| /* |
| * 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/core/NEON/kernels/NEHarrisCornersKernel.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 <algorithm> |
| #include <arm_neon.h> |
| #include <cmath> |
| #include <cstddef> |
| |
| using namespace arm_compute; |
| |
| #ifdef ARM_COMPUTE_ENABLE_FP16 |
| |
| template class arm_compute::NEHarrisScoreFP16Kernel<3>; |
| template class arm_compute::NEHarrisScoreFP16Kernel<5>; |
| template class arm_compute::NEHarrisScoreFP16Kernel<7>; |
| |
| namespace fp16 |
| { |
| inline float16x8_t harris_score(float16x8_t gx2, float16x8_t gy2, float16x8_t gxgy, float sensitivity, float strength_thresh) |
| { |
| static const float16x8_t zero = vdupq_n_f16(0.f); |
| |
| // Trace^2 |
| float16x8_t trace2 = vaddq_f16(gx2, gy2); |
| trace2 = vmulq_f16(trace2, trace2); |
| |
| // Det(A) |
| float16x8_t det = vmulq_f16(gx2, gy2); |
| det = vfmsq_f16(det, gxgy, gxgy); |
| |
| // Det(A) - sensitivity * trace^2 |
| const float16x8_t mc = vfmsq_f16(det, vdupq_n_f16(sensitivity), trace2); |
| |
| // mc > strength_thresh |
| const uint16x8_t mask = vcgtq_f16(mc, vdupq_n_f16(strength_thresh)); |
| |
| return vbslq_f16(mask, mc, zero); |
| } |
| |
| template <size_t block_size> |
| inline void harris_score1xN_FLOAT_FLOAT_FLOAT(float16x8_t low_gx, float16x8_t low_gy, float16x8_t high_gx, float16x8_t high_gy, float16x8_t &gx2, float16x8_t &gy2, float16x8_t &gxgy, |
| float norm_factor) |
| { |
| const float16x8_t norm_factor_fp16 = vdupq_n_f16(norm_factor); |
| |
| // Normalize |
| low_gx = vmulq_f16(low_gx, norm_factor_fp16); |
| low_gy = vmulq_f16(low_gy, norm_factor_fp16); |
| high_gx = vmulq_f16(high_gx, norm_factor_fp16); |
| high_gy = vmulq_f16(high_gy, norm_factor_fp16); |
| |
| float16x8_t gx = vextq_f16(low_gx, high_gx, 0); |
| float16x8_t gy = vextq_f16(low_gy, high_gy, 0); |
| |
| gx2 = vfmaq_f16(gx2, gx, gx); |
| gy2 = vfmaq_f16(gy2, gy, gy); |
| gxgy = vfmaq_f16(gxgy, gx, gy); |
| |
| gx = vextq_f16(low_gx, high_gx, 1); |
| gy = vextq_f16(low_gy, high_gy, 1); |
| |
| gx2 = vfmaq_f16(gx2, gx, gx); |
| gy2 = vfmaq_f16(gy2, gy, gy); |
| gxgy = vfmaq_f16(gxgy, gx, gy); |
| |
| gx = vextq_f16(low_gx, high_gx, 2); |
| gy = vextq_f16(low_gy, high_gy, 2); |
| |
| gx2 = vfmaq_f16(gx2, gx, gx); |
| gy2 = vfmaq_f16(gy2, gy, gy); |
| gxgy = vfmaq_f16(gxgy, gx, gy); |
| |
| if(block_size > 3) |
| { |
| gx = vextq_f16(low_gx, high_gx, 3); |
| gy = vextq_f16(low_gy, high_gy, 3); |
| |
| gx2 = vfmaq_f16(gx2, gx, gx); |
| gy2 = vfmaq_f16(gy2, gy, gy); |
| gxgy = vfmaq_f16(gxgy, gx, gy); |
| |
| gx = vextq_f16(low_gx, high_gx, 4); |
| gy = vextq_f16(low_gy, high_gy, 4); |
| |
| gx2 = vfmaq_f16(gx2, gx, gx); |
| gy2 = vfmaq_f16(gy2, gy, gy); |
| gxgy = vfmaq_f16(gxgy, gx, gy); |
| } |
| |
| if(block_size == 7) |
| { |
| gx = vextq_f16(low_gx, high_gx, 5); |
| gy = vextq_f16(low_gy, high_gy, 5); |
| |
| gx2 = vfmaq_f16(gx2, gx, gx); |
| gy2 = vfmaq_f16(gy2, gy, gy); |
| gxgy = vfmaq_f16(gxgy, gx, gy); |
| |
| gx = vextq_f16(low_gx, high_gx, 6); |
| gy = vextq_f16(low_gy, high_gy, 6); |
| |
| gx2 = vfmaq_f16(gx2, gx, gx); |
| gy2 = vfmaq_f16(gy2, gy, gy); |
| gxgy = vfmaq_f16(gxgy, gx, gy); |
| } |
| } |
| |
| template <size_t block_size> |
| inline void harris_score_S16_S16_FLOAT(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out_ptr, int32_t in_stride, float norm_factor, float sensitivity, |
| float strength_thresh) |
| { |
| auto gx_ptr_0 = static_cast<const int16_t *__restrict>(in1_ptr) - (block_size / 2) * (in_stride + 1); |
| auto gy_ptr_0 = static_cast<const int16_t *__restrict>(in2_ptr) - (block_size / 2) * (in_stride + 1); |
| const int16_t *gx_ptr_1 = gx_ptr_0 + 8; |
| const int16_t *gy_ptr_1 = gy_ptr_0 + 8; |
| const auto output = static_cast<float *__restrict>(out_ptr); |
| |
| // Gx^2, Gy^2 and Gx*Gy |
| float16x8_t gx2 = vdupq_n_f16(0.0f); |
| float16x8_t gy2 = vdupq_n_f16(0.0f); |
| float16x8_t gxgy = vdupq_n_f16(0.0f); |
| |
| for(size_t i = 0; i < block_size; ++i) |
| { |
| const float16x8_t low_gx = vcvtq_f16_s16(vld1q_s16(gx_ptr_0)); |
| const float16x8_t high_gx = vcvtq_f16_s16(vld1q_s16(gx_ptr_1)); |
| const float16x8_t low_gy = vcvtq_f16_s16(vld1q_s16(gy_ptr_0)); |
| const float16x8_t high_gy = vcvtq_f16_s16(vld1q_s16(gy_ptr_1)); |
| harris_score1xN_FLOAT_FLOAT_FLOAT<block_size>(low_gx, low_gy, high_gx, high_gy, gx2, gy2, gxgy, norm_factor); |
| |
| // Update gx and gy pointer |
| gx_ptr_0 += in_stride; |
| gy_ptr_0 += in_stride; |
| gx_ptr_1 += in_stride; |
| gy_ptr_1 += in_stride; |
| } |
| |
| // Calculate harris score |
| const float16x8_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh); |
| |
| // Store score |
| vst1q_f32(output + 0, vcvt_f32_f16(vget_low_f16(mc))); |
| vst1q_f32(output + 4, vcvt_f32_f16(vget_high_f16(mc))); |
| } |
| |
| template <size_t block_size> |
| inline void harris_score_S32_S32_FLOAT(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out_ptr, int32_t in_stride, float norm_factor, float sensitivity, |
| float strength_thresh) |
| { |
| static const float16x8_t zero = vdupq_n_f16(0.0f); |
| |
| auto gx_ptr_0 = static_cast<const int32_t *__restrict>(in1_ptr) - (block_size / 2) * (in_stride + 1); |
| auto gy_ptr_0 = static_cast<const int32_t *__restrict>(in2_ptr) - (block_size / 2) * (in_stride + 1); |
| const int32_t *gx_ptr_1 = gx_ptr_0 + 4; |
| const int32_t *gy_ptr_1 = gy_ptr_0 + 4; |
| const int32_t *gx_ptr_2 = gx_ptr_0 + 8; |
| const int32_t *gy_ptr_2 = gy_ptr_0 + 8; |
| const auto output = static_cast<float *__restrict>(out_ptr); |
| |
| // Gx^2, Gy^2 and Gx*Gy |
| float16x8_t gx2 = zero; |
| float16x8_t gy2 = zero; |
| float16x8_t gxgy = zero; |
| |
| for(size_t i = 0; i < block_size; ++i) |
| { |
| const float16x8_t low_gx = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_0))), |
| vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_1)))); |
| const float16x8_t high_gx = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_2))), |
| vget_low_f16(zero)); |
| const float16x8_t low_gy = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_0))), |
| vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_1)))); |
| const float16x8_t high_gy = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_2))), |
| vget_low_f16(zero)); |
| harris_score1xN_FLOAT_FLOAT_FLOAT<block_size>(low_gx, low_gy, high_gx, high_gy, gx2, gy2, gxgy, norm_factor); |
| |
| // Update gx and gy pointer |
| gx_ptr_0 += in_stride; |
| gy_ptr_0 += in_stride; |
| gx_ptr_1 += in_stride; |
| gy_ptr_1 += in_stride; |
| gx_ptr_2 += in_stride; |
| gy_ptr_2 += in_stride; |
| } |
| |
| // Calculate harris score |
| const float16x8_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh); |
| |
| // Store score |
| vst1q_f32(output + 0, vcvt_f32_f16(vget_low_f16(mc))); |
| vst1q_f32(output + 4, vcvt_f32_f16(vget_high_f16(mc))); |
| } |
| |
| template <> |
| inline void harris_score_S32_S32_FLOAT<7>(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out_ptr, int32_t in_stride, float norm_factor, float sensitivity, |
| float strength_thresh) |
| { |
| static const float16x8_t zero = vdupq_n_f16(0.0f); |
| |
| auto gx_ptr_0 = static_cast<const int32_t *__restrict>(in1_ptr) - 3 * (in_stride + 1); |
| auto gy_ptr_0 = static_cast<const int32_t *__restrict>(in2_ptr) - 3 * (in_stride + 1); |
| const int32_t *gx_ptr_1 = gx_ptr_0 + 4; |
| const int32_t *gy_ptr_1 = gy_ptr_0 + 4; |
| const int32_t *gx_ptr_2 = gx_ptr_0 + 8; |
| const int32_t *gy_ptr_2 = gy_ptr_0 + 8; |
| const int32_t *gx_ptr_3 = gx_ptr_0 + 12; |
| const int32_t *gy_ptr_3 = gy_ptr_0 + 12; |
| const auto output = static_cast<float *__restrict>(out_ptr); |
| |
| // Gx^2, Gy^2 and Gx*Gy |
| float16x8_t gx2 = zero; |
| float16x8_t gy2 = zero; |
| float16x8_t gxgy = zero; |
| |
| for(size_t i = 0; i < 7; ++i) |
| { |
| const float16x8_t low_gx = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_0))), |
| vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_1)))); |
| const float16x8_t high_gx = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_2))), |
| vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_3)))); |
| const float16x8_t low_gy = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_0))), |
| vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_1)))); |
| const float16x8_t high_gy = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_2))), |
| vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_3)))); |
| harris_score1xN_FLOAT_FLOAT_FLOAT<7>(low_gx, low_gy, high_gx, high_gy, gx2, gy2, gxgy, norm_factor); |
| |
| // Update gx and gy pointer |
| gx_ptr_0 += in_stride; |
| gy_ptr_0 += in_stride; |
| gx_ptr_1 += in_stride; |
| gy_ptr_1 += in_stride; |
| gx_ptr_2 += in_stride; |
| gy_ptr_2 += in_stride; |
| } |
| |
| // Calculate harris score |
| const float16x8_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh); |
| |
| // Store score |
| vst1q_f32(output + 0, vcvt_f32_f16(vget_low_f16(mc))); |
| vst1q_f32(output + 4, vcvt_f32_f16(vget_high_f16(mc))); |
| } |
| |
| } // namespace fp16 |
| |
| template <int32_t block_size> |
| BorderSize NEHarrisScoreFP16Kernel<block_size>::border_size() const |
| { |
| return _border_size; |
| } |
| |
| template <int32_t block_size> |
| NEHarrisScoreFP16Kernel<block_size>::NEHarrisScoreFP16Kernel() |
| : INEHarrisScoreKernel(), _func(nullptr) |
| { |
| } |
| |
| template <int32_t block_size> |
| void NEHarrisScoreFP16Kernel<block_size>::run(const Window &window) |
| { |
| ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); |
| ARM_COMPUTE_ERROR_ON(_func == nullptr); |
| |
| Iterator input1(_input1, window); |
| Iterator input2(_input2, window); |
| Iterator output(_output, window); |
| |
| const size_t input_stride = _input1->info()->strides_in_bytes()[1] / element_size_from_data_type(_input1->info()->data_type()); |
| |
| execute_window_loop(window, [&](const Coordinates & id) |
| { |
| (*_func)(input1.ptr(), input2.ptr(), output.ptr(), input_stride, _norm_factor, _sensitivity, _strength_thresh); |
| }, |
| input1, input2, output); |
| } |
| |
| template <int32_t block_size> |
| void NEHarrisScoreFP16Kernel<block_size>::configure(const IImage *input1, const IImage *input2, IImage *output, 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(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); |
| |
| if(input1->info()->data_type() == DataType::S16) |
| { |
| _func = &fp16::harris_score_S16_S16_FLOAT<block_size>; |
| } |
| else |
| { |
| _func = &fp16::harris_score_S32_S32_FLOAT<block_size>; |
| } |
| |
| ARM_COMPUTE_ERROR_ON(nullptr == _func); |
| |
| constexpr unsigned int num_elems_processed_per_iteration = 8; |
| constexpr unsigned int num_elems_read_per_iteration = 16; |
| constexpr unsigned int num_elems_written_per_iteration = 8; |
| constexpr unsigned int num_rows_read_per_iteration = block_size; |
| |
| // Configure kernel window |
| Window win = calculate_max_window(*input1->info(), Steps(num_elems_processed_per_iteration), border_undefined, border_size()); |
| AccessWindowHorizontal output_access(output->info(), 0, num_elems_written_per_iteration); |
| |
| update_window_and_padding(win, |
| AccessWindowRectangle(input1->info(), -_border_size.left, -_border_size.top, num_elems_read_per_iteration, num_rows_read_per_iteration), |
| AccessWindowRectangle(input2->info(), -_border_size.left, -_border_size.top, num_elems_read_per_iteration, num_rows_read_per_iteration), |
| 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()); |
| |
| INEKernel::configure(win); |
| } |
| |
| #endif /* ARM_COMPUTE_ENABLE_FP16 */ |
| |
| template class arm_compute::NEHarrisScoreKernel<3>; |
| template class arm_compute::NEHarrisScoreKernel<5>; |
| template class arm_compute::NEHarrisScoreKernel<7>; |
| template arm_compute::NEHarrisScoreKernel<3>::NEHarrisScoreKernel(); |
| template arm_compute::NEHarrisScoreKernel<5>::NEHarrisScoreKernel(); |
| template arm_compute::NEHarrisScoreKernel<7>::NEHarrisScoreKernel(); |
| |
| namespace |
| { |
| inline float32x4_t harris_score(float32x4_t gx2, float32x4_t gy2, float32x4_t gxgy, float32x4_t sensitivity, float32x4_t strength_thresh) |
| { |
| // Trace^2 |
| float32x4_t trace2 = vaddq_f32(gx2, gy2); |
| trace2 = vmulq_f32(trace2, trace2); |
| |
| // Det(A) |
| float32x4_t det = vmulq_f32(gx2, gy2); |
| det = vmlsq_f32(det, gxgy, gxgy); |
| |
| // Det(A) - sensitivity * trace^2 |
| const float32x4_t mc = vmlsq_f32(det, sensitivity, trace2); |
| |
| // mc > strength_thresh |
| const uint32x4_t mask = vcgtq_f32(mc, strength_thresh); |
| |
| return vbslq_f32(mask, mc, vdupq_n_f32(0.0f)); |
| } |
| |
| inline void harris_score1x3_FLOAT_FLOAT_FLOAT(float32x4_t low_gx, float32x4_t low_gy, float32x4_t high_gx, float32x4_t high_gy, float32x4_t &gx2, float32x4_t &gy2, float32x4_t &gxgy, |
| float32x4_t norm_factor) |
| { |
| // Normalize |
| low_gx = vmulq_f32(low_gx, norm_factor); |
| low_gy = vmulq_f32(low_gy, norm_factor); |
| high_gx = vmulq_f32(high_gx, norm_factor); |
| high_gy = vmulq_f32(high_gy, norm_factor); |
| |
| const float32x4_t l_gx = low_gx; |
| const float32x4_t l_gy = low_gy; |
| const float32x4_t m_gx = vextq_f32(low_gx, high_gx, 1); |
| const float32x4_t m_gy = vextq_f32(low_gy, high_gy, 1); |
| const float32x4_t r_gx = vextq_f32(low_gx, high_gx, 2); |
| const float32x4_t r_gy = vextq_f32(low_gy, high_gy, 2); |
| |
| // Gx*Gx |
| gx2 = vmlaq_f32(gx2, l_gx, l_gx); |
| gx2 = vmlaq_f32(gx2, m_gx, m_gx); |
| gx2 = vmlaq_f32(gx2, r_gx, r_gx); |
| |
| // Gy*Gy |
| gy2 = vmlaq_f32(gy2, l_gy, l_gy); |
| gy2 = vmlaq_f32(gy2, m_gy, m_gy); |
| gy2 = vmlaq_f32(gy2, r_gy, r_gy); |
| |
| // Gx*Gy |
| gxgy = vmlaq_f32(gxgy, l_gx, l_gy); |
| gxgy = vmlaq_f32(gxgy, m_gx, m_gy); |
| gxgy = vmlaq_f32(gxgy, r_gx, r_gy); |
| } |
| |
| inline void harris_score1x5_FLOAT_FLOAT_FLOAT(float32x4_t low_gx, float32x4_t low_gy, float32x4_t high_gx, float32x4_t high_gy, float32x4_t &gx2, float32x4_t &gy2, float32x4_t &gxgy, |
| float32x4_t norm_factor) |
| { |
| // Normalize |
| low_gx = vmulq_f32(low_gx, norm_factor); |
| low_gy = vmulq_f32(low_gy, norm_factor); |
| high_gx = vmulq_f32(high_gx, norm_factor); |
| high_gy = vmulq_f32(high_gy, norm_factor); |
| |
| // L2 values |
| float32x4_t gx = low_gx; |
| float32x4_t gy = low_gy; |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| |
| // L1 values |
| gx = vextq_f32(low_gx, high_gx, 1); |
| gy = vextq_f32(low_gy, high_gy, 1); |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| |
| // M values |
| gx = vextq_f32(low_gx, high_gx, 2); |
| gy = vextq_f32(low_gy, high_gy, 2); |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| |
| // R1 values |
| gx = vextq_f32(low_gx, high_gx, 3); |
| gy = vextq_f32(low_gy, high_gy, 3); |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| |
| // R2 values |
| gx = high_gx; |
| gy = high_gy; |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| } |
| |
| inline void harris_score1x7_FLOAT_FLOAT_FLOAT(float32x4_t low_gx, float32x4_t low_gy, float32x4_t high_gx, float32x4_t high_gy, float32x4_t high_gx1, float32x4_t high_gy1, float32x4_t &gx2, |
| float32x4_t &gy2, float32x4_t &gxgy, float32x4_t norm_factor) |
| { |
| // Normalize |
| low_gx = vmulq_f32(low_gx, norm_factor); |
| low_gy = vmulq_f32(low_gy, norm_factor); |
| high_gx = vmulq_f32(high_gx, norm_factor); |
| high_gy = vmulq_f32(high_gy, norm_factor); |
| |
| // L3 values |
| float32x4_t gx = low_gx; |
| float32x4_t gy = low_gy; |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| |
| // L2 values |
| gx = vextq_f32(low_gx, high_gx, 1); |
| gy = vextq_f32(low_gy, high_gy, 1); |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| |
| // L1 values |
| gx = vextq_f32(low_gx, high_gx, 2); |
| gy = vextq_f32(low_gy, high_gy, 2); |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| |
| // M values |
| gx = vextq_f32(low_gx, high_gx, 3); |
| gy = vextq_f32(low_gy, high_gy, 3); |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| |
| // R1 values |
| gx = high_gx; |
| gy = high_gy; |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| |
| // Change tmp_low and tmp_high for calculating R2 and R3 values |
| low_gx = high_gx; |
| low_gy = high_gy; |
| high_gx = high_gx1; |
| high_gy = high_gy1; |
| |
| // Normalize |
| high_gx = vmulq_f32(high_gx, norm_factor); |
| high_gy = vmulq_f32(high_gy, norm_factor); |
| |
| // R2 values |
| gx = vextq_f32(low_gx, high_gx, 1); |
| gy = vextq_f32(low_gy, high_gy, 1); |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| |
| // R3 values |
| gx = vextq_f32(low_gx, high_gx, 2); |
| gy = vextq_f32(low_gy, high_gy, 2); |
| |
| // Accumulate |
| gx2 = vmlaq_f32(gx2, gx, gx); |
| gy2 = vmlaq_f32(gy2, gy, gy); |
| gxgy = vmlaq_f32(gxgy, gx, gy); |
| } |
| |
| inline void harris_score3x3_S16_S16_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, |
| float in_norm_factor, float in_sensitivity, float in_strength_thresh) |
| |
| { |
| const auto gx_ptr_0 = static_cast<const int16_t *__restrict>(input1_ptr) - 1; |
| const auto gy_ptr_0 = static_cast<const int16_t *__restrict>(input2_ptr) - 1; |
| const int16_t *gx_ptr_1 = gx_ptr_0 + 4; |
| const int16_t *gy_ptr_1 = gy_ptr_0 + 4; |
| const auto output = static_cast<float *__restrict>(output_ptr); |
| |
| // Gx^2, Gy^2 and Gx*Gy |
| float32x4x2_t gx2 = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| float32x4x2_t gy2 = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| float32x4x2_t gxgy = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| |
| // Row0 |
| int16x8x2_t tmp_gx = |
| { |
| { |
| vld1q_s16(gx_ptr_0 - input_stride), |
| vld1q_s16(gx_ptr_1 - input_stride) |
| } |
| }; |
| int16x8x2_t tmp_gy = |
| { |
| { |
| vld1q_s16(gy_ptr_0 - input_stride), |
| vld1q_s16(gy_ptr_1 - input_stride) |
| } |
| }; |
| float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); |
| float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); |
| float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); |
| |
| float32x4_t low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0]))); |
| float32x4_t low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0]))); |
| float32x4_t high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0]))); |
| float32x4_t high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0]))); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); |
| |
| low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1]))); |
| low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1]))); |
| high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1]))); |
| high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1]))); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); |
| |
| // Row1 |
| tmp_gx.val[0] = vld1q_s16(gx_ptr_0); |
| tmp_gy.val[0] = vld1q_s16(gy_ptr_0); |
| tmp_gx.val[1] = vld1q_s16(gx_ptr_1); |
| tmp_gy.val[1] = vld1q_s16(gy_ptr_1); |
| |
| low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0]))); |
| low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0]))); |
| high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0]))); |
| high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0]))); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); |
| |
| low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1]))); |
| low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1]))); |
| high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1]))); |
| high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1]))); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); |
| |
| // Row2 |
| tmp_gx.val[0] = vld1q_s16(gx_ptr_0 + input_stride); |
| tmp_gy.val[0] = vld1q_s16(gy_ptr_0 + input_stride); |
| tmp_gx.val[1] = vld1q_s16(gx_ptr_1 + input_stride); |
| tmp_gy.val[1] = vld1q_s16(gy_ptr_1 + input_stride); |
| |
| low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0]))); |
| low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0]))); |
| high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0]))); |
| high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0]))); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); |
| |
| low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1]))); |
| low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1]))); |
| high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1]))); |
| high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1]))); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); |
| |
| // Calculate harris score |
| const float32x4x2_t mc = |
| { |
| { |
| harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh), |
| harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh) |
| } |
| }; |
| |
| // Store score |
| vst1q_f32(output + 0, mc.val[0]); |
| vst1q_f32(output + 4, mc.val[1]); |
| } |
| |
| inline void harris_score3x3_S32_S32_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, |
| float in_norm_factor, float in_sensitivity, float in_strength_thresh) |
| { |
| auto gx_ptr_0 = static_cast<const int32_t *__restrict>(input1_ptr) - 1; |
| auto gy_ptr_0 = static_cast<const int32_t *__restrict>(input2_ptr) - 1; |
| const int32_t *gx_ptr_1 = gx_ptr_0 + 4; |
| const int32_t *gy_ptr_1 = gy_ptr_0 + 4; |
| const int32_t *gx_ptr_2 = gx_ptr_0 + 8; |
| const int32_t *gy_ptr_2 = gy_ptr_0 + 8; |
| const auto output = static_cast<float *__restrict>(output_ptr); |
| float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); |
| float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); |
| float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); |
| |
| // Gx^2, Gy^2 and Gx*Gy |
| float32x4x2_t gx2 = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| float32x4x2_t gy2 = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| float32x4x2_t gxgy = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| |
| // Row0 |
| float32x4_t low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0 - input_stride)); |
| float32x4_t low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0 - input_stride)); |
| float32x4_t high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 - input_stride)); |
| float32x4_t high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 - input_stride)); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); |
| |
| low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 - input_stride)); |
| low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 - input_stride)); |
| high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_2 - input_stride)); |
| high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_2 - input_stride)); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); |
| |
| // Row1 |
| low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0)); |
| low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0)); |
| high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1)); |
| high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1)); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); |
| |
| low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1)); |
| low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1)); |
| high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_2)); |
| high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_2)); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); |
| |
| // Row2 |
| low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0 + input_stride)); |
| low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0 + input_stride)); |
| high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 + input_stride)); |
| high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 + input_stride)); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); |
| |
| low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 + input_stride)); |
| low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 + input_stride)); |
| high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_2 + input_stride)); |
| high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_2 + input_stride)); |
| harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); |
| |
| // Calculate harris score |
| const float32x4x2_t mc = |
| { |
| { |
| harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh), |
| harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh) |
| } |
| }; |
| |
| // Store score |
| vst1q_f32(output + 0, mc.val[0]); |
| vst1q_f32(output + 4, mc.val[1]); |
| } |
| |
| inline void harris_score5x5_S16_S16_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, |
| float in_norm_factor, float in_sensitivity, float in_strength_thresh) |
| { |
| auto gx_ptr_0 = static_cast<const int16_t *__restrict>(input1_ptr) - 2 - 2 * input_stride; |
| auto gy_ptr_0 = static_cast<const int16_t *__restrict>(input2_ptr) - 2 - 2 * input_stride; |
| const int16_t *gx_ptr_1 = gx_ptr_0 + 4; |
| const int16_t *gy_ptr_1 = gy_ptr_0 + 4; |
| const auto output = static_cast<float *__restrict>(output_ptr); |
| |
| // Gx^2, Gy^2 and Gx*Gy |
| float32x4x2_t gx2 = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| float32x4x2_t gy2 = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| float32x4x2_t gxgy = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); |
| float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); |
| float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); |
| |
| for(int i = 0; i < 5; ++i) |
| { |
| const int16x8x2_t tmp_gx = |
| { |
| { |
| vld1q_s16(gx_ptr_0), |
| vld1q_s16(gx_ptr_1) |
| } |
| }; |
| const int16x8x2_t tmp_gy = |
| { |
| { |
| vld1q_s16(gy_ptr_0), |
| vld1q_s16(gy_ptr_1) |
| } |
| }; |
| |
| float32x4_t low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0]))); |
| float32x4_t low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0]))); |
| float32x4_t high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0]))); |
| float32x4_t high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0]))); |
| harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); |
| |
| low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1]))); |
| low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1]))); |
| high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1]))); |
| high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1]))); |
| harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); |
| |
| // Update gx and gy pointer |
| gx_ptr_0 += input_stride; |
| gy_ptr_0 += input_stride; |
| gx_ptr_1 += input_stride; |
| gy_ptr_1 += input_stride; |
| } |
| |
| // Calculate harris score |
| const float32x4x2_t mc = |
| { |
| { |
| harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh), |
| harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh) |
| } |
| }; |
| |
| // Store score |
| vst1q_f32(output + 0, mc.val[0]); |
| vst1q_f32(output + 4, mc.val[1]); |
| } |
| |
| inline void harris_score5x5_S32_S32_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, |
| float in_norm_factor, float in_sensitivity, float in_strength_thresh) |
| |
| { |
| auto gx_ptr_0 = static_cast<const int32_t *__restrict>(input1_ptr) - 2 - 2 * input_stride; |
| auto gy_ptr_0 = static_cast<const int32_t *__restrict>(input2_ptr) - 2 - 2 * input_stride; |
| const int32_t *gx_ptr_1 = gx_ptr_0 + 4; |
| const int32_t *gy_ptr_1 = gy_ptr_0 + 4; |
| const int32_t *gx_ptr_2 = gx_ptr_0 + 8; |
| const int32_t *gy_ptr_2 = gy_ptr_0 + 8; |
| const auto output = static_cast<float *__restrict>(output_ptr); |
| |
| // Gx^2, Gy^2 and Gx*Gy |
| float32x4x2_t gx2 = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| float32x4x2_t gy2 = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| float32x4x2_t gxgy = |
| { |
| { |
| vdupq_n_f32(0.0f), |
| vdupq_n_f32(0.0f) |
| } |
| }; |
| float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); |
| float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); |
| float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); |
| |
| for(int i = 0; i < 5; ++i) |
| { |
| const float32x4_t low_gx_0 = vcvtq_f32_s32(vld1q_s32(gx_ptr_0)); |
| const float32x4_t low_gy_0 = vcvtq_f32_s32(vld1q_s32(gy_ptr_0)); |
| const float32x4_t high_gx_0 = vcvtq_f32_s32(vld1q_s32(gx_ptr_1)); |
| const float32x4_t high_gy_0 = vcvtq_f32_s32(vld1q_s32(gy_ptr_1)); |
| harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx_0, low_gy_0, high_gx_0, high_gy_0, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor); |
| |
| const float32x4_t low_gx_1 = vcvtq_f32_s32(vld1q_s32(gx_ptr_1)); |
| const float32x4_t low_gy_1 = vcvtq_f32_s32(vld1q_s32(gy_ptr_1)); |
| const float32x4_t high_gx_1 = vcvtq_f32_s32(vld1q_s32(gx_ptr_2)); |
| const float32x4_t high_gy_1 = vcvtq_f32_s32(vld1q_s32(gy_ptr_2)); |
| harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx_1, low_gy_1, high_gx_1, high_gy_1, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor); |
| |
| // Update gx and gy pointer |
| gx_ptr_0 += input_stride; |
| gy_ptr_0 += input_stride; |
| gx_ptr_1 += input_stride; |
| gy_ptr_1 += input_stride; |
| gx_ptr_2 += input_stride; |
| gy_ptr_2 += input_stride; |
| } |
| |
| // Calculate harris score |
| const float32x4x2_t mc = |
| { |
| { |
| harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh), |
| harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh) |
| } |
| }; |
| |
| // Store score |
| vst1q_f32(output + 0, mc.val[0]); |
| vst1q_f32(output + 4, mc.val[1]); |
| } |
| |
| inline void harris_score7x7_S16_S16_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, |
| float in_norm_factor, float in_sensitivity, float in_strength_thresh) |
| { |
| auto gx_ptr_0 = static_cast<const int16_t *__restrict>(input1_ptr) - 3 - 3 * input_stride; |
| auto gy_ptr_0 = static_cast<const int16_t *__restrict>(input2_ptr) - 3 - 3 * input_stride; |
| const int16_t *gx_ptr_1 = gx_ptr_0 + 8; |
| const int16_t *gy_ptr_1 = gy_ptr_0 + 8; |
| const auto output = static_cast<float *__restrict>(output_ptr); |
| |
| // Gx^2, Gy^2 and Gx*Gy |
| float32x4_t gx2 = vdupq_n_f32(0.0f); |
| float32x4_t gy2 = vdupq_n_f32(0.0f); |
| float32x4_t gxgy = vdupq_n_f32(0.0f); |
| float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); |
| float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); |
| float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); |
| |
| for(int i = 0; i < 7; ++i) |
| { |
| const int16x8_t tmp0_gx = vld1q_s16(gx_ptr_0); |
| const int16x8_t tmp0_gy = vld1q_s16(gy_ptr_0); |
| const int16x4_t tmp1_gx = vld1_s16(gx_ptr_1); |
| const int16x4_t tmp1_gy = vld1_s16(gy_ptr_1); |
| |
| float32x4_t low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp0_gx))); |
| float32x4_t low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp0_gy))); |
| float32x4_t high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp0_gx))); |
| float32x4_t high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp0_gy))); |
| float32x4_t high_gx1 = vcvtq_f32_s32(vmovl_s16(tmp1_gx)); |
| float32x4_t high_gy1 = vcvtq_f32_s32(vmovl_s16(tmp1_gy)); |
| harris_score1x7_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, high_gx1, high_gy1, gx2, gy2, gxgy, norm_factor); |
| |
| // Update gx and gy pointer |
| gx_ptr_0 += input_stride; |
| gy_ptr_0 += input_stride; |
| gx_ptr_1 += input_stride; |
| gy_ptr_1 += input_stride; |
| } |
| |
| // Calculate harris score |
| const float32x4_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh); |
| |
| // Store score |
| vst1q_f32(output, mc); |
| } |
| |
| inline void harris_score7x7_S32_S32_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, |
| float in_norm_factor, float in_sensitivity, float in_strength_thresh) |
| { |
| auto gx_ptr_0 = static_cast<const int32_t *__restrict>(input1_ptr) - 3 - 3 * input_stride; |
| auto gy_ptr_0 = static_cast<const int32_t *__restrict>(input2_ptr) - 3 - 3 * input_stride; |
| const int32_t *gx_ptr_1 = gx_ptr_0 + 4; |
| const int32_t *gy_ptr_1 = gy_ptr_0 + 4; |
| const int32_t *gx_ptr_2 = gx_ptr_1 + 4; |
| const int32_t *gy_ptr_2 = gy_ptr_1 + 4; |
| const auto output = static_cast<float *__restrict>(output_ptr); |
| |
| // Gx^2, Gy^2 and Gx*Gy |
| float32x4_t gx2 = vdupq_n_f32(0.0f); |
| float32x4_t gy2 = vdupq_n_f32(0.0f); |
| float32x4_t gxgy = vdupq_n_f32(0.0f); |
| float32x4_t sensitivity = vdupq_n_f32(in_sensitivity); |
| float32x4_t norm_factor = vdupq_n_f32(in_norm_factor); |
| float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh); |
| |
| for(int i = 0; i < 7; ++i) |
| { |
| const float32x4_t low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0)); |
| const float32x4_t low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0)); |
| const float32x4_t high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1)); |
| const float32x4_t high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1)); |
| const float32x4_t high_gx1 = vcvtq_f32_s32(vld1q_s32(gx_ptr_2)); |
| const float32x4_t high_gy1 = vcvtq_f32_s32(vld1q_s32(gy_ptr_2)); |
| harris_score1x7_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, high_gx1, high_gy1, gx2, gy2, gxgy, norm_factor); |
| |
| // Update gx and gy pointer |
| gx_ptr_0 += input_stride; |
| gy_ptr_0 += input_stride; |
| gx_ptr_1 += input_stride; |
| gy_ptr_1 += input_stride; |
| gx_ptr_2 += input_stride; |
| gy_ptr_2 += input_stride; |
| } |
| |
| // Calculate harris score |
| const float32x4_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh); |
| |
| // Store score |
| vst1q_f32(output, mc); |
| } |
| |
| } // namespace |
| |
| INEHarrisScoreKernel::INEHarrisScoreKernel() |
| : _input1(nullptr), _input2(nullptr), _output(nullptr), _sensitivity(0.0f), _strength_thresh(0.0f), _norm_factor(0.0f), _border_size() |
| { |
| } |
| |
| template <int32_t block_size> |
| NEHarrisScoreKernel<block_size>::NEHarrisScoreKernel() |
| : INEHarrisScoreKernel(), _func(nullptr) |
| { |
| } |
| |
| template <int32_t block_size> |
| void NEHarrisScoreKernel<block_size>::run(const Window &window) |
| { |
| ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); |
| ARM_COMPUTE_ERROR_ON(_func == nullptr); |
| |
| Iterator input1(_input1, window); |
| Iterator input2(_input2, window); |
| Iterator output(_output, window); |
| |
| const size_t input_stride = _input1->info()->strides_in_bytes()[1] / element_size_from_data_type(_input1->info()->data_type()); |
| |
| execute_window_loop(window, [&](const Coordinates & id) |
| { |
| (*_func)(input1.ptr(), input2.ptr(), output.ptr(), input_stride, _norm_factor, _sensitivity, _strength_thresh); |
| }, |
| input1, input2, output); |
| } |
| |
| template <int32_t block_size> |
| BorderSize NEHarrisScoreKernel<block_size>::border_size() const |
| { |
| return _border_size; |
| } |
| |
| template <int32_t block_size> |
| void NEHarrisScoreKernel<block_size>::configure(const IImage *input1, const IImage *input2, IImage *output, 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(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); |
| |
| if(input1->info()->data_type() == DataType::S16) |
| { |
| switch(block_size) |
| { |
| case 3: |
| _func = &harris_score3x3_S16_S16_FLOAT; |
| break; |
| case 5: |
| _func = &harris_score5x5_S16_S16_FLOAT; |
| break; |
| case 7: |
| _func = &harris_score7x7_S16_S16_FLOAT; |
| break; |
| default: |
| ARM_COMPUTE_ERROR("Invalid block size"); |
| break; |
| } |
| } |
| else |
| { |
| switch(block_size) |
| { |
| case 3: |
| _func = &harris_score3x3_S32_S32_FLOAT; |
| break; |
| case 5: |
| _func = &harris_score5x5_S32_S32_FLOAT; |
| break; |
| case 7: |
| _func = &harris_score7x7_S32_S32_FLOAT; |
| break; |
| default: |
| ARM_COMPUTE_ERROR("Invalid block size"); |
| break; |
| } |
| } |
| |
| ARM_COMPUTE_ERROR_ON(nullptr == _func); |
| |
| constexpr unsigned int num_elems_processed_per_iteration = block_size != 7 ? 8 : 4; |
| constexpr unsigned int num_elems_read_per_iteration = block_size != 7 ? 16 : 12; |
| constexpr unsigned int num_elems_written_per_iteration = block_size != 7 ? 8 : 4; |
| constexpr unsigned int num_rows_read_per_iteration = block_size; |
| |
| // Configure kernel window |
| Window win = calculate_max_window(*input1->info(), Steps(num_elems_processed_per_iteration), border_undefined, border_size()); |
| AccessWindowHorizontal output_access(output->info(), 0, num_elems_written_per_iteration); |
| |
| update_window_and_padding(win, |
| AccessWindowRectangle(input1->info(), -_border_size.left, -_border_size.top, num_elems_read_per_iteration, num_rows_read_per_iteration), |
| AccessWindowRectangle(input2->info(), -_border_size.left, -_border_size.top, num_elems_read_per_iteration, num_rows_read_per_iteration), |
| 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()); |
| |
| INEKernel::configure(win); |
| } |