COMPMID-578: Implement FAST corners for CL/NEON
Change-Id: Ifa74e2bf05546de9a49aa185e22fba50438d8ad6
Reviewed-on: https://eu-gerrit-1.euhpc.arm.com/113946
Tested-by: Jenkins <bsgcomp@arm.com>
Reviewed-by: Pablo Tello <pablo.tello@arm.com>
diff --git a/tests/validation/CL/FastCorners.cpp b/tests/validation/CL/FastCorners.cpp
new file mode 100644
index 0000000..b5086ef
--- /dev/null
+++ b/tests/validation/CL/FastCorners.cpp
@@ -0,0 +1,119 @@
+/*
+ * Copyright (c) 2017-2018 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/Types.h"
+#include "arm_compute/runtime/CL/functions/CLFastCorners.h"
+#include "arm_compute/runtime/Tensor.h"
+#include "arm_compute/runtime/TensorAllocator.h"
+#include "tests/CL/CLAccessor.h"
+#include "tests/CL/CLArrayAccessor.h"
+#include "tests/PaddingCalculator.h"
+#include "tests/datasets/ShapeDatasets.h"
+#include "tests/framework/Asserts.h"
+#include "tests/framework/Macros.h"
+#include "tests/framework/datasets/Datasets.h"
+#include "tests/validation/FastValidation.h"
+#include "tests/validation/fixtures/FastCornersFixture.h"
+
+namespace arm_compute
+{
+namespace test
+{
+namespace validation
+{
+namespace
+{
+/* Radius of the Bresenham circle around the candidate point */
+const unsigned int bresenham_radius = 3;
+/* Allowed percentage of keypoints missing for target */
+const float allowed_missing = 10.f;
+/* Allowed percentage of keypoints mismatching between target and reference */
+const float allowed_mismatching = 10.f;
+/* Tolerance used to compare corner strengths */
+const AbsoluteTolerance<float> tolerance(0.5f);
+} // namespace
+
+TEST_SUITE(CL)
+TEST_SUITE(FastCorners)
+
+DATA_TEST_CASE(Configuration, framework::DatasetMode::ALL, combine(combine(combine(concat(datasets::Small2DShapes(), datasets::Large2DShapes()),
+ framework::dataset::make("Format", Format::U8)),
+ framework::dataset::make("SuppressNonMax", { false, true })),
+ framework::dataset::make("BorderMode", BorderMode::UNDEFINED)),
+ shape, format, suppress_nonmax, border_mode)
+{
+ std::mt19937 gen(library->seed());
+ std::uniform_int_distribution<uint8_t> int_dist(0, 255);
+ std::uniform_real_distribution<float> real_dist(0, 255);
+
+ const uint8_t constant_border_value = int_dist(gen);
+ const float threshold = real_dist(gen);
+
+ // Create tensors
+ CLTensor src = create_tensor<CLTensor>(shape, data_type_from_format(format));
+ src.info()->set_format(format);
+
+ ARM_COMPUTE_EXPECT(src.info()->is_resizable(), framework::LogLevel::ERRORS);
+
+ CLKeyPointArray corners;
+ unsigned int num_corners;
+
+ // Create and configure function
+ CLFastCorners fast_corners;
+ fast_corners.configure(&src, threshold, suppress_nonmax, &corners, &num_corners, border_mode, constant_border_value);
+
+ // Validate padding
+ PaddingCalculator calculator(shape.x(), 1); // elems_processed
+
+ calculator.set_border_size(bresenham_radius);
+ calculator.set_access_offset(-bresenham_radius);
+ calculator.set_accessed_elements(7); // elems_read
+
+ validate(src.info()->padding(), calculator.required_padding());
+}
+
+template <typename T>
+using CLFastCornersFixture = FastCornersValidationFixture<CLTensor, CLAccessor, CLKeyPointArray, CLFastCorners, T>;
+
+FIXTURE_DATA_TEST_CASE(RunSmall, CLFastCornersFixture<uint8_t>, framework::DatasetMode::PRECOMMIT, combine(combine(combine(datasets::Small2DShapes(), framework::dataset::make("Format", Format::U8)),
+ framework::dataset::make("SuppressNonMax", { false, true })),
+ framework::dataset::make("BorderMode", BorderMode::UNDEFINED)))
+{
+ // Validate output
+ CLArrayAccessor<KeyPoint> array(_target);
+ fast_validate_keypoints(array.buffer(), array.buffer() + array.num_values(), _reference.begin(), _reference.end(), tolerance, allowed_missing, allowed_mismatching);
+}
+FIXTURE_DATA_TEST_CASE(RunLarge, CLFastCornersFixture<uint8_t>, framework::DatasetMode::NIGHTLY, combine(combine(combine(datasets::Large2DShapes(), framework::dataset::make("Format", Format::U8)),
+ framework::dataset::make("SuppressNonMax", { false, true })),
+ framework::dataset::make("BorderMode", BorderMode::UNDEFINED)))
+{
+ // Validate output
+ CLArrayAccessor<KeyPoint> array(_target);
+ fast_validate_keypoints(array.buffer(), array.buffer() + array.num_values(), _reference.begin(), _reference.end(), tolerance, allowed_missing, allowed_mismatching);
+}
+
+TEST_SUITE_END()
+TEST_SUITE_END()
+} // namespace validation
+} // namespace test
+} // namespace arm_compute
diff --git a/tests/validation/FastValidation.h b/tests/validation/FastValidation.h
new file mode 100644
index 0000000..10757cf
--- /dev/null
+++ b/tests/validation/FastValidation.h
@@ -0,0 +1,161 @@
+/*
+ * Copyright (c) 2017-2018 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.
+ */
+#ifndef __ARM_COMPUTE_TEST_FAST_VALIDATION_H__
+#define __ARM_COMPUTE_TEST_FAST_VALIDATION_H__
+
+#include "Validation.h"
+
+namespace arm_compute
+{
+namespace test
+{
+namespace validation
+{
+/** Check which keypoints from [first1, last1) are missing in [first2, last2) */
+template <typename T, typename U, typename V>
+std::pair<int64_t, int64_t> fast_compare_keypoints(T first1, T last1, U first2, U last2, V tolerance, bool check_mismatches = true)
+{
+ /* Keypoint (x,y) should have similar strength (within tolerance) and other properties in both reference and target */
+ const auto compare_props_eq = [&](const KeyPoint & lhs, const KeyPoint & rhs)
+ {
+ return compare<V>(lhs.strength, rhs.strength, tolerance)
+ && lhs.tracking_status == rhs.tracking_status
+ && lhs.scale == rhs.scale
+ && lhs.orientation == rhs.orientation
+ && lhs.error == rhs.error;
+ };
+
+ /* Used to sort KeyPoints by coordinates (x, y) */
+ const auto compare_coords_lt = [](const KeyPoint & lhs, const KeyPoint & rhs)
+ {
+ return std::tie(lhs.x, lhs.y) < std::tie(rhs.x, rhs.y);
+ };
+
+ std::sort(first1, last1, compare_coords_lt);
+ std::sort(first2, last2, compare_coords_lt);
+
+ if(check_mismatches)
+ {
+ std::cout << "ref count = " << std::distance(first1, last1) << " \ttarget count = " << std::distance(first2, last2) << std::endl;
+ }
+
+ int64_t num_missing = 0;
+ int64_t num_mismatches = 0;
+ bool rest_missing = false;
+
+ while(first1 != last1)
+ {
+ if(first2 == last2)
+ {
+ // num_missing += std::distance(first1, last1);
+ rest_missing = true;
+ ARM_COMPUTE_TEST_INFO("All key points from (" << first1->x << "," << first1->y << ") onwards not found");
+ break;
+ }
+
+ if(compare_coords_lt(*first1, *first2))
+ {
+ ++num_missing;
+ ARM_COMPUTE_TEST_INFO("Key point not found");
+ ARM_COMPUTE_TEST_INFO("keypoint1 = " << *first1++);
+ }
+ else
+ {
+ if(!compare_coords_lt(*first2, *first1)) // Equal coordinates
+ {
+ if(check_mismatches && !compare_props_eq(*first1, *first2)) // Check other properties
+ {
+ ++num_mismatches;
+ ARM_COMPUTE_TEST_INFO("Mismatching keypoint");
+ ARM_COMPUTE_TEST_INFO("keypoint1 [ref] = " << *first1);
+ ARM_COMPUTE_TEST_INFO("keypoint2 [tgt] = " << *first2);
+ }
+ ++first1;
+ }
+ ++first2;
+ }
+ }
+
+ if(rest_missing)
+ {
+ while(first1 != last1)
+ {
+ ++num_missing;
+ ARM_COMPUTE_TEST_INFO("Key point not found");
+ ARM_COMPUTE_TEST_INFO("keypoint1 = " << *first1++);
+ }
+ }
+
+ return std::make_pair(num_missing, num_mismatches);
+}
+
+template <typename T, typename U, typename V>
+void fast_validate_keypoints(T target_first, T target_last, U reference_first, U reference_last, V tolerance,
+ float allowed_missing_percentage, float allowed_mismatch_percentage)
+{
+ const int64_t num_elements_target = std::distance(target_first, target_last);
+ const int64_t num_elements_reference = std::distance(reference_first, reference_last);
+
+ int64_t num_missing = 0;
+ int64_t num_mismatches = 0;
+
+ if(num_elements_reference > 0)
+ {
+ std::tie(num_missing, num_mismatches) = fast_compare_keypoints(reference_first, reference_last, target_first, target_last, tolerance);
+
+ const float percent_missing = static_cast<float>(num_missing) / num_elements_reference * 100.f;
+ const float percent_mismatches = static_cast<float>(num_mismatches) / num_elements_reference * 100.f;
+
+ ARM_COMPUTE_TEST_INFO(num_missing << " keypoints (" << std::fixed << std::setprecision(2) << percent_missing << "%) in ref are missing from target");
+ ARM_COMPUTE_EXPECT(percent_missing <= allowed_missing_percentage, framework::LogLevel::ERRORS);
+
+ ARM_COMPUTE_TEST_INFO(num_mismatches << " keypoints (" << std::fixed << std::setprecision(2) << percent_mismatches << "%) mismatched");
+ ARM_COMPUTE_EXPECT(percent_mismatches <= allowed_mismatch_percentage, framework::LogLevel::ERRORS);
+
+ std::cout << "Mismatched keypoints: " << num_mismatches << "/" << num_elements_reference << " = " << std::fixed << std::setprecision(2) << percent_mismatches
+ << "% \tMax allowed: " << allowed_mismatch_percentage << "%" << std::endl;
+ std::cout << "Missing (not in tgt): " << num_missing << "/" << num_elements_reference << " = " << std::fixed << std::setprecision(2) << percent_missing
+ << "% \tMax allowed: " << allowed_missing_percentage << "%" << std::endl;
+ }
+
+ if(num_elements_target > 0)
+ {
+ // Note: no need to check for mismatches a second time (last argument is 'false')
+ std::tie(num_missing, num_mismatches) = fast_compare_keypoints(target_first, target_last, reference_first, reference_last, tolerance, false);
+
+ const float percent_missing = static_cast<float>(num_missing) / num_elements_target * 100.f;
+
+ ARM_COMPUTE_TEST_INFO(num_missing << " keypoints (" << std::fixed << std::setprecision(2) << percent_missing << "%) in target are missing from ref");
+ ARM_COMPUTE_EXPECT(percent_missing <= allowed_missing_percentage, framework::LogLevel::ERRORS);
+
+ std::cout << "Missing (not in ref): " << num_missing << "/" << num_elements_target << " = " << std::fixed << std::setprecision(2) << percent_missing
+ << "% \tMax allowed: " << allowed_missing_percentage << "%\n"
+ << std::endl;
+ }
+}
+
+} // namespace validation
+} // namespace test
+} // namespace arm_compute
+#endif /* __ARM_COMPUTE_TEST_FAST_VALIDATION_H__ */
diff --git a/tests/validation/NEON/FastCorners.cpp b/tests/validation/NEON/FastCorners.cpp
new file mode 100644
index 0000000..4d42aa5
--- /dev/null
+++ b/tests/validation/NEON/FastCorners.cpp
@@ -0,0 +1,118 @@
+/*
+ * Copyright (c) 2017-2018 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/Types.h"
+#include "arm_compute/runtime/NEON/functions/NEFastCorners.h"
+#include "arm_compute/runtime/Tensor.h"
+#include "arm_compute/runtime/TensorAllocator.h"
+#include "tests/NEON/Accessor.h"
+#include "tests/NEON/ArrayAccessor.h"
+#include "tests/PaddingCalculator.h"
+#include "tests/datasets/ShapeDatasets.h"
+#include "tests/framework/Asserts.h"
+#include "tests/framework/Macros.h"
+#include "tests/framework/datasets/Datasets.h"
+#include "tests/validation/FastValidation.h"
+#include "tests/validation/fixtures/FastCornersFixture.h"
+
+namespace arm_compute
+{
+namespace test
+{
+namespace validation
+{
+namespace
+{
+/* Radius of the Bresenham circle around the candidate point */
+const unsigned int bresenham_radius = 3;
+/* Allowed percentage of keypoints missing for target */
+const float allowed_missing = 10.f;
+/* Allowed percentage of keypoints mismatching between target and reference */
+const float allowed_mismatching = 10.f;
+/* Tolerance used to compare corner strengths */
+const AbsoluteTolerance<float> tolerance(0.5f);
+} // namespace
+
+TEST_SUITE(NEON)
+TEST_SUITE(FastCorners)
+
+DATA_TEST_CASE(Configuration, framework::DatasetMode::ALL, combine(combine(combine(concat(datasets::Small2DShapes(), datasets::Large2DShapes()),
+ framework::dataset::make("Format", Format::U8)),
+ framework::dataset::make("SuppressNonMax", { false, true })),
+ framework::dataset::make("BorderMode", BorderMode::UNDEFINED)),
+ shape, format, suppress_nonmax, border_mode)
+{
+ std::mt19937 gen(library->seed());
+ std::uniform_int_distribution<uint8_t> int_dist(0, 255);
+ std::uniform_real_distribution<float> real_dist(0, 255);
+
+ const uint8_t constant_border_value = int_dist(gen);
+ const float threshold = real_dist(gen);
+
+ // Create tensors
+ Tensor src = create_tensor<Tensor>(shape, data_type_from_format(format));
+ src.info()->set_format(format);
+
+ ARM_COMPUTE_EXPECT(src.info()->is_resizable(), framework::LogLevel::ERRORS);
+
+ KeyPointArray corners;
+
+ // Create and configure function
+ NEFastCorners fast_corners;
+ fast_corners.configure(&src, threshold, suppress_nonmax, &corners, border_mode, constant_border_value);
+
+ // Validate padding
+ PaddingCalculator calculator(shape.x(), 1); // elems_processed
+
+ calculator.set_border_size(bresenham_radius);
+ calculator.set_access_offset(-bresenham_radius);
+ calculator.set_accessed_elements(8); // elems_read
+
+ validate(src.info()->padding(), calculator.required_padding());
+}
+
+template <typename T>
+using NEFastCornersFixture = FastCornersValidationFixture<Tensor, Accessor, KeyPointArray, NEFastCorners, T>;
+
+FIXTURE_DATA_TEST_CASE(RunSmall, NEFastCornersFixture<uint8_t>, framework::DatasetMode::PRECOMMIT, combine(combine(combine(datasets::Small2DShapes(), framework::dataset::make("Format", Format::U8)),
+ framework::dataset::make("SuppressNonMax", { false, true })),
+ framework::dataset::make("BorderMode", BorderMode::UNDEFINED)))
+{
+ // Validate output
+ ArrayAccessor<KeyPoint> array(_target);
+ fast_validate_keypoints(array.buffer(), array.buffer() + array.num_values(), _reference.begin(), _reference.end(), tolerance, allowed_missing, allowed_mismatching);
+}
+FIXTURE_DATA_TEST_CASE(RunLarge, NEFastCornersFixture<uint8_t>, framework::DatasetMode::NIGHTLY, combine(combine(combine(datasets::Large2DShapes(), framework::dataset::make("Format", Format::U8)),
+ framework::dataset::make("SuppressNonMax", { false, true })),
+ framework::dataset::make("BorderMode", BorderMode::UNDEFINED)))
+{
+ // Validate output
+ ArrayAccessor<KeyPoint> array(_target);
+ fast_validate_keypoints(array.buffer(), array.buffer() + array.num_values(), _reference.begin(), _reference.end(), tolerance, allowed_missing, allowed_mismatching);
+}
+
+TEST_SUITE_END()
+TEST_SUITE_END()
+} // namespace validation
+} // namespace test
+} // namespace arm_compute
diff --git a/tests/validation/fixtures/FastCornersFixture.h b/tests/validation/fixtures/FastCornersFixture.h
new file mode 100644
index 0000000..0b827f7
--- /dev/null
+++ b/tests/validation/fixtures/FastCornersFixture.h
@@ -0,0 +1,134 @@
+/*
+ * Copyright (c) 2017-2018 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.
+ */
+#ifndef ARM_COMPUTE_TEST_FAST_CORNERS_FIXTURE
+#define ARM_COMPUTE_TEST_FAST_CORNERS_FIXTURE
+
+#include "arm_compute/core/TensorShape.h"
+#include "arm_compute/core/Types.h"
+#include "tests/AssetsLibrary.h"
+#include "tests/Globals.h"
+#include "tests/IAccessor.h"
+#include "tests/framework/Asserts.h"
+#include "tests/framework/Fixture.h"
+#include "tests/validation/reference/FastCorners.h"
+
+#include <random>
+
+namespace arm_compute
+{
+class CLFastCorners;
+class NEFastCorners;
+
+namespace test
+{
+namespace validation
+{
+template <typename TensorType, typename AccessorType, typename ArrayType, typename FunctionType, typename T>
+class FastCornersValidationFixture : public framework::Fixture
+{
+public:
+ template <typename...>
+ void setup(TensorShape shape, Format format, bool suppress_nonmax, BorderMode border_mode)
+ {
+ std::mt19937 gen(library->seed());
+ std::uniform_int_distribution<uint8_t> int_dist(0, 255);
+ std::uniform_real_distribution<float> real_dist(0, 255);
+
+ const uint8_t constant_border_value = int_dist(gen);
+ const float threshold = real_dist(gen);
+
+ _target = compute_target(shape, format, threshold, suppress_nonmax, border_mode, constant_border_value);
+ _reference = compute_reference(shape, format, threshold, suppress_nonmax, border_mode, constant_border_value);
+ }
+
+protected:
+ template <typename U>
+ void fill(U &&tensor)
+ {
+ library->fill_tensor_uniform(tensor, 0);
+ }
+
+ template <typename F, typename std::enable_if<std::is_same<F, CLFastCorners>::value, int>::type = 0>
+ void configure_target(F &func, TensorType &src, ArrayType &corners, unsigned int *num_corners, float threshold, bool suppress_nonmax, BorderMode border_mode, uint8_t constant_border_value)
+ {
+ func.configure(&src, threshold, suppress_nonmax, &corners, num_corners, border_mode, constant_border_value);
+ }
+
+ template <typename F, typename std::enable_if<std::is_same<F, NEFastCorners>::value, int>::type = 0>
+ void configure_target(F &func, TensorType &src, ArrayType &corners, unsigned int *num_corners, float threshold, bool suppress_nonmax, BorderMode border_mode, uint8_t constant_border_value)
+ {
+ ARM_COMPUTE_UNUSED(num_corners);
+ // ARM_COMPUTE_ERROR_ON(num_corners);
+ func.configure(&src, threshold, suppress_nonmax, &corners, border_mode, constant_border_value);
+ }
+
+ ArrayType compute_target(const TensorShape &shape, Format format, float threshold, bool suppress_nonmax, BorderMode border_mode, uint8_t constant_border_value)
+ {
+ // Create tensors
+ TensorType src = create_tensor<TensorType>(shape, data_type_from_format(format));
+ src.info()->set_format(format);
+
+ // Create array of keypoints
+ ArrayType corners(shape.total_size());
+ unsigned int num_corners = shape.total_size();
+
+ // Create and configure function
+ FunctionType fast_corners;
+ configure_target<FunctionType>(fast_corners, src, corners, &num_corners, threshold, suppress_nonmax, border_mode, constant_border_value);
+
+ ARM_COMPUTE_EXPECT(src.info()->is_resizable(), framework::LogLevel::ERRORS);
+
+ // Allocate tensors
+ src.allocator()->allocate();
+
+ ARM_COMPUTE_EXPECT(!src.info()->is_resizable(), framework::LogLevel::ERRORS);
+
+ // Fill tensors
+ fill(AccessorType(src));
+
+ // Compute function
+ fast_corners.run();
+
+ return corners;
+ }
+
+ std::vector<KeyPoint> compute_reference(const TensorShape &shape, Format format, float threshold, bool suppress_nonmax, BorderMode border_mode, uint8_t constant_border_value)
+ {
+ // Create reference
+ SimpleTensor<T> src{ shape, format };
+
+ // Fill reference
+ fill(src);
+
+ // Compute reference
+ return reference::fast_corners<T>(src, threshold, suppress_nonmax, border_mode, constant_border_value);
+ }
+
+ ArrayType _target{};
+ std::vector<KeyPoint> _reference{};
+};
+} // namespace validation
+} // namespace test
+} // namespace arm_compute
+#endif /* ARM_COMPUTE_TEST_FAST_CORNERS_FIXTURE */
diff --git a/tests/validation/reference/FastCorners.cpp b/tests/validation/reference/FastCorners.cpp
new file mode 100644
index 0000000..ae70e36
--- /dev/null
+++ b/tests/validation/reference/FastCorners.cpp
@@ -0,0 +1,252 @@
+/*
+ * Copyright (c) 2017-2018 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 "FastCorners.h"
+
+#include "Utils.h"
+#include "tests/validation/Helpers.h"
+#include "tests/validation/reference/NonMaximaSuppression.h"
+
+#include "tests/framework/Asserts.h"
+#include <iomanip>
+
+namespace arm_compute
+{
+namespace test
+{
+namespace validation
+{
+namespace reference
+{
+namespace
+{
+constexpr unsigned int bresenham_radius = 3;
+constexpr unsigned int bresenham_count = 16;
+
+/*
+ Offsets of the 16 pixels in the Bresenham circle of radius 3 centered on P
+ . . . . . . . . .
+ . . . F 0 1 . . .
+ . . E . . . 2 . .
+ . D . . . . . 3 .
+ . C . . P . . 4 .
+ . B . . . . . 5 .
+ . . A . . . 6 . .
+ . . . 9 8 7 . . .
+ . . . . . . . . .
+*/
+const std::array<std::array<int, 2>, 16> circle_offsets =
+{
+ {
+ { { 0, -3 } }, // 0 - pixel #1
+ { { 1, -3 } }, // 1 - pixel #2
+ { { 2, -2 } }, // 2 - pixel #3
+ { { 3, -1 } }, // 3 - pixel #4
+ { { 3, 0 } }, // 4 - pixel #5
+ { { 3, 1 } }, // 5 - pixel #6
+ { { 2, 2 } }, // 6 - pixel #7
+ { { 1, 3 } }, // 7 - pixel #8
+ { { 0, 3 } }, // 8 - pixel #9
+ { { -1, 3 } }, // 9 - pixel #10
+ { { -2, 2 } }, // A - pixel #11
+ { { -3, 1 } }, // B - pixel #12
+ { { -3, 0 } }, // C - pixel #13
+ { { -3, -1 } }, // D - pixel #14
+ { { -2, -2 } }, // E - pixel #15
+ { { -1, -3 } } // F - pixel #16
+ }
+};
+
+/*
+ FAST-9 bit masks for consecutive points surrounding a corner candidate
+
+ // Speed-up rejection of non-corners by checking pixels 1, 9, then 5, 13...
+ const std::array<unsigned int, 16> fast9_order = { { 0, 8, 4, 12, 1, 2, 3, 5, 6, 7, 9, 10, 11, 13, 14, 15 } };
+*/
+const std::array<uint16_t, 16> fast9_masks =
+{
+ {
+ 0x01FF, // 0000 0001 1111 1111
+ 0x03FE, // 0000 0011 1111 1110
+ 0x07FC, // 0000 0111 1111 1100
+ 0x0FF8, // 0000 1111 1111 1000
+ 0x1FF0, // 0001 1111 1111 0000
+ 0x3FE0, // 0011 1111 1110 0000
+ 0x7FC0, // 0111 1111 1100 0000
+ 0xFF80, // 1111 1111 1000 0000
+ 0xFF01, // 1111 1111 0000 0001
+ 0xFE03, // 1111 1110 0000 0011
+ 0xFC07, // 1111 1100 0000 0111
+ 0xF80F, // 1111 1000 0000 1111
+ 0xF01F, // 1111 0000 0001 1111
+ 0xE03F, // 1110 0000 0011 1111
+ 0xC07F, // 1100 0000 0111 1111
+ 0x80FF // 1000 0000 1111 1111
+ }
+};
+
+inline bool in_range(const uint8_t low, const uint8_t high, const uint8_t val)
+{
+ return low <= val && val <= high;
+}
+
+template <typename T, typename F>
+bool is_a_corner(const Coordinates &candidate, const SimpleTensor<T> &src, uint8_t threshold, BorderMode border_mode, T constant_border_value, F intensity_at)
+{
+ const auto intensity_p = tensor_elem_at(src, candidate, border_mode, constant_border_value);
+ const auto thresh_bright = intensity_p + threshold;
+ const auto thresh_dark = intensity_p - threshold;
+
+ // Quicker rejection of non-corner points by checking pixels 1, 9 then 5, 13 around the candidate
+ const auto p1 = intensity_at(candidate, 0);
+ const auto p9 = intensity_at(candidate, 8);
+ const auto p5 = intensity_at(candidate, 4);
+ const auto p13 = intensity_at(candidate, 12);
+
+ if((in_range(thresh_dark, thresh_bright, p1) && in_range(thresh_dark, thresh_bright, p9))
+ || (in_range(thresh_dark, thresh_bright, p5) && in_range(thresh_dark, thresh_bright, p13)))
+ {
+ return false;
+ }
+
+ uint16_t mask_bright = 0;
+ uint16_t mask_dark = 0;
+
+ // Set bits of the brighter/darker pixels mask accordingly
+ for(unsigned int n = 0; n < bresenham_count; ++n)
+ {
+ T intensity_n = intensity_at(candidate, n);
+ mask_bright |= (intensity_n > thresh_bright) << n;
+ mask_dark |= (intensity_n < thresh_dark) << n;
+ }
+
+ // Mark as corner candidate if brighter/darker pixel sequence satisfies any one of the FAST-9 masks
+ const auto found = std::find_if(fast9_masks.begin(), fast9_masks.end(), [&](decltype(fast9_masks[0]) mask)
+ {
+ return (mask_bright & mask) == mask || (mask_dark & mask) == mask;
+ });
+
+ return found != fast9_masks.end();
+}
+} // namespace
+
+template <typename T>
+std::vector<KeyPoint> fast_corners(const SimpleTensor<T> &src, float input_thresh, bool suppress_nonmax, BorderMode border_mode, T constant_border_value)
+{
+ // Get intensity of pixel at given index on the Bresenham circle around a candidate point
+ const auto intensity_at = [&](const Coordinates & point, const unsigned int idx)
+ {
+ const auto offs = circle_offsets[idx];
+ Coordinates px{ point.x() + offs[0], point.y() + offs[1] };
+ return tensor_elem_at(src, px, border_mode, constant_border_value);
+ };
+
+ const auto threshold = static_cast<uint8_t>(input_thresh);
+ std::vector<KeyPoint> corners;
+
+ // 1. Detect potential corners (the segment test)
+ std::vector<Coordinates> corner_candidates;
+ SimpleTensor<float> scores(src.shape(), DataType::F32);
+ ValidRegion valid_region = shape_to_valid_region(src.shape(), BorderMode::UNDEFINED == border_mode, BorderSize(bresenham_radius));
+
+ for(int i = 0; i < src.num_elements(); ++i)
+ {
+ Coordinates candidate = index2coord(src.shape(), i);
+ scores[i] = 0.f;
+ if(!is_in_valid_region(valid_region, candidate))
+ {
+ continue;
+ }
+
+ if(is_a_corner(candidate, src, threshold, border_mode, constant_border_value, intensity_at))
+ {
+ corner_candidates.emplace_back(candidate);
+ scores[i] = 1.f;
+ }
+ }
+
+ // 2. Calculate corner scores if non-maxima suppression
+ // The corner response Cp function is defined as the largest threshold t for which the pixel p remains a corner
+ if(suppress_nonmax)
+ {
+ for(const auto &candidate : corner_candidates)
+ {
+ const auto index = coord2index(scores.shape(), candidate);
+
+#ifdef CALC_CORNER_RESPONSE_BY_ITERATION
+ auto response = threshold;
+ while(is_a_corner(candidate, src, response, border_mode, constant_border_value, intensity_at))
+ {
+ response += 1;
+ }
+ scores[index] = response - 1;
+#else // CALC_CORNER_RESPONSE_BY_ITERATION
+ uint8_t thresh_max = UINT8_MAX;
+ uint8_t thresh_min = threshold;
+ uint8_t response = (thresh_min + thresh_max) / 2;
+
+ while(thresh_max - thresh_min > 1)
+ {
+ response = (thresh_min + thresh_max) / 2;
+ if(is_a_corner(candidate, src, response, border_mode, constant_border_value, intensity_at))
+ {
+ thresh_min = response; // raise threshold
+ }
+ else
+ {
+ thresh_max = response; // lower threshold
+ }
+ }
+ scores[index] = thresh_min;
+#endif // CALC_CORNER_RESPONSE_BY_ITERATION
+ }
+
+ scores = non_maxima_suppression(scores, border_mode, static_cast<float>(constant_border_value));
+ valid_region = shape_to_valid_region(scores.shape(), BorderMode::UNDEFINED == border_mode, BorderSize(bresenham_radius + 1));
+ }
+
+ for(const auto &candidate : corner_candidates)
+ {
+ const auto index = coord2index(scores.shape(), candidate);
+ if(scores[index] > 0.f && is_in_valid_region(valid_region, candidate))
+ {
+ KeyPoint corner;
+ corner.x = candidate.x();
+ corner.y = candidate.y();
+ corner.strength = scores[index];
+ corner.tracking_status = 1;
+ corner.scale = 0.f;
+ corner.orientation = 0.f;
+ corner.error = 0.f;
+ corners.emplace_back(corner);
+ }
+ }
+
+ return corners;
+}
+
+template std::vector<KeyPoint> fast_corners(const SimpleTensor<uint8_t> &src, float threshold, bool suppress_nonmax, BorderMode border_mode, uint8_t constant_border_value);
+} // namespace reference
+} // namespace validation
+} // namespace test
+} // namespace arm_compute
diff --git a/tests/validation/reference/FastCorners.h b/tests/validation/reference/FastCorners.h
new file mode 100644
index 0000000..3d070d9
--- /dev/null
+++ b/tests/validation/reference/FastCorners.h
@@ -0,0 +1,44 @@
+/*
+ * Copyright (c) 2017-2018 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.
+ */
+#ifndef __ARM_COMPUTE_TEST_FAST_CORNERS_H__
+#define __ARM_COMPUTE_TEST_FAST_CORNERS_H__
+
+#include "arm_compute/core/Types.h"
+#include "tests/SimpleTensor.h"
+
+namespace arm_compute
+{
+namespace test
+{
+namespace validation
+{
+namespace reference
+{
+template <typename T>
+std::vector<KeyPoint> fast_corners(const SimpleTensor<T> &src, float input_thresh, bool suppress_nonmax, BorderMode border_mode, T constant_border_value = 0);
+} // namespace reference
+} // namespace validation
+} // namespace test
+} // namespace arm_compute
+#endif /* __ARM_COMPUTE_TEST_FAST_CORNERS_H__ */
diff --git a/tests/validation/reference/NonMaximaSuppression.cpp b/tests/validation/reference/NonMaximaSuppression.cpp
index eab5cec..34c6c07 100644
--- a/tests/validation/reference/NonMaximaSuppression.cpp
+++ b/tests/validation/reference/NonMaximaSuppression.cpp
@@ -1,5 +1,5 @@
/*
- * Copyright (c) 2017 ARM Limited.
+ * Copyright (c) 2017-2018 ARM Limited.
*
* SPDX-License-Identifier: MIT
*
@@ -69,6 +69,7 @@
}
template SimpleTensor<float> non_maxima_suppression(const SimpleTensor<float> &src, BorderMode border_mode, float constant_border_value);
+template SimpleTensor<uint8_t> non_maxima_suppression(const SimpleTensor<uint8_t> &src, BorderMode border_mode, uint8_t constant_border_value);
} // namespace reference
} // namespace validation
} // namespace test