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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/NEON/functions/NEFastCorners.h"
#include "arm_compute/core/Error.h"
#include "arm_compute/core/ITensor.h"
#include "arm_compute/core/NEON/kernels/NEFillBorderKernel.h"
#include "arm_compute/core/PixelValue.h"
#include "arm_compute/core/TensorInfo.h"
#include "arm_compute/core/Validate.h"
#include "arm_compute/runtime/Array.h"
#include "arm_compute/runtime/NEON/NEScheduler.h"
#include "arm_compute/runtime/TensorAllocator.h"
using namespace arm_compute;
NEFastCorners::NEFastCorners(std::shared_ptr<IMemoryManager> memory_manager)
: _memory_group(std::move(memory_manager)),
_fast_corners_kernel(),
_border_handler(),
_nonmax_kernel(),
_fill_kernel(),
_output(),
_suppressed(),
_non_max(false)
{
}
void NEFastCorners::configure(IImage *input, float threshold, bool nonmax_suppression, KeyPointArray *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_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8);
ARM_COMPUTE_ERROR_ON(nullptr == corners);
ARM_COMPUTE_ERROR_ON(threshold < 1 && threshold > 255);
_non_max = nonmax_suppression;
TensorInfo tensor_info(input->info()->tensor_shape(), Format::U8);
_output.allocator()->init(tensor_info);
_memory_group.manage(&_output);
// If border is UNDEFINED _fast_corners_kernel will operate in xwindow (3,
// width - 3) and ywindow (3, height -3) so the output image will leave the
// pixels on the borders unchanged. This is reflected in the valid region
// of the output. The non maxima suppression is only run on the valid
// pixels.
_fast_corners_kernel.configure(input, &_output, threshold, nonmax_suppression, BorderMode::UNDEFINED == border_mode);
_border_handler.configure(input, _fast_corners_kernel.border_size(), border_mode, constant_border_value);
if(!_non_max)
{
_fill_kernel.configure(&_output, 1 /* we keep all texels >0 */, corners);
}
else
{
_suppressed.allocator()->init(tensor_info);
_memory_group.manage(&_suppressed);
_nonmax_kernel.configure(&_output, &_suppressed, BorderMode::UNDEFINED == border_mode);
_fill_kernel.configure(&_suppressed, 1 /* we keep all texels >0 */, corners);
// Allocate intermediate tensors
_suppressed.allocator()->allocate();
}
// Allocate intermediate tensors
_output.allocator()->allocate();
}
void NEFastCorners::run()
{
NEScheduler::get().schedule(&_border_handler, Window::DimZ);
_memory_group.acquire();
NEScheduler::get().schedule(&_fast_corners_kernel, Window::DimY);
if(_non_max)
{
NEScheduler::get().schedule(&_nonmax_kernel, Window::DimY);
}
NEScheduler::get().schedule(&_fill_kernel, Window::DimY);
_memory_group.release();
}
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