| /* |
| * Copyright (c) 2016-2018 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/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(std::shared_ptr<IMemoryManager> memory_manager) |
| : _memory_group(std::move(memory_manager)), |
| _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, ICLKeyPointArray *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); |
| |
| _memory_group.manage(&_output); |
| _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); |
| _memory_group.manage(&_suppr); |
| |
| _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(); |
| |
| _memory_group.acquire(); |
| |
| 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(); |
| |
| _memory_group.release(); |
| } |