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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 "CL/CLAccessor.h"
#include "Utils.h"
#include "tests/AssetsLibrary.h"
#include "tests/Globals.h"
#include "tests/validation_old/Datasets.h"
#include "tests/validation_old/Reference.h"
#include "tests/validation_old/Validation.h"
#include "tests/validation_old/ValidationUserConfiguration.h"
#include "utils/TypePrinter.h"
#include "arm_compute/core/Helpers.h"
#include "arm_compute/core/Types.h"
#include "arm_compute/runtime/CL/CLArray.h"
#include "arm_compute/runtime/CL/functions/CLHarrisCorners.h"
#include "arm_compute/runtime/Tensor.h"
#include "arm_compute/runtime/TensorAllocator.h"
#include "PaddingCalculator.h"
#include "tests/validation_old/boost_wrapper.h"
#include <random>
#include <string>
using namespace arm_compute;
using namespace arm_compute::test;
using namespace arm_compute::test::validation;
namespace
{
/** Compute CL Harris corners function.
*
* @param[in] shape Shape of input tensor
* @param[in] threshold Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel).
* @param[in] min_dist Radial Euclidean distance for the euclidean distance stage
* @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation
* @param[in] gradient_size The gradient window size to use on the input. The implementation supports 3, 5, and 7
* @param[in] block_size The block window size used to compute the Harris Corner score. The implementation supports 3, 5, and 7.
* @param[in] border_mode Border mode to use
* @param[in] constant_border_value Constant value to use for borders if border_mode is set to CONSTANT.
*
* @return Computed corners' keypoints.
*/
void compute_harris_corners(const TensorShape &shape, CLKeyPointArray &corners, float threshold, float min_dist, float sensitivity,
int32_t gradient_size, int32_t block_size, BorderMode border_mode, uint8_t constant_border_value)
{
// Create tensors
CLTensor src = create_tensor<CLTensor>(shape, DataType::U8);
src.info()->set_format(Format::U8);
// Create harris corners configure function
CLHarrisCorners harris_corners;
harris_corners.configure(&src, threshold, min_dist, sensitivity, gradient_size, block_size, &corners, border_mode, constant_border_value);
// Allocate tensors
src.allocator()->allocate();
BOOST_TEST(!src.info()->is_resizable());
// Fill tensors
library->fill_tensor_uniform(CLAccessor(src), 0);
// Compute function
harris_corners.run();
}
} // namespace
#ifndef DOXYGEN_SKIP_THIS
BOOST_AUTO_TEST_SUITE(CL)
BOOST_AUTO_TEST_SUITE(HarrisCorners)
BOOST_TEST_DECORATOR(*boost::unit_test::label("precommit") * boost::unit_test::label("nightly"))
BOOST_DATA_TEST_CASE(Configuration, (Small2DShapes() + Large2DShapes()) * BorderModes()
* boost::unit_test::data::make({ 3, 5, 7 }) * boost::unit_test::data::make({ 3, 5, 7 }),
shape, border_mode, gradient, block)
{
// Create tensors
CLTensor src = create_tensor<CLTensor>(shape, DataType::U8);
src.info()->set_format(Format::U8);
CLKeyPointArray corners(shape.total_size());
uint8_t constant_border_value = 0;
std::mt19937 gen(user_config.seed.get());
std::uniform_real_distribution<float> real_dist(0.01, std::numeric_limits<float>::min());
const float threshold = real_dist(gen);
const float sensitivity = real_dist(gen);
const float max_euclidean_distance = 30.f;
real_dist = std::uniform_real_distribution<float>(0.f, max_euclidean_distance);
float min_dist = real_dist(gen);
// Generate a random constant value if border_mode is constant
if(border_mode == BorderMode::CONSTANT)
{
std::uniform_int_distribution<uint8_t> int_dist(0, 255);
constant_border_value = int_dist(gen);
}
BOOST_TEST(src.info()->is_resizable());
// Create harris corners configure function
CLHarrisCorners harris_corners;
harris_corners.configure(&src, threshold, min_dist, sensitivity, gradient, block, &corners, border_mode, constant_border_value);
// Validate valid region
const ValidRegion valid_region = shape_to_valid_region(shape);
validate(src.info()->valid_region(), valid_region);
// Validate padding
PaddingCalculator calculator(shape.x(), 8);
calculator.set_border_mode(border_mode);
calculator.set_border_size(gradient / 2);
calculator.set_access_offset(-gradient / 2);
calculator.set_accessed_elements(16);
const PaddingSize padding = calculator.required_padding();
validate(src.info()->padding(), padding);
}
BOOST_TEST_DECORATOR(*boost::unit_test::label("precommit"))
BOOST_DATA_TEST_CASE(RunSmall, Small2DShapes() * BorderModes() * boost::unit_test::data::make({ 3, 5, 7 }) * boost::unit_test::data::make({ 3, 5, 7 }), shape, border_mode, gradient, block)
{
uint8_t constant_border_value = 0;
std::mt19937 gen(user_config.seed.get());
std::uniform_real_distribution<float> real_dist(0.01, std::numeric_limits<float>::min());
const float threshold = real_dist(gen);
const float sensitivity = real_dist(gen);
const float max_euclidean_distance = 30.f;
real_dist = std::uniform_real_distribution<float>(0.f, max_euclidean_distance);
const float min_dist = real_dist(gen);
// Generate a random constant value if border_mode is constant
if(border_mode == BorderMode::CONSTANT)
{
std::uniform_int_distribution<uint8_t> int_dist(0, 255);
constant_border_value = int_dist(gen);
}
// Create array of keypoints
CLKeyPointArray dst(shape.total_size());
// Compute function
compute_harris_corners(shape, dst, threshold, min_dist, sensitivity, gradient, block, border_mode, constant_border_value);
// Compute reference
KeyPointArray ref_dst = Reference::compute_reference_harris_corners(shape, threshold, min_dist, sensitivity, gradient, block, border_mode, constant_border_value);
// Validate output
dst.map();
validate(dst, ref_dst, 1);
dst.unmap();
}
BOOST_TEST_DECORATOR(*boost::unit_test::label("nightly"))
BOOST_DATA_TEST_CASE(RunLarge, Large2DShapes() * BorderModes() * boost::unit_test::data::make({ 3, 5, 7 }) * boost::unit_test::data::make({ 3, 5, 7 }), shape, border_mode, gradient, block)
{
uint8_t constant_border_value = 0;
std::mt19937 gen(user_config.seed.get());
std::uniform_real_distribution<float> real_dist(0.01, std::numeric_limits<float>::min());
const float threshold = real_dist(gen);
const float sensitivity = real_dist(gen);
const float max_euclidean_distance = 30.f;
real_dist = std::uniform_real_distribution<float>(0.f, max_euclidean_distance);
const float min_dist = real_dist(gen);
// Generate a random constant value if border_mode is constant
if(border_mode == BorderMode::CONSTANT)
{
std::uniform_int_distribution<uint8_t> int_dist(0, 255);
constant_border_value = int_dist(gen);
}
// Create array of keypoints
CLKeyPointArray dst(shape.total_size());
// Compute function
compute_harris_corners(shape, dst, threshold, min_dist, sensitivity, gradient, block, border_mode, constant_border_value);
// Compute reference
KeyPointArray ref_dst = Reference::compute_reference_harris_corners(shape, threshold, min_dist, sensitivity, gradient, block, border_mode, constant_border_value);
// Validate output
dst.map();
validate(dst, ref_dst);
dst.unmap();
}
BOOST_AUTO_TEST_SUITE_END()
BOOST_AUTO_TEST_SUITE_END()
#endif /* DOXYGEN_SKIP_THIS */
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