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/runtime/CL/functions/CLFastCorners.cpp | 127 +++++++++++++++++++++++++++++ 1 file changed, 127 insertions(+) create mode 100644 src/runtime/CL/functions/CLFastCorners.cpp (limited to 'src/runtime/CL/functions/CLFastCorners.cpp') diff --git a/src/runtime/CL/functions/CLFastCorners.cpp b/src/runtime/CL/functions/CLFastCorners.cpp new file mode 100644 index 0000000000..d2903fb849 --- /dev/null +++ b/src/runtime/CL/functions/CLFastCorners.cpp @@ -0,0 +1,127 @@ +/* + * 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/CL/functions/CLFastCorners.h" + +#include "arm_compute/core/CL/OpenCL.h" +#include "arm_compute/core/CL/kernels/CLFastCornersKernel.h" +#include "arm_compute/core/Error.h" +#include "arm_compute/core/TensorInfo.h" +#include "arm_compute/core/Validate.h" +#include "arm_compute/runtime/CL/CLScheduler.h" +#include "arm_compute/runtime/ITensorAllocator.h" + +#include +#include + +using namespace arm_compute; + +CLFastCorners::CLFastCorners() + : _fast_corners_kernel(), + _suppr_func(), + _copy_array_kernel(), + _output(), + _suppr(), + _win(), + _non_max(false), + _num_corners(nullptr), + _num_buffer(), + _corners(nullptr), + _constant_border_value(0) +{ +} + +void CLFastCorners::configure(const ICLImage *input, float threshold, bool nonmax_suppression, CLKeyPointArray *const corners, + unsigned int *num_corners, BorderMode border_mode, uint8_t constant_border_value) +{ + ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input); + ARM_COMPUTE_ERROR_ON(BorderMode::UNDEFINED != border_mode); + ARM_COMPUTE_ERROR_ON(nullptr == corners); + ARM_COMPUTE_ERROR_ON(threshold < 1 && threshold > 255); + + TensorInfo tensor_info(input->info()->tensor_shape(), 1, DataType::U8); + _output.allocator()->init(tensor_info); + + _non_max = nonmax_suppression; + _num_corners = num_corners; + _corners = corners; + _num_buffer = cl::Buffer(CLScheduler::get().context(), CL_MEM_ALLOC_HOST_PTR | CL_MEM_READ_WRITE, sizeof(unsigned int)); + _constant_border_value = constant_border_value; + + const bool update_number = (nullptr != _num_corners); + + _fast_corners_kernel.configure(input, &_output, threshold, nonmax_suppression, border_mode); + + if(!_non_max) + { + _copy_array_kernel.configure(&_output, update_number, corners, &_num_buffer); + } + else + { + _suppr.allocator()->init(tensor_info); + + _suppr_func.configure(&_output, &_suppr, border_mode); + _copy_array_kernel.configure(&_suppr, update_number, corners, &_num_buffer); + + _suppr.allocator()->allocate(); + } + + // Allocate intermediate tensors + _output.allocator()->allocate(); +} + +void CLFastCorners::run() +{ + cl::CommandQueue q = CLScheduler::get().queue(); + + if(_non_max) + { + ARM_COMPUTE_ERROR_ON_MSG(_output.cl_buffer().get() == nullptr, "Unconfigured function"); + const auto out_buffer = static_cast(q.enqueueMapBuffer(_output.cl_buffer(), CL_TRUE, CL_MAP_WRITE, 0, _output.info()->total_size())); + memset(out_buffer, 0, _output.info()->total_size()); + q.enqueueUnmapMemObject(_output.cl_buffer(), out_buffer); + } + + CLScheduler::get().enqueue(_fast_corners_kernel, false); + + if(_non_max) + { + _suppr_func.run(); + } + + CLScheduler::get().enqueue(_copy_array_kernel, false); + + unsigned int get_num_corners = 0; + q.enqueueReadBuffer(_num_buffer, CL_TRUE, 0, sizeof(unsigned int), &get_num_corners); + + size_t corner_size = std::min(static_cast(get_num_corners), _corners->max_num_values()); + + _corners->resize(corner_size); + + if(_num_corners != nullptr) + { + *_num_corners = get_num_corners; + } + + q.flush(); +} -- cgit v1.2.1