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/*
* 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 "arm_compute/core/CPP/kernels/CPPSortEuclideanDistanceKernel.h"
#include "arm_compute/core/Coordinates.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/Utils.h"
#include "arm_compute/core/Validate.h"
#include "arm_compute/core/Window.h"
#include <cmath>
using namespace arm_compute;
namespace
{
bool keypoint_compare(const InternalKeypoint &lhs, const InternalKeypoint &rhs)
{
return std::get<2>(lhs) > std::get<2>(rhs);
}
} // namespace
CPPSortEuclideanDistanceKernel::CPPSortEuclideanDistanceKernel()
: _num_corner_candidates(), _min_distance(0.0f), _in_out(nullptr), _output(nullptr)
{
}
void CPPSortEuclideanDistanceKernel::configure(InternalKeypoint *in_out, IKeyPointArray *output, const int32_t *num_corner_candidates, float min_distance)
{
ARM_COMPUTE_ERROR_ON(nullptr == in_out);
ARM_COMPUTE_ERROR_ON(nullptr == output);
ARM_COMPUTE_ERROR_ON(nullptr == num_corner_candidates);
ARM_COMPUTE_ERROR_ON(!((min_distance > 0) && (min_distance <= 30)));
_in_out = in_out;
_output = output;
_min_distance = min_distance * min_distance; // We compare squares of distances
_num_corner_candidates = num_corner_candidates;
ICPPKernel::configure(Window()); // Default 1 iteration window
}
bool CPPSortEuclideanDistanceKernel::is_parallelisable() const
{
return false;
}
void CPPSortEuclideanDistanceKernel::run(const Window &window, const ThreadInfo &info)
{
ARM_COMPUTE_UNUSED(info);
ARM_COMPUTE_UNUSED(window);
ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
ARM_COMPUTE_ERROR_ON_MISMATCHING_WINDOWS(ICPPKernel::window(), window);
const int32_t num_corner_candidates = *_num_corner_candidates;
/* Sort list of corner candidates */
std::sort(_in_out, _in_out + num_corner_candidates, keypoint_compare);
/* Euclidean distance */
for(int32_t i = 0; i < num_corner_candidates; ++i)
{
if(std::get<2>(_in_out[i]) != 0.0f)
{
KeyPoint keypt;
const auto xc = std::get<0>(_in_out[i]);
const auto yc = std::get<1>(_in_out[i]);
keypt.x = xc;
keypt.y = yc;
keypt.strength = std::get<2>(_in_out[i]);
keypt.tracking_status = 1;
/* Store corner */
_output->push_back(keypt);
for(int32_t k = i + 1; k < num_corner_candidates; ++k)
{
const float dx = std::fabs(std::get<0>(_in_out[k]) - xc);
const float dy = std::fabs(std::get<1>(_in_out[k]) - yc);
if((dx < _min_distance) && (dy < _min_distance))
{
const float d = (dx * dx + dy * dy);
if(d < _min_distance)
{
/* Invalidate keypoint */
std::get<2>(_in_out[k]) = 0.0f;
}
}
}
}
}
}
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