1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
|
/*
* Copyright (c) 2016-2018 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/CL/kernels/CLHarrisCornersKernel.h"
#include "arm_compute/core/AccessWindowStatic.h"
#include "arm_compute/core/CL/CLHelpers.h"
#include "arm_compute/core/CL/CLKernelLibrary.h"
#include "arm_compute/core/CL/ICLTensor.h"
#include "arm_compute/core/CL/OpenCL.h"
#include "arm_compute/core/Error.h"
#include "arm_compute/core/Helpers.h"
#include "arm_compute/core/TensorInfo.h"
#include "arm_compute/core/Types.h"
#include "arm_compute/core/Validate.h"
#include "arm_compute/core/Window.h"
#include <set>
#include <sstream>
#include <string>
using namespace arm_compute;
CLHarrisScoreKernel::CLHarrisScoreKernel()
: _input1(nullptr), _input2(nullptr), _output(nullptr), _sensitivity(), _strength_thresh(), _norm_factor(), _border_size(0)
{
}
BorderSize CLHarrisScoreKernel::border_size() const
{
return _border_size;
}
void CLHarrisScoreKernel::configure(const ICLImage *input1, const ICLImage *input2, ICLImage *output,
int32_t block_size, float norm_factor, float strength_thresh, float sensitivity,
bool border_undefined)
{
ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input1);
ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input2);
ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(output);
ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input1, 1, DataType::S16, DataType::S32);
ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input2, 1, DataType::S16, DataType::S32);
ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::F32);
ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(input1, input2);
ARM_COMPUTE_ERROR_ON(!(block_size == 3 || block_size == 5 || block_size == 7));
ARM_COMPUTE_ERROR_ON(0.0f == norm_factor);
_input1 = input1;
_input2 = input2;
_output = output;
_sensitivity = sensitivity;
_strength_thresh = strength_thresh;
_norm_factor = norm_factor;
_border_size = BorderSize(block_size / 2);
// Select kernel
std::stringstream harris_score_kernel_name;
harris_score_kernel_name << "harris_score_" << block_size << "x" << block_size;
// Create build options
std::set<std::string> build_opts = { ("-DDATA_TYPE=" + get_cl_type_from_data_type(input1->info()->data_type())) };
// Create kernel
_kernel = static_cast<cl::Kernel>(CLKernelLibrary::get().create_kernel(harris_score_kernel_name.str(), build_opts));
// Set static kernel arguments
unsigned int idx = 3 * num_arguments_per_2D_tensor(); //Skip the input and output parameters
_kernel.setArg(idx++, sensitivity);
_kernel.setArg(idx++, strength_thresh);
_kernel.setArg(idx++, norm_factor);
// Configure kernel window
constexpr unsigned int num_elems_processed_per_iteration = 4;
constexpr unsigned int num_elems_written_per_iteration = 4;
const unsigned int num_elems_read_per_iteration = block_size == 7 ? 10 : 8;
const unsigned int num_rows_read_per_iteration = block_size;
Window win = calculate_max_window(*_input1->info(), Steps(num_elems_processed_per_iteration), border_undefined, border_size());
AccessWindowRectangle input1_access(input1->info(), -border_size().left, -border_size().top, num_elems_read_per_iteration, num_rows_read_per_iteration);
AccessWindowRectangle input2_access(input2->info(), -border_size().left, -border_size().top, num_elems_read_per_iteration, num_rows_read_per_iteration);
AccessWindowHorizontal output_access(output->info(), 0, num_elems_written_per_iteration);
update_window_and_padding(win, input1_access, input2_access, output_access);
ValidRegion valid_region = intersect_valid_regions(input1->info()->valid_region(), input2->info()->valid_region());
output_access.set_valid_region(win, valid_region, border_undefined, border_size());
ICLKernel::configure_internal(win);
}
void CLHarrisScoreKernel::run(const Window &window, cl::CommandQueue &queue)
{
ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICLKernel::window(), window);
Window slice = window.first_slice_window_2D();
do
{
unsigned int idx = 0;
add_2D_tensor_argument(idx, _input1, slice);
add_2D_tensor_argument(idx, _input2, slice);
add_2D_tensor_argument(idx, _output, slice);
enqueue(queue, *this, slice);
}
while(window.slide_window_slice_2D(slice));
}
|
