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/CLHarrisCorners.cpp | 157 +++++++++++++++++++++++++++ 1 file changed, 157 insertions(+) create mode 100644 src/runtime/CL/functions/CLHarrisCorners.cpp (limited to 'src/runtime/CL/functions/CLHarrisCorners.cpp') diff --git a/src/runtime/CL/functions/CLHarrisCorners.cpp b/src/runtime/CL/functions/CLHarrisCorners.cpp new file mode 100644 index 0000000000..2db277fa4d --- /dev/null +++ b/src/runtime/CL/functions/CLHarrisCorners.cpp @@ -0,0 +1,157 @@ +/* + * 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/CLHarrisCorners.h" + +#include "arm_compute/core/CL/OpenCL.h" +#include "arm_compute/core/CL/kernels/CLFillBorderKernel.h" +#include "arm_compute/core/CL/kernels/CLHarrisCornersKernel.h" +#include "arm_compute/core/Error.h" +#include "arm_compute/core/Helpers.h" +#include "arm_compute/core/TensorInfo.h" +#include "arm_compute/core/Validate.h" +#include "arm_compute/runtime/CL/CLScheduler.h" +#include "arm_compute/runtime/CL/functions/CLSobel3x3.h" +#include "arm_compute/runtime/CL/functions/CLSobel5x5.h" +#include "arm_compute/runtime/CL/functions/CLSobel7x7.h" +#include "arm_compute/runtime/ITensorAllocator.h" +#include "arm_compute/runtime/Scheduler.h" + +#include +#include + +using namespace arm_compute; + +CLHarrisCorners::CLHarrisCorners() + : _sobel(), _harris_score(), _non_max_suppr(), _candidates(), _sort_euclidean(), _border_gx(), _border_gy(), _gx(), _gy(), _score(), _nonmax(), _corners_list(), _num_corner_candidates(0), + _corners(nullptr) +{ +} + +void CLHarrisCorners::configure(ICLImage *input, float threshold, float min_dist, + float sensitivity, int32_t gradient_size, int32_t block_size, ICLKeyPointArray *corners, + BorderMode border_mode, uint8_t constant_border_value) +{ + 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)); + ARM_COMPUTE_ERROR_ON(nullptr == corners); + + _corners = corners; + + const TensorShape shape = input->info()->tensor_shape(); + const DataType dt = (gradient_size < 7) ? DataType::S16 : DataType::S32; + TensorInfo tensor_info(shape, 1, dt); + _gx.allocator()->init(tensor_info); + _gy.allocator()->init(tensor_info); + + TensorInfo info_f32(shape, 1, DataType::F32); + _score.allocator()->init(info_f32); + _nonmax.allocator()->init(info_f32); + + _corners_list = arm_compute::cpp14::make_unique(shape.x() * shape.y()); + + /* Set/init Sobel kernel accordingly with gradient_size */ + switch(gradient_size) + { + case 3: + { + auto k = arm_compute::cpp14::make_unique(); + k->configure(input, &_gx, &_gy, border_mode, constant_border_value); + _sobel = std::move(k); + break; + } + case 5: + { + auto k = arm_compute::cpp14::make_unique(); + k->configure(input, &_gx, &_gy, border_mode, constant_border_value); + _sobel = std::move(k); + break; + } + case 7: + { + auto k = arm_compute::cpp14::make_unique(); + k->configure(input, &_gx, &_gy, border_mode, constant_border_value); + _sobel = std::move(k); + break; + } + default: + ARM_COMPUTE_ERROR("Gradient size not implemented"); + } + + // Configure border filling before harris score + _border_gx.configure(&_gx, block_size / 2, border_mode, constant_border_value); + _border_gy.configure(&_gy, block_size / 2, border_mode, constant_border_value); + + // Normalization factor + const float norm_factor = 1.0f / (255.0f * pow(4.0f, gradient_size / 2) * block_size); + const float pow4_normalization_factor = pow(norm_factor, 4); + + // Set/init Harris Score kernel accordingly with block_size + _harris_score.configure(&_gx, &_gy, &_score, block_size, pow4_normalization_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); + + // Init non-maxima suppression function + _non_max_suppr.configure(&_score, &_nonmax, border_mode == BorderMode::UNDEFINED); + + // 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 intermediate buffers + _gx.allocator()->allocate(); + _gy.allocator()->allocate(); + _score.allocator()->allocate(); + _nonmax.allocator()->allocate(); +} + +void CLHarrisCorners::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 + CLScheduler::get().enqueue(_border_gx, false); + CLScheduler::get().enqueue(_border_gy, false); + + // Run harris score kernel + CLScheduler::get().enqueue(_harris_score, false); + + // Run non-maxima suppression + CLScheduler::get().enqueue(_non_max_suppr); + + // Run corner candidate kernel + _nonmax.map(true); + Scheduler::get().schedule(&_candidates, Window::DimY); + _nonmax.unmap(); + + _corners->map(CLScheduler::get().queue(), true); + _sort_euclidean.run(_sort_euclidean.window()); + _corners->unmap(CLScheduler::get().queue()); +} -- cgit v1.2.1