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/*
* 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/CLFastCorners.h"
#include "arm_compute/core/CL/OpenCL.h"
#include "arm_compute/core/CL/kernels/CLFastCornersKernel.h"
#include "arm_compute/core/Error.h"
#include "arm_compute/core/TensorInfo.h"
#include "arm_compute/core/Validate.h"
#include "arm_compute/runtime/CL/CLScheduler.h"
#include "arm_compute/runtime/ITensorAllocator.h"
#include <algorithm>
#include <cstring>
using namespace arm_compute;
CLFastCorners::CLFastCorners()
: _fast_corners_kernel(),
_suppr_func(),
_copy_array_kernel(),
_output(),
_suppr(),
_win(),
_non_max(false),
_num_corners(nullptr),
_num_buffer(),
_corners(nullptr),
_constant_border_value(0)
{
}
void CLFastCorners::configure(const ICLImage *input, float threshold, bool nonmax_suppression, CLKeyPointArray *const corners,
unsigned int *num_corners, BorderMode border_mode, uint8_t constant_border_value)
{
ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input);
ARM_COMPUTE_ERROR_ON(BorderMode::UNDEFINED != border_mode);
ARM_COMPUTE_ERROR_ON(nullptr == corners);
ARM_COMPUTE_ERROR_ON(threshold < 1 && threshold > 255);
TensorInfo tensor_info(input->info()->tensor_shape(), 1, DataType::U8);
_output.allocator()->init(tensor_info);
_non_max = nonmax_suppression;
_num_corners = num_corners;
_corners = corners;
_num_buffer = cl::Buffer(CLScheduler::get().context(), CL_MEM_ALLOC_HOST_PTR | CL_MEM_READ_WRITE, sizeof(unsigned int));
_constant_border_value = constant_border_value;
const bool update_number = (nullptr != _num_corners);
_fast_corners_kernel.configure(input, &_output, threshold, nonmax_suppression, border_mode);
if(!_non_max)
{
_copy_array_kernel.configure(&_output, update_number, corners, &_num_buffer);
}
else
{
_suppr.allocator()->init(tensor_info);
_suppr_func.configure(&_output, &_suppr, border_mode);
_copy_array_kernel.configure(&_suppr, update_number, corners, &_num_buffer);
_suppr.allocator()->allocate();
}
// Allocate intermediate tensors
_output.allocator()->allocate();
}
void CLFastCorners::run()
{
cl::CommandQueue q = CLScheduler::get().queue();
if(_non_max)
{
ARM_COMPUTE_ERROR_ON_MSG(_output.cl_buffer().get() == nullptr, "Unconfigured function");
const auto out_buffer = static_cast<unsigned char *>(q.enqueueMapBuffer(_output.cl_buffer(), CL_TRUE, CL_MAP_WRITE, 0, _output.info()->total_size()));
memset(out_buffer, 0, _output.info()->total_size());
q.enqueueUnmapMemObject(_output.cl_buffer(), out_buffer);
}
CLScheduler::get().enqueue(_fast_corners_kernel, false);
if(_non_max)
{
_suppr_func.run();
}
CLScheduler::get().enqueue(_copy_array_kernel, false);
unsigned int get_num_corners = 0;
q.enqueueReadBuffer(_num_buffer, CL_TRUE, 0, sizeof(unsigned int), &get_num_corners);
size_t corner_size = std::min(static_cast<size_t>(get_num_corners), _corners->max_num_values());
_corners->resize(corner_size);
if(_num_corners != nullptr)
{
*_num_corners = get_num_corners;
}
q.flush();
}
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