From 5a7e776eee2e9147eab12631f5717847fb6cac5c Mon Sep 17 00:00:00 2001 From: Georgios Pinitas Date: Fri, 1 Dec 2017 16:27:29 +0000 Subject: COMPMID-556: Rename CPP folder to reference Change-Id: I147644349547c4e3804a80b564a9ad95131ad2d0 Reviewed-on: https://eu-gerrit-1.euhpc.arm.com/111560 Reviewed-by: Michalis Spyrou Tested-by: BSG Visual Compute Jenkins server to access repositories on http://mpd-gerrit.cambridge.arm.com --- .../validation/reference/HarrisCornerDetector.cpp | 205 +++++++++++++++++++++ 1 file changed, 205 insertions(+) create mode 100644 tests/validation/reference/HarrisCornerDetector.cpp (limited to 'tests/validation/reference/HarrisCornerDetector.cpp') diff --git a/tests/validation/reference/HarrisCornerDetector.cpp b/tests/validation/reference/HarrisCornerDetector.cpp new file mode 100644 index 0000000000..12afd95efa --- /dev/null +++ b/tests/validation/reference/HarrisCornerDetector.cpp @@ -0,0 +1,205 @@ +/* + * Copyright (c) 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 "HarrisCornerDetector.h" + +#include "Utils.h" +#include "tests/validation/Helpers.h" +#include "tests/validation/reference/NonMaximaSuppression.h" +#include "tests/validation/reference/Sobel.h" + +namespace arm_compute +{ +namespace test +{ +namespace validation +{ +namespace reference +{ +namespace +{ +template +std::tuple, SimpleTensor, float> compute_sobel(const SimpleTensor &src, int gradient_size, int block_size, BorderMode border_mode, uint8_t constant_border_value) +{ + SimpleTensor grad_x; + SimpleTensor grad_y; + float norm_factor = 0.f; + + std::tie(grad_x, grad_y) = sobel(src, gradient_size, border_mode, constant_border_value, GradientDimension::GRAD_XY); + + switch(gradient_size) + { + case 3: + norm_factor = 1.f / (4 * 255 * block_size); + break; + case 5: + norm_factor = 1.f / (16 * 255 * block_size); + break; + case 7: + norm_factor = 1.f / (64 * 255 * block_size); + break; + default: + ARM_COMPUTE_ERROR("Gradient size not supported."); + } + + return std::make_tuple(grad_x, grad_y, norm_factor); +} + +template +std::vector harris_corner_detector_impl(const SimpleTensor &src, float threshold, float min_dist, float sensitivity, int gradient_size, int block_size, BorderMode border_mode, + U constant_border_value) +{ + ARM_COMPUTE_ERROR_ON(block_size != 3 && block_size != 5 && block_size != 7); + + SimpleTensor grad_x; + SimpleTensor grad_y; + float norm_factor = 0.f; + + // Sobel + std::tie(grad_x, grad_y, norm_factor) = compute_sobel(src, gradient_size, block_size, border_mode, constant_border_value); + + SimpleTensor scores(src.shape(), DataType::F32); + ValidRegion scores_region = shape_to_valid_region(scores.shape(), border_mode == BorderMode::UNDEFINED, BorderSize(gradient_size / 2 + block_size / 2)); + + // Calculate scores + for(int i = 0; i < scores.num_elements(); ++i) + { + Coordinates src_coord = index2coord(src.shape(), i); + Coordinates block_top_left{ src_coord.x() - block_size / 2, src_coord.y() - block_size / 2 }; + Coordinates block_bottom_right{ src_coord.x() + block_size / 2, src_coord.y() + block_size / 2 }; + + if(!is_in_valid_region(scores_region, src_coord)) + { + scores[i] = 0.f; + continue; + } + + float Gx2 = 0.f; + float Gy2 = 0.f; + float Gxy = 0.f; + + // Calculate Gx^2, Gy^2 and Gxy within the given window + for(int y = src_coord.y() - block_size / 2; y <= src_coord.y() + block_size / 2; ++y) + { + for(int x = src_coord.x() - block_size / 2; x <= src_coord.x() + block_size / 2; ++x) + { + Coordinates block_coord(x, y); + + const float norm_x = tensor_elem_at(grad_x, block_coord, border_mode, static_cast(constant_border_value)) * norm_factor; + const float norm_y = tensor_elem_at(grad_y, block_coord, border_mode, static_cast(constant_border_value)) * norm_factor; + + Gx2 += std::pow(norm_x, 2); + Gy2 += std::pow(norm_y, 2); + Gxy += norm_x * norm_y; + } + } + + const float trace2 = std::pow(Gx2 + Gy2, 2); + const float det = Gx2 * Gy2 - std::pow(Gxy, 2); + const float response = det - sensitivity * trace2; + + if(response > threshold) + { + scores[i] = response; + } + else + { + scores[i] = 0.f; + } + } + + // Suppress non-maxima candidates + SimpleTensor suppressed_scores = non_maxima_suppression(scores, border_mode != BorderMode::UNDEFINED ? BorderMode::CONSTANT : BorderMode::UNDEFINED, 0.f); + ValidRegion suppressed_scores_region = shape_to_valid_region(suppressed_scores.shape(), border_mode == BorderMode::UNDEFINED, BorderSize(gradient_size / 2 + block_size / 2 + 1)); + + // Create vector of candidate corners + std::vector corner_candidates; + + for(int i = 0; i < suppressed_scores.num_elements(); ++i) + { + Coordinates coord = index2coord(suppressed_scores.shape(), i); + + if(is_in_valid_region(suppressed_scores_region, coord) && suppressed_scores[i] > 0.f) + { + KeyPoint corner; + corner.x = coord.x(); + corner.y = coord.y(); + corner.tracking_status = 1; + corner.strength = suppressed_scores[i]; + corner.scale = 0.f; + corner.orientation = 0.f; + corner.error = 0.f; + + corner_candidates.emplace_back(corner); + } + } + + // Sort descending by strength + std::sort(corner_candidates.begin(), corner_candidates.end(), [](const KeyPoint & a, const KeyPoint & b) + { + return a.strength > b.strength; + }); + + std::vector corners; + corners.reserve(corner_candidates.size()); + + // Only add corner if there is no stronger within min_dist + for(const KeyPoint &point : corner_candidates) + { + const auto strongest = std::find_if(corners.begin(), corners.end(), [&](const KeyPoint & other) + { + return std::sqrt((std::pow(point.x - other.x, 2) + std::pow(point.y - other.y, 2))) < min_dist; + }); + + if(strongest == corners.end()) + { + corners.emplace_back(point); + } + } + + corners.shrink_to_fit(); + + return corners; +} +} // namespace + +template +std::vector harris_corner_detector(const SimpleTensor &src, float threshold, float min_dist, float sensitivity, int gradient_size, int block_size, BorderMode border_mode, + T constant_border_value) +{ + if(gradient_size < 7) + { + return harris_corner_detector_impl(src, threshold, min_dist, sensitivity, gradient_size, block_size, border_mode, constant_border_value); + } + else + { + return harris_corner_detector_impl(src, threshold, min_dist, sensitivity, gradient_size, block_size, border_mode, constant_border_value); + } +} + +template std::vector harris_corner_detector(const SimpleTensor &src, float threshold, float min_dist, float sensitivity, int gradient_size, int block_size, BorderMode border_mode, + uint8_t constant_border_value); +} // namespace reference +} // namespace validation +} // namespace test +} // namespace arm_compute -- cgit v1.2.1