate pyramids + PyramidInfo pyramid_info(num_levels, SCALE_PYRAMID_HALF, src_1st.info()->tensor_shape(), src_1st.info()->format()); + pyr_1st.init_auto_padding(pyramid_info); + pyr_2nd.init_auto_padding(pyramid_info); + + pyrf_1st.configure(&src_1st, &pyr_1st, BorderMode::UNDEFINED, 0); + pyrf_2nd.configure(&src_2nd, &pyr_2nd, BorderMode::UNDEFINED, 0); + + output_points.resize(input_points.num_values()); + + optkf.configure(&pyr_1st, &pyr_2nd, + &input_points, &point_estimates, &output_points, + Termination::TERM_CRITERIA_BOTH, 0.01f, 15, 5, true, BorderMode::UNDEFINED, 0); + + pyr_1st.allocate(); + pyr_2nd.allocate(); + + return true; + } + void do_run() override + { + //Execute the functions: + pyrf_1st.run(); + pyrf_2nd.run(); + optkf.run(); + } + void do_teardown() override + { + print_points(output_points, "Output points : "); + } + +private: + /** Loads the input keypoints from a file into an array + * + * @param[in] fn Filename containing the keypoints. Each line must have two values X Y. + * @param[out] img Reference to an unintialised KeyPointArray + */ + bool load_keypoints(const std::string &fn, KeyPointArray &array) + { + assert(!fn.empty()); + std::ifstream f(fn); + if(f.is_open()) + { + std::cout << "Reading points from " << fn << std::endl; + std::vector v; + for(std::string line; std::getline(f, line);) + { + std::stringstream ss(line); + std::string xcoord; + std::string ycoord; + getline(ss, xcoord, ' '); + getline(ss, ycoord, ' '); + KeyPoint kp; + kp.x = std::stoi(xcoord); + kp.y = std::stoi(ycoord); + kp.tracking_status = 1; + v.push_back(kp); + } + const int num_points = v.size(); + array.resize(num_points); + for(int k = 0; k < num_points; ++k) + { + auto &keypoint = array.at(k); + keypoint = v[k]; + } + return true; + } + else + { + std::cout << "Cannot open keypoints file " << fn << std::endl; + return false; + } + } + + /** Creates and Image and fills it with the ppm data from the file + * + * @param[in] fn PPM filename to be loaded + * @param[out] img Reference to an unintialised image instance + */ + bool load_ppm(const std::string &fn, Image &img) + { + assert(!fn.empty()); + PPMLoader ppm; + ppm.open(fn); + ppm.init_image(img, Format::U8); + img.allocator()->allocate(); + if(ppm.is_open()) + { + std::cout << "Reading image " << fn << std::endl; + ppm.fill_image(img); + return true; + } + else + { + std::cout << "Cannot open " << fn << std::endl; + return false; + } + } + /** Creates and Image and draws a square in the specified coordinares. + * + * @param[out] img Reference to an unintialised image instance + * @param[in] img_width Width of the image to be created + * @param[in] img_height Height of the image to be created + * @param[in] square_center_x Coordinate along x-axis to be used as the center for the square + * @param[in] square_center_y Coordinate along y-axis to be used as the center for the square + * @param[in] square_size Size in pixels to be used for the square + */ + void init_img(Image &img, unsigned int img_width, unsigned int img_height, + unsigned int square_center_x, unsigned int square_center_y, + unsigned int square_size) + { + img.allocator()->init(TensorInfo(img_width, img_height, Format::U8)); + img.allocator()->allocate(); + const unsigned int square_half = square_size / 2; + // assert the square is in the bounds of the image + assert(square_center_x > square_half && square_center_x + square_half < img_width); + assert(square_center_y > square_half && square_center_y + square_half < img_height); + // get ptr to the top left pixel for the squeare + std::fill(img.buffer(), img.buffer() + img_width * img_height, 0); + for(unsigned int i = 0; i < square_size; ++i) + { + for(unsigned int j = 0; j < square_size; ++j) + { + uint8_t *ptr = img.ptr_to_element(Coordinates(square_center_x - square_half + j, square_center_y - square_half + i)); + *ptr = 0xFF; + } + } + } + /** Prints an array of keypoints and an optional label + * + * @param[in] a Keypoint array to be printed + * @param[in] str Label to be printed before the array + */ + void print_points(const KeyPointArray &a, const std::string &str = "") + { + std::cout << str << std::endl; + for(unsigned int k = 0; k < a.num_values(); ++k) + { + auto kp = a.at(k); + std::cout << "\t " + << " (x,y) = (" << kp.x << "," << kp.y << ")"; + std::cout << " strength = " << kp.strength << " " + << " scale = " << kp.scale << " orientation " << kp.orientation << " status " << kp.tracking_status << " err = " << kp.error << std::endl; + } + } + + Pyramid pyr_1st{}; + Pyramid pyr_2nd{}; + NEGaussianPyramidHalf pyrf_1st{}; + NEGaussianPyramidHalf pyrf_2nd{}; + NEOpticalFlow optkf{}; + Image src_1st{}, src_2nd{}; + KeyPointArray input_points; + KeyPointArray output_points; + KeyPointArray point_estimates; +}; + +/** Main program for optical flow test + * + * @param[in] argc Number of arguments + * @param[in] argv Arguments ( [optional] Path to PPM image to process ) + */ +int main(int argc, char **argv) +{ + return utils::run_example(argc, argv); +} -- cgit v1.2.1