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/NEON/functions/NEOpticalFlow.cpp | 119 +++++++++++++++++++++++++++ 1 file changed, 119 insertions(+) create mode 100644 src/runtime/NEON/functions/NEOpticalFlow.cpp (limited to 'src/runtime/NEON/functions/NEOpticalFlow.cpp') diff --git a/src/runtime/NEON/functions/NEOpticalFlow.cpp b/src/runtime/NEON/functions/NEOpticalFlow.cpp new file mode 100644 index 0000000000..49135e442c --- /dev/null +++ b/src/runtime/NEON/functions/NEOpticalFlow.cpp @@ -0,0 +1,119 @@ +/* + * 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/NEON/functions/NEOpticalFlow.h" + +#include "arm_compute/core/Error.h" +#include "arm_compute/core/Helpers.h" +#include "arm_compute/core/ITensor.h" +#include "arm_compute/core/NEON/kernels/NELKTrackerKernel.h" +#include "arm_compute/core/TensorInfo.h" +#include "arm_compute/core/Window.h" +#include "arm_compute/runtime/NEON/NEScheduler.h" +#include "arm_compute/runtime/NEON/functions/NEScharr3x3.h" +#include "arm_compute/runtime/Pyramid.h" +#include "arm_compute/runtime/Tensor.h" +#include "arm_compute/runtime/TensorAllocator.h" + +using namespace arm_compute; + +NEOpticalFlow::NEOpticalFlow() + : _func_scharr(), _kernel_tracker(), _scharr_gx(), _scharr_gy(), _new_points(nullptr), _new_points_estimates(nullptr), _old_points(nullptr), _new_points_internal(), _old_points_internal(), + _num_levels(0) +{ +} + +void NEOpticalFlow::configure(const Pyramid *old_pyramid, const Pyramid *new_pyramid, const IKeyPointArray *old_points, const IKeyPointArray *new_points_estimates, + IKeyPointArray *new_points, Termination termination, float epsilon, unsigned int num_iterations, size_t window_dimension, + bool use_initial_estimate, BorderMode border_mode, uint8_t constant_border_value) +{ + ARM_COMPUTE_ERROR_ON(nullptr == old_pyramid); + ARM_COMPUTE_ERROR_ON(nullptr == new_pyramid); + ARM_COMPUTE_ERROR_ON(nullptr == old_points); + ARM_COMPUTE_ERROR_ON(nullptr == new_points_estimates); + ARM_COMPUTE_ERROR_ON(nullptr == new_points); + ARM_COMPUTE_ERROR_ON(old_pyramid->info()->num_levels() != new_pyramid->info()->num_levels()); + ARM_COMPUTE_ERROR_ON(0 == old_pyramid->info()->num_levels()); + ARM_COMPUTE_ERROR_ON(old_pyramid->info()->width() != new_pyramid->info()->width()); + ARM_COMPUTE_ERROR_ON(old_pyramid->info()->height() != new_pyramid->info()->height()); + ARM_COMPUTE_ERROR_ON(use_initial_estimate && old_points->num_values() != new_points_estimates->num_values()); + + _num_levels = old_pyramid->info()->num_levels(); + _old_points = old_points; + _new_points = new_points; + _new_points_estimates = new_points_estimates; + + const float pyr_scale = old_pyramid->info()->scale(); + + _func_scharr = arm_compute::cpp14::make_unique(_num_levels); + _kernel_tracker = arm_compute::cpp14::make_unique(_num_levels); + _scharr_gx = arm_compute::cpp14::make_unique(_num_levels); + _scharr_gy = arm_compute::cpp14::make_unique(_num_levels); + + _old_points_internal = LKInternalKeypointArray(old_points->num_values()); + _new_points_internal = LKInternalKeypointArray(old_points->num_values()); + _new_points->resize(old_points->num_values()); + + for(unsigned int i = 0; i < _num_levels; ++i) + { + // Get images from the ith level of old and right pyramid + IImage *old_ith_input = old_pyramid->get_pyramid_level(i); + IImage *new_ith_input = new_pyramid->get_pyramid_level(i); + + // Get width and height of images + const unsigned int width_ith = old_ith_input->info()->dimension(0); + const unsigned int height_ith = new_ith_input->info()->dimension(1); + + TensorInfo tensor_info(TensorShape(width_ith, height_ith), Format::S16); + + _scharr_gx[i].allocator()->init(tensor_info); + _scharr_gy[i].allocator()->init(tensor_info); + + // Init Scharr kernel + _func_scharr[i].configure(old_ith_input, _scharr_gx.get() + i, _scharr_gy.get() + i, border_mode, constant_border_value); + + // Init Lucas-Kanade kernel + _kernel_tracker[i].configure(old_ith_input, new_ith_input, _scharr_gx.get() + i, _scharr_gy.get() + i, + old_points, new_points_estimates, new_points, + &_old_points_internal, &_new_points_internal, + termination, use_initial_estimate, epsilon, num_iterations, window_dimension, + i, _num_levels, pyr_scale); + + _scharr_gx[i].allocator()->allocate(); + _scharr_gy[i].allocator()->allocate(); + } +} + +void NEOpticalFlow::run() +{ + ARM_COMPUTE_ERROR_ON_MSG(_num_levels == 0, "Unconfigured function"); + + for(unsigned int level = _num_levels; level > 0; --level) + { + // Run Scharr kernel + _func_scharr[level - 1].run(); + + // Run Lucas-Kanade kernel + NEScheduler::get().schedule(_kernel_tracker.get() + level - 1, Window::DimX); + } +} -- cgit v1.2.1