From 6ff3b19ee6120edf015fad8caab2991faa3070af Mon Sep 17 00:00:00 2001 From: Anthony Barbier Date: Mon, 4 Sep 2017 18:44:23 +0100 Subject: COMPMID-344 Updated doxygen Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae --- src/core/NEON/kernels/NECannyEdgeKernel.cpp | 1856 +++++++++++++++++++++++++++ 1 file changed, 1856 insertions(+) create mode 100644 src/core/NEON/kernels/NECannyEdgeKernel.cpp (limited to 'src/core/NEON/kernels/NECannyEdgeKernel.cpp') diff --git a/src/core/NEON/kernels/NECannyEdgeKernel.cpp b/src/core/NEON/kernels/NECannyEdgeKernel.cpp new file mode 100644 index 0000000000..85a2cd5855 --- /dev/null +++ b/src/core/NEON/kernels/NECannyEdgeKernel.cpp @@ -0,0 +1,1856 @@ +/* + * 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/core/NEON/kernels/NECannyEdgeKernel.h" + +#include "arm_compute/core/AccessWindowStatic.h" +#include "arm_compute/core/Error.h" +#include "arm_compute/core/Helpers.h" +#include "arm_compute/core/ITensor.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 +#include +#include +#include + +using namespace arm_compute; + +namespace arm_compute +{ +class Coordinates; +} // namespace arm_compute + +namespace +{ +constexpr int NO_EDGE = 0; +constexpr int EDGE = 255; +constexpr int MAYBE = 127; +} // namespace + +#ifdef ARM_COMPUTE_ENABLE_FP16 +namespace fp16 +{ +inline uint8x8_t phase_quantization(const float32x4x2_t &gx, const float32x4x2_t &gy) +{ + // Constant use for evaluating score1 and score3 + static const float32x4_t const45 = vdupq_n_f32(0.70710678118655f); + static const float32x4_t zero = vdupq_n_f32(0.0f); + static const float32x4_t one = vdupq_n_f32(1.0f); + static const float32x4_t two = vdupq_n_f32(2.0f); + static const float32x4_t three = vdupq_n_f32(3.0f); + + // Score0: (1, 0) + const float32x4x2_t score0 = + { + vabsq_f32(gx.val[0]), + vabsq_f32(gx.val[1]) + }; + + // Score2: ( 0, 1 ) + const float32x4x2_t score2 = + { + vabsq_f32(gy.val[0]), + vabsq_f32(gy.val[1]) + }; + + // Score1 and Score3: ( sqrt(2) / 2, sqrt(2) / 2 ) - ( -sqrt(2) / 2, sqrt(2) / 2 ) + float32x4x2_t score1 = + { + vmulq_f32(gy.val[0], const45), + vmulq_f32(gy.val[1], const45) + }; + + float32x4x2_t score3 = score1; + + score1.val[0] = vmlaq_f32(score1.val[0], gx.val[0], const45); + score1.val[1] = vmlaq_f32(score1.val[1], gx.val[1], const45); + score3.val[0] = vmlsq_f32(score3.val[0], gx.val[0], const45); + score3.val[1] = vmlsq_f32(score3.val[1], gx.val[1], const45); + + score1.val[0] = vabsq_f32(score1.val[0]); + score1.val[1] = vabsq_f32(score1.val[1]); + score3.val[0] = vabsq_f32(score3.val[0]); + score3.val[1] = vabsq_f32(score3.val[1]); + + float32x4x2_t phase = + { + zero, + zero + }; + + float32x4x2_t old_score = score0; + + // score1 > old_score? + uint32x4x2_t mask = + { + vcgtq_f32(score1.val[0], old_score.val[0]), + vcgtq_f32(score1.val[1], old_score.val[1]) + }; + + phase.val[0] = vbslq_f32(mask.val[0], one, phase.val[0]); + phase.val[1] = vbslq_f32(mask.val[1], one, phase.val[1]); + old_score.val[0] = vbslq_f32(mask.val[0], score1.val[0], old_score.val[0]); + old_score.val[1] = vbslq_f32(mask.val[1], score1.val[1], old_score.val[1]); + + // score2 > old_score? + mask.val[0] = vcgtq_f32(score2.val[0], old_score.val[0]); + mask.val[1] = vcgtq_f32(score2.val[1], old_score.val[1]); + + phase.val[0] = vbslq_f32(mask.val[0], two, phase.val[0]); + phase.val[1] = vbslq_f32(mask.val[1], two, phase.val[1]); + old_score.val[0] = vbslq_f32(mask.val[0], score2.val[0], old_score.val[0]); + old_score.val[1] = vbslq_f32(mask.val[1], score2.val[1], old_score.val[1]); + + // score3 > old_score? + mask.val[0] = vcgtq_f32(score3.val[0], old_score.val[0]); + mask.val[1] = vcgtq_f32(score3.val[1], old_score.val[1]); + + phase.val[0] = vbslq_f32(mask.val[0], three, phase.val[0]); + phase.val[1] = vbslq_f32(mask.val[1], three, phase.val[1]); + old_score.val[0] = vbslq_f32(mask.val[0], score3.val[0], old_score.val[0]); + old_score.val[1] = vbslq_f32(mask.val[1], score3.val[1], old_score.val[1]); + + // Convert from float32x4_t to uint8x8_t + return vmovn_u16(vcombine_u16(vmovn_u32(vcvtq_u32_f32(phase.val[0])), + vmovn_u32(vcvtq_u32_f32(phase.val[1])))); +} + +inline uint8x8_t phase_quantization(float16x8_t gx, float16x8_t gy) +{ + // Constant use for evaluating score1 and score3 + static const float16x8_t const45 = vdupq_n_f16(0.70710678118655f); + static const float16x8_t zero = vdupq_n_f16(0.0f); + static const float16x8_t one = vdupq_n_f16(1.0f); + static const float16x8_t two = vdupq_n_f16(2.0f); + static const float16x8_t three = vdupq_n_f16(3.0f); + + // Score0: (1, 0) + const float16x8_t score0 = vabsq_f16(gx); + + // Score2: ( 0, 1 ) + const float16x8_t score2 = vabsq_f16(gy); + + // Score1 and Score3: ( sqrt(2) / 2, sqrt(2) / 2 ) - ( -sqrt(2) / 2, sqrt(2) / 2 ) + float16x8_t score1 = vmulq_f16(gy, const45); + float16x8_t score3 = score1; + + score1 = vfmaq_f16(score1, gx, const45); + score3 = vfmsq_f16(score3, gx, const45); + + score1 = vabsq_f16(score1); + score3 = vabsq_f16(score3); + + float16x8_t phase = zero; + float16x8_t old_score = score0; + + // score1 > old_score? + uint16x8_t mask = vcgtq_f16(score1, old_score); + + phase = vbslq_f16(mask, one, phase); + old_score = vbslq_f16(mask, score1, old_score); + + // score2 > old_score? + mask = vcgtq_f16(score2, old_score); + + phase = vbslq_f16(mask, two, phase); + old_score = vbslq_f16(mask, score2, old_score); + + // score3 > old_score? + mask = vcgtq_f16(score3, old_score); + + phase = vbslq_f16(mask, three, phase); + + // Convert from float16x8_t to uint8x8_t + return vmovn_u16(vcvtq_u16_f16(phase)); +} + +/** Computes the gradient phase if gradient_size = 3 or 5. The output is quantized. + * 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return quantized phase for 8 pixels + */ +inline uint8x8_t phase_quantization_S16_S16(int16x8_t gx, int16x8_t gy) +{ + return phase_quantization(vcvtq_f16_s16(gx), vcvtq_f16_s16(gy)); +} + +/** Computes the gradient phase if gradient_size = 7. The output is quantized. + * 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return quantized phase for 8 pixels + */ +inline uint8x8_t phase_quantization_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) +{ + // Convert to float + const float32x4x2_t gx_f32 = + { + vcvtq_f32_s32(gx.val[0]), + vcvtq_f32_s32(gx.val[1]) + }; + + const float32x4x2_t gy_f32 = + { + vcvtq_f32_s32(gy.val[0]), + vcvtq_f32_s32(gy.val[1]) + }; + + return phase_quantization(gx_f32, gy_f32); +} + +/** Computes the magnitude using the L1-norm type if gradient_size = 3 or 5 + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return magnitude for 8 pixels + */ +inline uint16x8_t mag_l1_S16_S16(int16x8_t gx, int16x8_t gy) +{ + return vaddq_u16(vreinterpretq_u16_s16(vabsq_s16(gx)), + vreinterpretq_u16_s16(vabsq_s16(gy))); +} + +/** Computes the magnitude using the L1-norm type if gradient_size = 7 + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return magnitude for 8 pixels + */ +inline uint32x4x2_t mag_l1_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) +{ + const uint32x4x2_t gx_abs = + { + vreinterpretq_u32_s32(vabsq_s32(gx.val[0])), + vreinterpretq_u32_s32(vabsq_s32(gx.val[1])) + }; + + const uint32x4x2_t gy_abs = + { + vreinterpretq_u32_s32(vabsq_s32(gy.val[0])), + vreinterpretq_u32_s32(vabsq_s32(gy.val[1])) + }; + + const uint32x4x2_t out = + { + vaddq_u32(gx_abs.val[0], gy_abs.val[0]), + vaddq_u32(gx_abs.val[1], gy_abs.val[1]) + }; + + return out; +} + +inline float32x4x2_t mag_l2(const float32x4x2_t &gx, const float32x4x2_t &gy) +{ + // x^2 ... + float32x4x2_t mag = + { + vmulq_f32(gx.val[0], gx.val[0]), + vmulq_f32(gx.val[1], gx.val[1]) + }; + + // ... + y^2 + mag.val[0] = vmlaq_f32(mag.val[0], gy.val[0], gy.val[0]); + mag.val[1] = vmlaq_f32(mag.val[1], gy.val[1], gy.val[1]); + + // sqrt(...) + mag.val[0] = vmulq_f32(vrsqrteq_f32(mag.val[0]), mag.val[0]); + mag.val[1] = vmulq_f32(vrsqrteq_f32(mag.val[1]), mag.val[1]); + + return mag; +} + +inline float16x8_t mag_l2(float16x8_t gx, float16x8_t gy) +{ + // x^2 ... + float16x8_t mag = vmulq_f16(gx, gx); + + // ... + y^2 + mag = vfmaq_f16(mag, gy, gy); + + // sqrt(...) + mag = vmulq_f16(vrsqrteq_f16(mag), mag); + + return mag; +} + +/** Computes the magnitude using L2-norm if gradient_size = 3 or 5 + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return magnitude for 8 pixels + */ +inline uint16x8_t mag_l2_S16_S16(int16x8_t gx, int16x8_t gy) +{ + /* Compute magnitude using L2 normalization */ + const float16x8_t gx2 = vcvtq_f16_s16(gx); + const float16x8_t gy2 = vcvtq_f16_s16(gy); + const float16x8_t mag = mag_l2(gx2, gy2); + + /* Store magnitude - Convert to uint16x8 */ + return vcvtq_u16_f16(mag); +} + +/** Computes the magnitude using L2-norm if gradient_size = 7 + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return magnitude for 8 pixels + */ +inline uint32x4x2_t mag_l2_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) +{ + // Compute magnitude using L2 normalization + float32x4x2_t gx2 = + { + vcvtq_f32_s32(gx.val[0]), + vcvtq_f32_s32(gx.val[1]) + }; + + float32x4x2_t gy2 = + { + vcvtq_f32_s32(gy.val[0]), + vcvtq_f32_s32(gy.val[1]) + }; + + const float32x4x2_t mag = mag_l2(gx2, gy2); + const uint32x4x2_t mag32 = + { + vcvtq_u32_f32(mag.val[0]), + vcvtq_u32_f32(mag.val[1]) + }; + + return mag32; +} + +/** Gradient function used when the gradient size = 3 or 5 and when the norm_type = L1-norm + * + * @param[in] in1_ptr Pointer to source image. Gx image. Data type supported S16 + * @param[in] in2_ptr Pointer to source image. Gy image. Data type supported S16 + * @param[out] out1_ptr Pointer to destination image. Magnitude. Data type supported U16 + * @param[out] out2_ptr Pointer to destination image. Quantized phase. Data type supported U8 + */ +void mag_phase_l1norm_S16_S16_U16_U8(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out1_ptr, void *__restrict out2_ptr) +{ + const auto in1 = static_cast(in1_ptr); + const auto in2 = static_cast(in2_ptr); + const auto out1 = static_cast(out1_ptr); + const auto out2 = static_cast(out2_ptr); + + const int16x8x4_t gx = + { + vld1q_s16(in1), + vld1q_s16(in1 + 8), + vld1q_s16(in1 + 16), + vld1q_s16(in1 + 24) + }; + + const int16x8x4_t gy = + { + vld1q_s16(in2), + vld1q_s16(in2 + 8), + vld1q_s16(in2 + 16), + vld1q_s16(in2 + 24) + }; + + // Compute and store phase + vst1_u8(out2 + 0, phase_quantization_S16_S16(gx.val[0], gy.val[0])); + vst1_u8(out2 + 8, phase_quantization_S16_S16(gx.val[1], gy.val[1])); + vst1_u8(out2 + 16, phase_quantization_S16_S16(gx.val[2], gy.val[2])); + vst1_u8(out2 + 24, phase_quantization_S16_S16(gx.val[3], gy.val[3])); + + // Compute ans store magnitude using L1 normalization + vst1q_u16(out1 + 0, mag_l1_S16_S16(gx.val[0], gy.val[0])); + vst1q_u16(out1 + 8, mag_l1_S16_S16(gx.val[1], gy.val[1])); + vst1q_u16(out1 + 16, mag_l1_S16_S16(gx.val[2], gy.val[2])); + vst1q_u16(out1 + 24, mag_l1_S16_S16(gx.val[3], gy.val[3])); +} + +/** Gradient function used when the gradient size = 3 or 5 and when the norm_type = L2-norm + * + * @param[in] in1_ptr Pointer to source image. Gx image. Data type supported S16 + * @param[in] in2_ptr Pointer to source image. Gy image. Data type supported S16 + * @param[out] out1_ptr Pointer to destination image. Magnitude. Data type supported U16 + * @param[out] out2_ptr Pointer to destination image. Quantized phase. Data type supported U8 + */ +void mag_phase_l2norm_S16_S16_U16_U8(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out1_ptr, void *__restrict out2_ptr) +{ + const auto in1 = static_cast(in1_ptr); + const auto in2 = static_cast(in2_ptr); + const auto out1 = static_cast(out1_ptr); + const auto out2 = static_cast(out2_ptr); + + const int16x8x4_t gx = + { + vld1q_s16(in1), + vld1q_s16(in1 + 8), + vld1q_s16(in1 + 16), + vld1q_s16(in1 + 24) + }; + + const int16x8x4_t gy = + { + vld1q_s16(in2), + vld1q_s16(in2 + 8), + vld1q_s16(in2 + 16), + vld1q_s16(in2 + 24) + }; + + // Compute and store phase + vst1_u8(out2 + 0, phase_quantization_S16_S16(gx.val[0], gy.val[0])); + vst1_u8(out2 + 8, phase_quantization_S16_S16(gx.val[1], gy.val[1])); + vst1_u8(out2 + 16, phase_quantization_S16_S16(gx.val[2], gy.val[2])); + vst1_u8(out2 + 24, phase_quantization_S16_S16(gx.val[3], gy.val[3])); + + // Compute and store magnitude using L2 normalization + vst1q_u16(out1 + 0, mag_l2_S16_S16(gx.val[0], gy.val[0])); + vst1q_u16(out1 + 8, mag_l2_S16_S16(gx.val[1], gy.val[1])); + vst1q_u16(out1 + 16, mag_l2_S16_S16(gx.val[2], gy.val[2])); + vst1q_u16(out1 + 24, mag_l2_S16_S16(gx.val[3], gy.val[3])); +} + +/** Gradient function used when the gradient size = 7 and when the norm_type = L1-norm + * + * @param[in] in1_ptr Pointer to source image. Gx image. Data type supported S32 + * @param[in] in2_ptr Pointer to source image. Gy image. Data type supported S32 + * @param[out] out1_ptr Pointer to destination image. Magnitude. Data type supported U32 + * @param[out] out2_ptr Pointer to destination image. Quantized phase. Data type supported U8 + */ +void mag_phase_l1norm_S32_S32_U32_U8(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out1_ptr, void *__restrict out2_ptr) +{ + auto in1 = static_cast(in1_ptr); + auto in2 = static_cast(in2_ptr); + auto out1 = static_cast(out1_ptr); + auto out2 = static_cast(out2_ptr); + + // Process low and high part + for(size_t i = 0; i < 2; ++i, in1 += 16, in2 += 16, out1 += 16, out2 += 16) + { + const int32x4x2_t gx0 = + { + vld1q_s32(in1 + 0), + vld1q_s32(in1 + 4) + }; + + const int32x4x2_t gx1 = + { + vld1q_s32(in1 + 8), + vld1q_s32(in1 + 12) + }; + + const int32x4x2_t gy0 = + { + vld1q_s32(in2 + 0), + vld1q_s32(in2 + 4) + }; + + const int32x4x2_t gy1 = + { + vld1q_s32(in2 + 8), + vld1q_s32(in2 + 12) + }; + + // Compute and store phase + vst1_u8(out2 + 0, phase_quantization_S32_S32(gx0, gy0)); + vst1_u8(out2 + 8, phase_quantization_S32_S32(gx1, gy1)); + + // Compute magnitude using L1 normalization + const uint32x4x2_t mag0 = mag_l1_S32_S32(gx0, gy0); + const uint32x4x2_t mag1 = mag_l1_S32_S32(gx1, gy1); + + // Store magnitude + vst1q_u32(out1 + 0, mag0.val[0]); + vst1q_u32(out1 + 4, mag0.val[1]); + vst1q_u32(out1 + 8, mag1.val[0]); + vst1q_u32(out1 + 12, mag1.val[1]); + } +} + +/** Gradient function used when the gradient size = 7 and when the norm_type = L2-norm + * + * @param[in] in1_ptr Pointer to source image. Gx image. Data type supported S32 + * @param[in] in2_ptr Pointer to source image. Gy image. Data type supported S32 + * @param[out] out1_ptr Pointer to destination image. Magnitude. Data type supported U32 + * @param[out] out2_ptr Pointer to destination image. Quantized phase. Data type supported U8 + */ +void mag_phase_l2norm_S32_S32_U32_U8(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out1_ptr, void *__restrict out2_ptr) +{ + auto in1 = static_cast(in1_ptr); + auto in2 = static_cast(in2_ptr); + auto out1 = static_cast(out1_ptr); + auto out2 = static_cast(out2_ptr); + + // Process low and high part + for(size_t i = 0; i < 2; ++i, in1 += 16, in2 += 16, out1 += 16, out2 += 16) + { + const int32x4x2_t gx0 = + { + vld1q_s32(in1 + 0), + vld1q_s32(in1 + 4) + }; + + const int32x4x2_t gx1 = + { + vld1q_s32(in1 + 8), + vld1q_s32(in1 + 12) + }; + + const int32x4x2_t gy0 = + { + vld1q_s32(in2 + 0), + vld1q_s32(in2 + 4) + }; + + const int32x4x2_t gy1 = + { + vld1q_s32(in2 + 8), + vld1q_s32(in2 + 12) + }; + + // Compute and store phase + vst1_u8(out2 + 0, phase_quantization_S32_S32(gx0, gy0)); + vst1_u8(out2 + 8, phase_quantization_S32_S32(gx1, gy1)); + + // Compute magnitude using L2 normalization + const uint32x4x2_t mag0 = mag_l2_S32_S32(gx0, gy0); + const uint32x4x2_t mag1 = mag_l2_S32_S32(gx1, gy1); + + // Store magnitude + vst1q_u32(out1 + 0, mag0.val[0]); + vst1q_u32(out1 + 4, mag0.val[1]); + vst1q_u32(out1 + 8, mag1.val[0]); + vst1q_u32(out1 + 12, mag1.val[1]); + } +} + +inline uint16x4_t non_max_U32_helper(const uint32_t *in, const uint16x4_t pc, const uint32_t stride_mag, const int32_t lower_thr, const int32_t upper_thr) +{ + // Phase for 4 pixel + const uint32x4_t pc32 = vmovl_u16(pc); + + // Get magnitude for 4 pixel + uint32x4_t mc = vld1q_u32(in); + + // Angle_quantized: 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° + // 0 degree + const uint32x4_t mk0_0 = vld1q_u32(in - 1); + const uint32x4_t mk0_1 = vld1q_u32(in + 1); + uint32x4_t mask0 = vceqq_u32(pc32, vdupq_n_u32(0)); + mask0 = vandq_u32(mask0, vcgeq_u32(mc, mk0_0)); + mask0 = vandq_u32(mask0, vcgeq_u32(mc, mk0_1)); + + // 45 degree + const uint32x4_t mk45_0 = vld1q_u32(in - stride_mag - 1); + const uint32x4_t mk45_1 = vld1q_u32(in + stride_mag + 1); + uint32x4_t mask1 = vceqq_u32(pc32, vdupq_n_u32(1)); + mask1 = vandq_u32(mask1, vcgeq_u32(mc, mk45_0)); + mask1 = vandq_u32(mask1, vcgeq_u32(mc, mk45_1)); + + // 90 degree + const uint32x4_t mk90_0 = vld1q_u32(in - stride_mag); + const uint32x4_t mk90_1 = vld1q_u32(in + stride_mag); + uint32x4_t mask2 = vceqq_u32(pc32, vdupq_n_u32(2)); + mask2 = vandq_u32(mask2, vcgeq_u32(mc, mk90_0)); + mask2 = vandq_u32(mask2, vcgeq_u32(mc, mk90_1)); + + // 135 degree + const uint32x4_t mk135_0 = vld1q_u32(in - stride_mag + 1); + const uint32x4_t mk135_1 = vld1q_u32(in + stride_mag - 1); + uint32x4_t mask3 = vceqq_u32(pc32, vdupq_n_u32(3)); + mask3 = vandq_u32(mask3, vcgeq_u32(mc, mk135_0)); + mask3 = vandq_u32(mask3, vcgeq_u32(mc, mk135_1)); + + // Merge masks + mask0 = vorrq_u32(mask0, mask1); + mask2 = vorrq_u32(mask2, mask3); + mask0 = vorrq_u32(mask0, mask2); + + mc = vbslq_u32(mask0, mc, vdupq_n_u32(0)); + + // mc > upper_thr + mask0 = vcgtq_u32(mc, vdupq_n_u32(upper_thr)); + + // mc <= lower_thr + mask1 = vcleq_u32(mc, vdupq_n_u32(lower_thr)); + + // mc <= upper_thr && mc > lower_thr + mask2 = vcleq_u32(mc, vdupq_n_u32(upper_thr)); + mask2 = vandq_u32(mask2, vcgtq_u32(mc, vdupq_n_u32(lower_thr))); + + mc = vbslq_u32(mask0, vdupq_n_u32(EDGE), mc); + mc = vbslq_u32(mask1, vdupq_n_u32(NO_EDGE), mc); + mc = vbslq_u32(mask2, vdupq_n_u32(MAYBE), mc); + + return vmovn_u32(mc); +} + +/** Computes edge tracing when is called by edge_trace_U8_U8 recursively + * + * @param[in] in Pointer to source image. Data type supported U8 + * @param[out] out Pointer to destination image. Data type supported U8 + * @param[in] in_stride Stride of the input image + * @param[in] out_stride Stride of the output image + */ +void edge_trace_recursive_U8_U8(uint8_t *__restrict in, uint8_t *__restrict out, const int32_t in_stride, const int32_t out_stride) +{ + // Look for MAYBE pixels in 8 directions + *out = EDGE; + + // (-1, 0) + uint8_t pixel = *(in - 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(in - 1) = EDGE; + + edge_trace_recursive_U8_U8(in - 1, out - 1, in_stride, out_stride); + } + + // (+1, 0) + pixel = *(in + 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(in + 1) = EDGE; + + edge_trace_recursive_U8_U8(in + 1, out + 1, in_stride, out_stride); + } + + in -= in_stride; + out -= out_stride; + + // (-1, -1) + pixel = *(in - 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(in - 1) = EDGE; + + edge_trace_recursive_U8_U8(in - 1, out - 1, in_stride, out_stride); + } + + // (0, -1) + pixel = *in; + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *in = EDGE; + + edge_trace_recursive_U8_U8(in, out, in_stride, out_stride); + } + + // (+1, -1) + pixel = *(in + 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(in + 1) = EDGE; + + edge_trace_recursive_U8_U8(in + 1, out + 1, in_stride, out_stride); + } + + in += in_stride * 2; + out += out_stride * 2; + + // (-1, +1) + pixel = *(in - 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(in - 1) = EDGE; + + edge_trace_recursive_U8_U8(in - 1, out - 1, in_stride, out_stride); + } + + // (0, +1) + pixel = *in; + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *in = EDGE; + + edge_trace_recursive_U8_U8(in, out, in_stride, out_stride); + } + + // (+1, +1) + pixel = *(in + 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(in + 1) = EDGE; + + edge_trace_recursive_U8_U8(in + 1, out + 1, in_stride, out_stride); + } +} +} // namespace fp16 + +void NEGradientFP16Kernel::configure(const ITensor *gx, const ITensor *gy, ITensor *magnitude, ITensor *phase, int32_t norm_type) +{ + ARM_COMPUTE_ERROR_ON_NULLPTR(gx, gy, magnitude, phase); + + set_shape_if_empty(*magnitude->info(), gx->info()->tensor_shape()); + set_shape_if_empty(*phase->info(), gx->info()->tensor_shape()); + + Format magnitude_format = gx->info()->data_type() == DataType::S16 ? Format::U16 : Format::U32; + set_format_if_unknown(*magnitude->info(), magnitude_format); + set_format_if_unknown(*phase->info(), Format::U8); + + ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(gx, gy, magnitude, phase); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(gx, 1, DataType::S16, DataType::S32); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(gy, 1, DataType::S16, DataType::S32); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(magnitude, 1, DataType::U16, DataType::U32); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(phase, 1, DataType::U8); + ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(gx, gy); + ARM_COMPUTE_ERROR_ON_MSG(element_size_from_data_type(gx->info()->data_type()) != element_size_from_data_type(magnitude->info()->data_type()), "Magnitude must have the same element size as Gx and Gy"); + + _gx = gx; + _gy = gy; + _magnitude = magnitude; + _phase = phase; + + if(_gx->info()->data_type() == DataType::S16) + { + if(norm_type == 1) + { + _func = &fp16::mag_phase_l1norm_S16_S16_U16_U8; + } + else + { + _func = &fp16::mag_phase_l2norm_S16_S16_U16_U8; + } + } + else + { + if(norm_type == 1) + { + _func = &fp16::mag_phase_l1norm_S32_S32_U32_U8; + } + else + { + _func = &fp16::mag_phase_l2norm_S32_S32_U32_U8; + } + } + + constexpr unsigned int num_elems_processed_per_iteration = 32; + + // Configure kernel window + Window win = calculate_max_window(*_gx->info(), Steps(num_elems_processed_per_iteration)); + + AccessWindowHorizontal gx_access(_gx->info(), 0, num_elems_processed_per_iteration); + AccessWindowHorizontal gy_access(_gy->info(), 0, num_elems_processed_per_iteration); + AccessWindowHorizontal mag_access(_magnitude->info(), 0, num_elems_processed_per_iteration); + AccessWindowHorizontal phase_access(_phase->info(), 0, num_elems_processed_per_iteration); + + update_window_and_padding(win, gx_access, gy_access, mag_access, phase_access); + + mag_access.set_valid_region(win, _gx->info()->valid_region()); + phase_access.set_valid_region(win, _gx->info()->valid_region()); + + INEKernel::configure(win); +} +#endif + +namespace +{ +inline uint8x8_t phase_quantization(const float32x4x2_t &gx, const float32x4x2_t &gy) +{ + // Constant use for evaluating score1 and score3 + static const float32x4_t const45 = vdupq_n_f32(0.70710678118655f); + static const float32x4_t zero = vdupq_n_f32(0.0f); + static const float32x4_t one = vdupq_n_f32(1.0f); + static const float32x4_t two = vdupq_n_f32(2.0f); + static const float32x4_t three = vdupq_n_f32(3.0f); + + // Score0: (1, 0) + const float32x4x2_t score0 = + { + { + vabsq_f32(gx.val[0]), + vabsq_f32(gx.val[1]) + } + }; + + // Score2: ( 0, 1 ) + const float32x4x2_t score2 = + { + { + vabsq_f32(gy.val[0]), + vabsq_f32(gy.val[1]) + } + }; + + // Score1 and Score3: ( sqrt(2) / 2, sqrt(2) / 2 ) - ( -sqrt(2) / 2, sqrt(2) / 2 ) + float32x4x2_t score1 = + { + { + vmulq_f32(gy.val[0], const45), + vmulq_f32(gy.val[1], const45) + } + }; + + float32x4x2_t score3 = score1; + + score1.val[0] = vmlaq_f32(score1.val[0], gx.val[0], const45); + score1.val[1] = vmlaq_f32(score1.val[1], gx.val[1], const45); + score3.val[0] = vmlsq_f32(score3.val[0], gx.val[0], const45); + score3.val[1] = vmlsq_f32(score3.val[1], gx.val[1], const45); + + score1.val[0] = vabsq_f32(score1.val[0]); + score1.val[1] = vabsq_f32(score1.val[1]); + score3.val[0] = vabsq_f32(score3.val[0]); + score3.val[1] = vabsq_f32(score3.val[1]); + + float32x4x2_t phase = + { + { + zero, + zero + } + }; + + float32x4x2_t old_score = score0; + + // score1 > old_score? + uint32x4x2_t mask = + { + { + vcgtq_f32(score1.val[0], old_score.val[0]), + vcgtq_f32(score1.val[1], old_score.val[1]) + } + }; + + phase.val[0] = vbslq_f32(mask.val[0], one, phase.val[0]); + phase.val[1] = vbslq_f32(mask.val[1], one, phase.val[1]); + old_score.val[0] = vbslq_f32(mask.val[0], score1.val[0], old_score.val[0]); + old_score.val[1] = vbslq_f32(mask.val[1], score1.val[1], old_score.val[1]); + + // score2 > old_score? + mask.val[0] = vcgtq_f32(score2.val[0], old_score.val[0]); + mask.val[1] = vcgtq_f32(score2.val[1], old_score.val[1]); + + phase.val[0] = vbslq_f32(mask.val[0], two, phase.val[0]); + phase.val[1] = vbslq_f32(mask.val[1], two, phase.val[1]); + old_score.val[0] = vbslq_f32(mask.val[0], score2.val[0], old_score.val[0]); + old_score.val[1] = vbslq_f32(mask.val[1], score2.val[1], old_score.val[1]); + + // score3 > old_score? + mask.val[0] = vcgtq_f32(score3.val[0], old_score.val[0]); + mask.val[1] = vcgtq_f32(score3.val[1], old_score.val[1]); + + phase.val[0] = vbslq_f32(mask.val[0], three, phase.val[0]); + phase.val[1] = vbslq_f32(mask.val[1], three, phase.val[1]); + old_score.val[0] = vbslq_f32(mask.val[0], score3.val[0], old_score.val[0]); + old_score.val[1] = vbslq_f32(mask.val[1], score3.val[1], old_score.val[1]); + + // Convert from float32x4_t to uint8x8_t + return vmovn_u16(vcombine_u16(vmovn_u32(vcvtq_u32_f32(phase.val[0])), + vmovn_u32(vcvtq_u32_f32(phase.val[1])))); +} + +/* Computes the gradient phase if gradient_size = 3 or 5. The output is quantized. + * 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return quantized phase for 8 pixels + */ +inline uint8x8_t phase_quantization_S16_S16(int16x8_t gx, int16x8_t gy) +{ + // Convert to float + const float32x4x2_t gx_f32 = + { + { + vcvtq_f32_s32(vmovl_s16(vget_low_s16(gx))), + vcvtq_f32_s32(vmovl_s16(vget_high_s16(gx))) + } + }; + + const float32x4x2_t gy_f32 = + { + { + vcvtq_f32_s32(vmovl_s16(vget_low_s16(gy))), + vcvtq_f32_s32(vmovl_s16(vget_high_s16(gy))) + } + }; + + return phase_quantization(gx_f32, gy_f32); +} + +/* Computes the gradient phase if gradient_size = 7. The output is quantized. + * 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return quantized phase for 8 pixels + */ +inline uint8x8_t phase_quantization_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) +{ + // Convert to float + const float32x4x2_t gx_f32 = + { + { + vcvtq_f32_s32(gx.val[0]), + vcvtq_f32_s32(gx.val[1]) + } + }; + + const float32x4x2_t gy_f32 = + { + { + vcvtq_f32_s32(gy.val[0]), + vcvtq_f32_s32(gy.val[1]) + } + }; + + return phase_quantization(gx_f32, gy_f32); +} + +/* Computes the magnitude using the L1-norm type if gradient_size = 3 or 5 + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return magnitude for 8 pixels + */ +inline uint16x8_t mag_l1_S16_S16(int16x8_t gx, int16x8_t gy) +{ + return vaddq_u16(vreinterpretq_u16_s16(vabsq_s16(gx)), + vreinterpretq_u16_s16(vabsq_s16(gy))); +} + +/* Computes the magnitude using the L1-norm type if gradient_size = 7 + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return magnitude for 8 pixels + */ +inline uint32x4x2_t mag_l1_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) +{ + const uint32x4x2_t gx_abs = + { + { + vreinterpretq_u32_s32(vabsq_s32(gx.val[0])), + vreinterpretq_u32_s32(vabsq_s32(gx.val[1])) + } + }; + + const uint32x4x2_t gy_abs = + { + { + vreinterpretq_u32_s32(vabsq_s32(gy.val[0])), + vreinterpretq_u32_s32(vabsq_s32(gy.val[1])) + } + }; + + const uint32x4x2_t output = + { + { + vaddq_u32(gx_abs.val[0], gy_abs.val[0]), + vaddq_u32(gx_abs.val[1], gy_abs.val[1]) + } + }; + + return output; +} + +inline float32x4x2_t mag_l2(const float32x4x2_t &gx, const float32x4x2_t &gy) +{ + // x^2 ... + float32x4x2_t magnitude = + { + { + vmulq_f32(gx.val[0], gx.val[0]), + vmulq_f32(gx.val[1], gx.val[1]) + } + }; + + // ... + y^2 + magnitude.val[0] = vmlaq_f32(magnitude.val[0], gy.val[0], gy.val[0]); + magnitude.val[1] = vmlaq_f32(magnitude.val[1], gy.val[1], gy.val[1]); + + // sqrt(...) + magnitude.val[0] = vmulq_f32(vrsqrteq_f32(magnitude.val[0]), magnitude.val[0]); + magnitude.val[1] = vmulq_f32(vrsqrteq_f32(magnitude.val[1]), magnitude.val[1]); + + return magnitude; +} + +/* Computes the magnitude using L2-norm if gradient_size = 3 or 5 + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return magnitude for 8 pixels + */ +inline uint16x8_t mag_l2_S16_S16(int16x8_t gx, int16x8_t gy) +{ + // Compute magnitude using L2 normalization + const float32x4x2_t gx2 = + { + { + vcvtq_f32_s32(vmovl_s16(vget_low_s16(gx))), + vcvtq_f32_s32(vmovl_s16(vget_high_s16(gx))) + } + }; + + const float32x4x2_t gy2 = + { + { + vcvtq_f32_s32(vmovl_s16(vget_low_s16(gy))), + vcvtq_f32_s32(vmovl_s16(vget_high_s16(gy))) + } + }; + + const float32x4x2_t magnitude = mag_l2(gx2, gy2); + + // Store magnitude - Convert to uint16x8 + return vcombine_u16(vmovn_u32(vcvtq_u32_f32(magnitude.val[0])), + vmovn_u32(vcvtq_u32_f32(magnitude.val[1]))); +} + +/* Computes the magnitude using L2-norm if gradient_size = 7 + * + * @param[in] gx Gx component + * @param[in] gy Gy component + * + * @return magnitude for 8 pixels + */ +inline uint32x4x2_t mag_l2_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) +{ + // Compute magnitude using L2 normalization + float32x4x2_t gx2 = + { + { + vcvtq_f32_s32(gx.val[0]), + vcvtq_f32_s32(gx.val[1]) + } + }; + + float32x4x2_t gy2 = + { + { + vcvtq_f32_s32(gy.val[0]), + vcvtq_f32_s32(gy.val[1]) + } + }; + + const float32x4x2_t magnitude = mag_l2(gx2, gy2); + const uint32x4x2_t mag32 = + { + { + vcvtq_u32_f32(magnitude.val[0]), + vcvtq_u32_f32(magnitude.val[1]) + } + }; + + return mag32; +} + +/* Gradient function used when the gradient size = 3 or 5 and when the norm_type = L1-norm + * + * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S16 + * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S16 + * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U16 + * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type supported U8 + */ +void mag_phase_l1norm_S16_S16_U16_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) +{ + const auto gx = static_cast(gx_ptr); + const auto gy = static_cast(gy_ptr); + const auto magnitude = static_cast(magnitude_ptr); + const auto phase = static_cast(phase_ptr); + + const int16x8x4_t gx_val = + { + { + vld1q_s16(gx), + vld1q_s16(gx + 8), + vld1q_s16(gx + 16), + vld1q_s16(gx + 24) + } + }; + + const int16x8x4_t gy_val = + { + { + vld1q_s16(gy), + vld1q_s16(gy + 8), + vld1q_s16(gy + 16), + vld1q_s16(gy + 24) + } + }; + + // Compute and store phase + vst1_u8(phase + 0, phase_quantization_S16_S16(gx_val.val[0], gy_val.val[0])); + vst1_u8(phase + 8, phase_quantization_S16_S16(gx_val.val[1], gy_val.val[1])); + vst1_u8(phase + 16, phase_quantization_S16_S16(gx_val.val[2], gy_val.val[2])); + vst1_u8(phase + 24, phase_quantization_S16_S16(gx_val.val[3], gy_val.val[3])); + + // Compute ans store magnitude using L1 normalization + vst1q_u16(magnitude + 0, mag_l1_S16_S16(gx_val.val[0], gy_val.val[0])); + vst1q_u16(magnitude + 8, mag_l1_S16_S16(gx_val.val[1], gy_val.val[1])); + vst1q_u16(magnitude + 16, mag_l1_S16_S16(gx_val.val[2], gy_val.val[2])); + vst1q_u16(magnitude + 24, mag_l1_S16_S16(gx_val.val[3], gy_val.val[3])); +} + +/* Gradient function used when the gradient size = 3 or 5 and when the norm_type = L2-norm + * + * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S16 + * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S16 + * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U16 + * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type supported U8 + */ +void mag_phase_l2norm_S16_S16_U16_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) +{ + const auto gx = static_cast(gx_ptr); + const auto gy = static_cast(gy_ptr); + const auto magnitude = static_cast(magnitude_ptr); + const auto phase = static_cast(phase_ptr); + + const int16x8x4_t gx_val = + { + { + vld1q_s16(gx), + vld1q_s16(gx + 8), + vld1q_s16(gx + 16), + vld1q_s16(gx + 24) + } + }; + + const int16x8x4_t gy_val = + { + { + vld1q_s16(gy), + vld1q_s16(gy + 8), + vld1q_s16(gy + 16), + vld1q_s16(gy + 24) + } + }; + + // Compute and store phase + vst1_u8(phase + 0, phase_quantization_S16_S16(gx_val.val[0], gy_val.val[0])); + vst1_u8(phase + 8, phase_quantization_S16_S16(gx_val.val[1], gy_val.val[1])); + vst1_u8(phase + 16, phase_quantization_S16_S16(gx_val.val[2], gy_val.val[2])); + vst1_u8(phase + 24, phase_quantization_S16_S16(gx_val.val[3], gy_val.val[3])); + + // Compute and store magnitude using L2 normalization + vst1q_u16(magnitude + 0, mag_l2_S16_S16(gx_val.val[0], gy_val.val[0])); + vst1q_u16(magnitude + 8, mag_l2_S16_S16(gx_val.val[1], gy_val.val[1])); + vst1q_u16(magnitude + 16, mag_l2_S16_S16(gx_val.val[2], gy_val.val[2])); + vst1q_u16(magnitude + 24, mag_l2_S16_S16(gx_val.val[3], gy_val.val[3])); +} + +/* Gradient function used when the gradient size = 7 and when the norm_type = L1-norm + * + * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S32 + * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S32 + * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U32 + * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type support U8 + */ +void mag_phase_l1norm_S32_S32_U32_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) +{ + auto gx = static_cast(gx_ptr); + auto gy = static_cast(gy_ptr); + auto magnitude = static_cast(magnitude_ptr); + auto phase = static_cast(phase_ptr); + + // Process low and high part + for(size_t i = 0; i < 2; ++i, gx += 16, gy += 16, magnitude += 16, phase += 16) + { + const int32x4x2_t gx0 = + { + { + vld1q_s32(gx + 0), + vld1q_s32(gx + 4) + } + }; + + const int32x4x2_t gx1 = + { + { + vld1q_s32(gx + 8), + vld1q_s32(gx + 12) + } + }; + + const int32x4x2_t gy0 = + { + { + vld1q_s32(gy + 0), + vld1q_s32(gy + 4) + } + }; + + const int32x4x2_t gy1 = + { + { + vld1q_s32(gy + 8), + vld1q_s32(gy + 12) + } + }; + + // Compute and store phase + vst1_u8(phase + 0, phase_quantization_S32_S32(gx0, gy0)); + vst1_u8(phase + 8, phase_quantization_S32_S32(gx1, gy1)); + + // Compute magnitude using L1 normalization + const uint32x4x2_t mag0 = mag_l1_S32_S32(gx0, gy0); + const uint32x4x2_t mag1 = mag_l1_S32_S32(gx1, gy1); + + // Store magnitude + vst1q_u32(magnitude + 0, mag0.val[0]); + vst1q_u32(magnitude + 4, mag0.val[1]); + vst1q_u32(magnitude + 8, mag1.val[0]); + vst1q_u32(magnitude + 12, mag1.val[1]); + } +} + +/* Gradient function used when the gradient size = 7 and when the norm_type = L2-norm + * + * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S32 + * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S32 + * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U32 + * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type supported U8 + */ +void mag_phase_l2norm_S32_S32_U32_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) +{ + auto gx = static_cast(gx_ptr); + auto gy = static_cast(gy_ptr); + auto magnitude = static_cast(magnitude_ptr); + auto phase = static_cast(phase_ptr); + + // Process low and high part + for(size_t i = 0; i < 2; ++i, gx += 16, gy += 16, magnitude += 16, phase += 16) + { + const int32x4x2_t gx0 = + { + { + vld1q_s32(gx + 0), + vld1q_s32(gx + 4) + } + }; + + const int32x4x2_t gx1 = + { + { + vld1q_s32(gx + 8), + vld1q_s32(gx + 12) + } + }; + + const int32x4x2_t gy0 = + { + { + vld1q_s32(gy + 0), + vld1q_s32(gy + 4) + } + }; + + const int32x4x2_t gy1 = + { + { + vld1q_s32(gy + 8), + vld1q_s32(gy + 12) + } + }; + + // Compute and store phase + vst1_u8(phase + 0, phase_quantization_S32_S32(gx0, gy0)); + vst1_u8(phase + 8, phase_quantization_S32_S32(gx1, gy1)); + + // Compute magnitude using L2 normalization + const uint32x4x2_t mag0 = mag_l2_S32_S32(gx0, gy0); + const uint32x4x2_t mag1 = mag_l2_S32_S32(gx1, gy1); + + // Store magnitude + vst1q_u32(magnitude + 0, mag0.val[0]); + vst1q_u32(magnitude + 4, mag0.val[1]); + vst1q_u32(magnitude + 8, mag1.val[0]); + vst1q_u32(magnitude + 12, mag1.val[1]); + } +} + +/* Computes non-maxima suppression and hysteresis when the gradient size = 3 or 5 + * + * @param[in] magnitude_ptr Pointer to source image. Magnitude. Data type supported U16 + * @param[in] phase_ptr Pointer to source image. Quantized phase. Data type supported U8 + * @param[out] output_ptr Pointer to output image. Data type supported U8 + * @param[in] stride_mag Stride of magnitude image + * @param[in] lower_thr Lower threshold used for the hysteresis + * @param[in] upper_thr Upper threshold used for the hysteresis + */ +void non_max_suppression_U16_U8_U8(const void *__restrict magnitude_ptr, const void *__restrict phase_ptr, void *__restrict output_ptr, const uint32_t stride_mag, const int32_t lower_thr, + const int32_t upper_thr) +{ + const auto magnitude = static_cast(magnitude_ptr); + const auto phase = static_cast(phase_ptr); + const auto output = static_cast(output_ptr); + + // Get magnitude and phase of the centre pixels + uint16x8_t mc = vld1q_u16(magnitude); + + // Angle_quantized: 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° + const uint16x8_t pc16 = vmovl_u8(vld1_u8(phase)); + + // 0 degree + const uint16x8_t mk0_0 = vld1q_u16(magnitude - 1); + const uint16x8_t mk0_1 = vld1q_u16(magnitude + 1); + uint16x8_t mask0 = vceqq_u16(pc16, vdupq_n_u16(0)); + mask0 = vandq_u16(mask0, vcgeq_u16(mc, mk0_0)); + mask0 = vandq_u16(mask0, vcgeq_u16(mc, mk0_1)); + + // 45 degree + const uint16x8_t mk45_0 = vld1q_u16(magnitude - stride_mag - 1); + const uint16x8_t mk45_1 = vld1q_u16(magnitude + stride_mag + 1); + uint16x8_t mask1 = vceqq_u16(pc16, vdupq_n_u16(1)); + mask1 = vandq_u16(mask1, vcgeq_u16(mc, mk45_0)); + mask1 = vandq_u16(mask1, vcgeq_u16(mc, mk45_1)); + + // 90 degree + const uint16x8_t mk90_0 = vld1q_u16(magnitude - stride_mag); + const uint16x8_t mk90_1 = vld1q_u16(magnitude + stride_mag); + uint16x8_t mask2 = vceqq_u16(pc16, vdupq_n_u16(2)); + mask2 = vandq_u16(mask2, vcgeq_u16(mc, mk90_0)); + mask2 = vandq_u16(mask2, vcgeq_u16(mc, mk90_1)); + + // 135 degree + const uint16x8_t mk135_0 = vld1q_u16(magnitude - stride_mag + 1); + const uint16x8_t mk135_1 = vld1q_u16(magnitude + stride_mag - 1); + uint16x8_t mask3 = vceqq_u16(pc16, vdupq_n_u16(3)); + mask3 = vandq_u16(mask3, vcgeq_u16(mc, mk135_0)); + mask3 = vandq_u16(mask3, vcgeq_u16(mc, mk135_1)); + + // Merge masks + mask0 = vorrq_u16(mask0, mask1); + mask2 = vorrq_u16(mask2, mask3); + mask0 = vorrq_u16(mask0, mask2); + + mc = vbslq_u16(mask0, mc, vdupq_n_u16(0)); + + // mc > upper_thr + mask0 = vcgtq_u16(mc, vdupq_n_u16(upper_thr)); + + // mc <= lower_thr + mask1 = vcleq_u16(mc, vdupq_n_u16(lower_thr)); + + // mc <= upper_thr && mc > lower_thr + mask2 = vcleq_u16(mc, vdupq_n_u16(upper_thr)); + mask2 = vandq_u16(mask2, vcgtq_u16(mc, vdupq_n_u16(lower_thr))); + + mc = vbslq_u16(mask0, vdupq_n_u16(EDGE), mc); + mc = vbslq_u16(mask1, vdupq_n_u16(NO_EDGE), mc); + mc = vbslq_u16(mask2, vdupq_n_u16(MAYBE), mc); + + vst1_u8(output, vmovn_u16(mc)); +} + +inline uint16x4_t non_max_U32_helper(const uint32_t *input, const uint16x4_t pc, const uint32_t stride_mag, const int32_t lower_thr, const int32_t upper_thr) +{ + // Phase for 4 pixel + const uint32x4_t pc32 = vmovl_u16(pc); + + // Get magnitude for 4 pixel + uint32x4_t mc = vld1q_u32(input); + + // Angle_quantized: 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° + // 0 degree + const uint32x4_t mk0_0 = vld1q_u32(input - 1); + const uint32x4_t mk0_1 = vld1q_u32(input + 1); + uint32x4_t mask0 = vceqq_u32(pc32, vdupq_n_u32(0)); + mask0 = vandq_u32(mask0, vcgeq_u32(mc, mk0_0)); + mask0 = vandq_u32(mask0, vcgeq_u32(mc, mk0_1)); + + // 45 degree + const uint32x4_t mk45_0 = vld1q_u32(input - stride_mag - 1); + const uint32x4_t mk45_1 = vld1q_u32(input + stride_mag + 1); + uint32x4_t mask1 = vceqq_u32(pc32, vdupq_n_u32(1)); + mask1 = vandq_u32(mask1, vcgeq_u32(mc, mk45_0)); + mask1 = vandq_u32(mask1, vcgeq_u32(mc, mk45_1)); + + // 90 degree + const uint32x4_t mk90_0 = vld1q_u32(input - stride_mag); + const uint32x4_t mk90_1 = vld1q_u32(input + stride_mag); + uint32x4_t mask2 = vceqq_u32(pc32, vdupq_n_u32(2)); + mask2 = vandq_u32(mask2, vcgeq_u32(mc, mk90_0)); + mask2 = vandq_u32(mask2, vcgeq_u32(mc, mk90_1)); + + // 135 degree + const uint32x4_t mk135_0 = vld1q_u32(input - stride_mag + 1); + const uint32x4_t mk135_1 = vld1q_u32(input + stride_mag - 1); + uint32x4_t mask3 = vceqq_u32(pc32, vdupq_n_u32(3)); + mask3 = vandq_u32(mask3, vcgeq_u32(mc, mk135_0)); + mask3 = vandq_u32(mask3, vcgeq_u32(mc, mk135_1)); + + // Merge masks + mask0 = vorrq_u32(mask0, mask1); + mask2 = vorrq_u32(mask2, mask3); + mask0 = vorrq_u32(mask0, mask2); + + mc = vbslq_u32(mask0, mc, vdupq_n_u32(0)); + + // mc > upper_thr + mask0 = vcgtq_u32(mc, vdupq_n_u32(upper_thr)); + + // mc <= lower_thr + mask1 = vcleq_u32(mc, vdupq_n_u32(lower_thr)); + + // mc <= upper_thr && mc > lower_thr + mask2 = vcleq_u32(mc, vdupq_n_u32(upper_thr)); + mask2 = vandq_u32(mask2, vcgtq_u32(mc, vdupq_n_u32(lower_thr))); + + mc = vbslq_u32(mask0, vdupq_n_u32(EDGE), mc); + mc = vbslq_u32(mask1, vdupq_n_u32(NO_EDGE), mc); + mc = vbslq_u32(mask2, vdupq_n_u32(MAYBE), mc); + + return vmovn_u32(mc); +} + +/* Computes non-maxima suppression and hysteresis when the gradient_size = 7 + * + * @param[in] magnitude_ptr Pointer to source image. Magnitude. Data type supported U32 + * @param[in] phase_ptr Pointer to source image. Quantized phase. Data type supported U8 + * @param[out] output_ptr Pointer to destination image. Data type supported U8 + * @param[in] stride_mag Stride of magnitude image + * @param[in] lower_thr Lower threshold used for the hysteresis + * @param[in] upper_thr Upper threshold used for the hysteresis + */ +void non_max_suppression_U32_U8_U8(const void *__restrict magnitude_ptr, const void *__restrict phase_ptr, void *__restrict output_ptr, const uint32_t stride_mag, const int32_t lower_thr, + const int32_t upper_thr) +{ + const auto magnitude = static_cast(magnitude_ptr); + const auto phase = static_cast(phase_ptr); + const auto output = static_cast(output_ptr); + + // Get phase for 8 pixel + const uint16x8_t pc16 = vmovl_u8(vld1_u8(phase)); + + // Compute non maxima suppression + const uint16x4x2_t res = + { + { + non_max_U32_helper(magnitude, vget_low_u16(pc16), stride_mag, lower_thr, upper_thr), + non_max_U32_helper(magnitude + 4, vget_high_u16(pc16), stride_mag, lower_thr, upper_thr) + } + }; + + // Store result + vst1_u8(output, vmovn_u16(vcombine_u16(res.val[0], res.val[1]))); +} + +/* Computes edge tracing when is called by edge_trace_U8_U8 recursively + * + * @param[in] input Pointer to source image. Data type supported U8 + * @param[out] output Pointer to destination image. Data type supported U8 + * @param[in] input_stride Stride of the input image + * @param[in] output_stride Stride of the output image + */ +void edge_trace_recursive_U8_U8(uint8_t *__restrict input, uint8_t *__restrict output, const int32_t input_stride, const int32_t output_stride) +{ + // Look for MAYBE pixels in 8 directions + *output = EDGE; + + // (-1, 0) + uint8_t pixel = *(input - 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(input - 1) = EDGE; + + edge_trace_recursive_U8_U8(input - 1, output - 1, input_stride, output_stride); + } + + // (+1, 0) + pixel = *(input + 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(input + 1) = EDGE; + + edge_trace_recursive_U8_U8(input + 1, output + 1, input_stride, output_stride); + } + + input -= input_stride; + output -= output_stride; + + // (-1, -1) + pixel = *(input - 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(input - 1) = EDGE; + + edge_trace_recursive_U8_U8(input - 1, output - 1, input_stride, output_stride); + } + + // (0, -1) + pixel = *input; + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *input = EDGE; + + edge_trace_recursive_U8_U8(input, output, input_stride, output_stride); + } + + // (+1, -1) + pixel = *(input + 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(input + 1) = EDGE; + + edge_trace_recursive_U8_U8(input + 1, output + 1, input_stride, output_stride); + } + + input += input_stride * 2; + output += output_stride * 2; + + // (-1, +1) + pixel = *(input - 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(input - 1) = EDGE; + + edge_trace_recursive_U8_U8(input - 1, output - 1, input_stride, output_stride); + } + + // (0, +1) + pixel = *input; + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *input = EDGE; + + edge_trace_recursive_U8_U8(input, output, input_stride, output_stride); + } + + // (+1, +1) + pixel = *(input + 1); + + if(pixel == MAYBE) + { + // Touched a MAYBE point. MAYBE becomes EDGE + *(input + 1) = EDGE; + + edge_trace_recursive_U8_U8(input + 1, output + 1, input_stride, output_stride); + } +} + +/* Computes edge tracing + * + * @param[in] input Pointer to source image. Data type supported U8 + * @param[out] output Pointer to destination image. Data type supported U8 + * @param[in] input_stride Stride of the input image + * @param[in] output_stride Stride of the output image + */ +void edge_trace_U8_U8(uint8_t *__restrict input, uint8_t *__restrict output, const int32_t input_stride, const int32_t output_stride) +{ + if(*input == NO_EDGE) + { + *output = NO_EDGE; + } + // Check if EDGE and not yet touched + else if((*input == EDGE) && (*output == NO_EDGE)) + { + edge_trace_recursive_U8_U8(input, output, input_stride, output_stride); + } +} +} // namespace + +NEGradientKernel::NEGradientKernel() + : _func(nullptr), _gx(nullptr), _gy(nullptr), _magnitude(nullptr), _phase(nullptr) +{ +} + +void NEGradientKernel::configure(const ITensor *gx, const ITensor *gy, ITensor *magnitude, ITensor *phase, int32_t norm_type) +{ + ARM_COMPUTE_ERROR_ON_NULLPTR(gx, gy, magnitude, phase); + + set_shape_if_empty(*magnitude->info(), gx->info()->tensor_shape()); + set_shape_if_empty(*phase->info(), gx->info()->tensor_shape()); + + Format magnitude_format = gx->info()->data_type() == DataType::S16 ? Format::U16 : Format::U32; + set_format_if_unknown(*magnitude->info(), magnitude_format); + set_format_if_unknown(*phase->info(), Format::U8); + + ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(gx, gy, magnitude, phase); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(gx, 1, DataType::S16, DataType::S32); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(gy, 1, DataType::S16, DataType::S32); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(magnitude, 1, DataType::U16, DataType::U32); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(phase, 1, DataType::U8); + ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(gx, gy); + ARM_COMPUTE_ERROR_ON_MSG(element_size_from_data_type(gx->info()->data_type()) != element_size_from_data_type(magnitude->info()->data_type()), "Magnitude must have the same element size as Gx and Gy"); + + _gx = gx; + _gy = gy; + _magnitude = magnitude; + _phase = phase; + + if(_gx->info()->data_type() == DataType::S16) + { + if(norm_type == 1) + { + _func = &mag_phase_l1norm_S16_S16_U16_U8; + } + else + { + _func = &mag_phase_l2norm_S16_S16_U16_U8; + } + } + else + { + if(norm_type == 1) + { + _func = &mag_phase_l1norm_S32_S32_U32_U8; + } + else + { + _func = &mag_phase_l2norm_S32_S32_U32_U8; + } + } + + constexpr unsigned int num_elems_processed_per_iteration = 32; + + // Configure kernel window + Window win = calculate_max_window(*_gx->info(), Steps(num_elems_processed_per_iteration)); + + AccessWindowHorizontal gx_access(_gx->info(), 0, num_elems_processed_per_iteration); + AccessWindowHorizontal gy_access(_gy->info(), 0, num_elems_processed_per_iteration); + AccessWindowHorizontal mag_access(_magnitude->info(), 0, num_elems_processed_per_iteration); + AccessWindowHorizontal phase_access(_phase->info(), 0, num_elems_processed_per_iteration); + + update_window_and_padding(win, gx_access, gy_access, mag_access, phase_access); + + mag_access.set_valid_region(win, _gx->info()->valid_region()); + phase_access.set_valid_region(win, _gx->info()->valid_region()); + + INEKernel::configure(win); +} + +void NEGradientKernel::run(const Window &window) +{ + ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); + ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); + ARM_COMPUTE_ERROR_ON(_func == nullptr); + Iterator gx(_gx, window); + Iterator gy(_gy, window); + Iterator magnitude(_magnitude, window); + Iterator phase(_phase, window); + + execute_window_loop(window, [&](const Coordinates & id) + { + (*_func)(gx.ptr(), gy.ptr(), magnitude.ptr(), phase.ptr()); + }, + gx, gy, magnitude, phase); +} + +NEEdgeNonMaxSuppressionKernel::NEEdgeNonMaxSuppressionKernel() + : _func(nullptr), _magnitude(nullptr), _phase(nullptr), _output(nullptr), _lower_thr(0), _upper_thr(0) +{ +} + +BorderSize NEEdgeNonMaxSuppressionKernel::border_size() const +{ + return BorderSize(1); +} + +void NEEdgeNonMaxSuppressionKernel::configure(const ITensor *magnitude, const ITensor *phase, ITensor *output, + int32_t upper_thr, int32_t lower_thr, bool border_undefined) +{ + ARM_COMPUTE_ERROR_ON_NULLPTR(magnitude, phase, output); + + set_shape_if_empty(*output->info(), magnitude->info()->tensor_shape()); + + set_format_if_unknown(*phase->info(), Format::U8); + set_format_if_unknown(*output->info(), Format::U8); + + ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(magnitude, phase, output); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(magnitude, 1, DataType::U16, DataType::U32); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(phase, 1, DataType::U8); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::U8); + ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(phase, output); + + _magnitude = magnitude; + _phase = phase; + _output = output; + + switch(_magnitude->info()->data_type()) + { + case DataType::U16: + _func = &non_max_suppression_U16_U8_U8; + break; + case DataType::U32: + _func = &non_max_suppression_U32_U8_U8; + break; + default: + ARM_COMPUTE_ERROR("Unsupported data type!"); + } + + // Set thresholds + _lower_thr = lower_thr; + _upper_thr = upper_thr; + + constexpr unsigned int num_elems_processed_per_iteration = 8; + constexpr unsigned int num_elems_read_per_iteration = 10; + constexpr unsigned int num_rows_read_per_iteration = 3; + + // Configure kernel window + Window win = calculate_max_window(*_magnitude->info(), Steps(num_elems_processed_per_iteration), border_undefined, border_size()); + + AccessWindowRectangle mag_access(_magnitude->info(), -border_size().left, -border_size().top, num_elems_read_per_iteration, num_rows_read_per_iteration); + AccessWindowHorizontal phase_access(_phase->info(), 0, num_elems_processed_per_iteration); + AccessWindowHorizontal output_access(_output->info(), 0, num_elems_processed_per_iteration); + + update_window_and_padding(win, mag_access, phase_access, output_access); + + output_access.set_valid_region(win, _magnitude->info()->valid_region(), border_undefined, border_size()); + + INEKernel::configure(win); +} + +void NEEdgeNonMaxSuppressionKernel::run(const Window &window) +{ + ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); + ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); + ARM_COMPUTE_ERROR_ON(_func == nullptr); + Iterator magnitude(_magnitude, window); + Iterator phase(_phase, window); + Iterator output(_output, window); + + const size_t input1_stride = _magnitude->info()->strides_in_bytes()[1]; + const size_t input1_stride_ushort = input1_stride / data_size_from_type(_magnitude->info()->data_type()); + + execute_window_loop(window, [&](const Coordinates & id) + { + (*_func)(magnitude.ptr(), phase.ptr(), output.ptr(), input1_stride_ushort, _lower_thr, _upper_thr); + }, + magnitude, phase, output); +} + +NEEdgeTraceKernel::NEEdgeTraceKernel() + : _input(nullptr), _output(nullptr) +{ +} + +BorderSize NEEdgeTraceKernel::border_size() const +{ + return BorderSize(1); +} + +bool NEEdgeTraceKernel::is_parallelisable() const +{ + return false; +} + +void NEEdgeTraceKernel::configure(ITensor *input, ITensor *output) +{ + ARM_COMPUTE_ERROR_ON_NULLPTR(input, output); + + set_shape_if_empty(*output->info(), input->info()->tensor_shape()); + + set_format_if_unknown(*input->info(), Format::U8); + set_format_if_unknown(*output->info(), Format::U8); + + ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(input, output); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8); + ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::U8); + ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(input, output); + + _input = input; + _output = output; + + constexpr unsigned int num_elems_processed_per_iteration = 1; + + // Configure kernel window + Window win = calculate_max_window(*_input->info(), Steps(num_elems_processed_per_iteration)); + + const ValidRegion &input_valid_region = input->info()->valid_region(); + const ValidRegion &output_valid_region = output->info()->valid_region(); + + // Reads can occur within the valid region of the input + border + AccessWindowStatic input_access(input->info(), + input_valid_region.anchor[0] - border_size().left, + input_valid_region.anchor[1] - border_size().top, + input_valid_region.anchor[0] + input_valid_region.shape[0] + border_size().right, + input_valid_region.anchor[1] + input_valid_region.shape[1] + border_size().bottom); + + // Writes can occur within the valid region of the output + border + AccessWindowStatic output_access(output->info(), + output_valid_region.anchor[0] - border_size().left, + output_valid_region.anchor[1] - border_size().top, + output_valid_region.anchor[0] + output_valid_region.shape[0] + border_size().right, + output_valid_region.anchor[1] + output_valid_region.shape[1] + border_size().bottom); + + update_window_and_padding(win, input_access, output_access); + + output_access.set_valid_region(win, _input->info()->valid_region()); + + INEKernel::configure(win); +} + +void NEEdgeTraceKernel::run(const Window &window) +{ + ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); + ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); + Iterator input(_input, window); + Iterator output(_output, window); + + const size_t input_stride = _input->info()->strides_in_bytes()[1]; + const size_t output_stride = _output->info()->strides_in_bytes()[1]; + + execute_window_loop(window, [&](const Coordinates & id) + { + edge_trace_U8_U8(input.ptr(), output.ptr(), input_stride, output_stride); + }, + input, output); +} -- cgit v1.2.1