| /* |
| * 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/CLHarrisCorners.h" |
| |
| #include "arm_compute/core/CL/OpenCL.h" |
| #include "arm_compute/core/CL/kernels/CLFillBorderKernel.h" |
| #include "arm_compute/core/CL/kernels/CLHarrisCornersKernel.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/CL/functions/CLSobel3x3.h" |
| #include "arm_compute/runtime/CL/functions/CLSobel5x5.h" |
| #include "arm_compute/runtime/CL/functions/CLSobel7x7.h" |
| #include "arm_compute/runtime/ITensorAllocator.h" |
| #include "arm_compute/runtime/Scheduler.h" |
| #include "support/ToolchainSupport.h" |
| |
| #include <cmath> |
| #include <utility> |
| |
| using namespace arm_compute; |
| |
| CLHarrisCorners::CLHarrisCorners(std::shared_ptr<IMemoryManager> memory_manager) // NOLINT |
| : _memory_group(std::move(memory_manager)), |
| _sobel(nullptr), |
| _harris_score(), |
| _non_max_suppr(), |
| _candidates(), |
| _sort_euclidean(), |
| _border_gx(), |
| _border_gy(), |
| _gx(), |
| _gy(), |
| _score(), |
| _nonmax(), |
| _corners_list(nullptr), |
| _num_corner_candidates(0), |
| _corners(nullptr) |
| { |
| } |
| |
| void CLHarrisCorners::configure(ICLImage *input, float threshold, float min_dist, |
| float sensitivity, int32_t gradient_size, int32_t block_size, ICLKeyPointArray *corners, |
| BorderMode border_mode, uint8_t constant_border_value, bool use_fp16) |
| { |
| ARM_COMPUTE_UNUSED(use_fp16); //TODO(COMPMID-772): Add half float support |
| ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8); |
| ARM_COMPUTE_ERROR_ON(!(block_size == 3 || block_size == 5 || block_size == 7)); |
| ARM_COMPUTE_ERROR_ON(nullptr == corners); |
| |
| _corners = corners; |
| |
| const TensorShape shape = input->info()->tensor_shape(); |
| const DataType dt = (gradient_size < 7) ? DataType::S16 : DataType::S32; |
| TensorInfo tensor_info(shape, 1, dt); |
| |
| _gx.allocator()->init(tensor_info); |
| _gy.allocator()->init(tensor_info); |
| |
| TensorInfo info_f32(shape, 1, DataType::F32); |
| _score.allocator()->init(info_f32); |
| _nonmax.allocator()->init(info_f32); |
| |
| _corners_list = arm_compute::support::cpp14::make_unique<InternalKeypoint[]>(shape.x() * shape.y()); |
| |
| // Manage intermediate buffers |
| _memory_group.manage(&_gx); |
| _memory_group.manage(&_gy); |
| |
| /* Set/init Sobel kernel accordingly with gradient_size */ |
| switch(gradient_size) |
| { |
| case 3: |
| { |
| auto k = arm_compute::support::cpp14::make_unique<CLSobel3x3>(); |
| k->configure(input, &_gx, &_gy, border_mode, constant_border_value); |
| _sobel = std::move(k); |
| break; |
| } |
| case 5: |
| { |
| auto k = arm_compute::support::cpp14::make_unique<CLSobel5x5>(); |
| k->configure(input, &_gx, &_gy, border_mode, constant_border_value); |
| _sobel = std::move(k); |
| break; |
| } |
| case 7: |
| { |
| auto k = arm_compute::support::cpp14::make_unique<CLSobel7x7>(); |
| k->configure(input, &_gx, &_gy, border_mode, constant_border_value); |
| _sobel = std::move(k); |
| break; |
| } |
| default: |
| ARM_COMPUTE_ERROR("Gradient size not implemented"); |
| } |
| |
| // Normalization factor |
| const float norm_factor = 1.0f / (255.0f * pow(4.0f, gradient_size / 2) * block_size); |
| const float pow4_normalization_factor = pow(norm_factor, 4); |
| |
| // Manage intermediate buffers |
| _memory_group.manage(&_score); |
| |
| // Set/init Harris Score kernel accordingly with block_size |
| _harris_score.configure(&_gx, &_gy, &_score, block_size, pow4_normalization_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); |
| |
| // Configure border filling using harris score kernel's block size |
| _border_gx.configure(&_gx, _harris_score.border_size(), border_mode, PixelValue(constant_border_value)); |
| _border_gy.configure(&_gy, _harris_score.border_size(), border_mode, PixelValue(constant_border_value)); |
| |
| // Allocate intermediate buffers |
| _gx.allocator()->allocate(); |
| _gy.allocator()->allocate(); |
| |
| // Manage intermediate buffers |
| _memory_group.manage(&_nonmax); |
| |
| // Init non-maxima suppression function |
| _non_max_suppr.configure(&_score, &_nonmax, border_mode); |
| |
| // Allocate intermediate buffers |
| _score.allocator()->allocate(); |
| |
| // Init corner candidates kernel |
| _candidates.configure(&_nonmax, _corners_list.get(), &_num_corner_candidates); |
| |
| // Allocate intermediate buffers |
| _nonmax.allocator()->allocate(); |
| |
| // Init euclidean distance |
| _sort_euclidean.configure(_corners_list.get(), _corners, &_num_corner_candidates, min_dist); |
| } |
| |
| void CLHarrisCorners::run() |
| { |
| ARM_COMPUTE_ERROR_ON_MSG(_sobel == nullptr, "Unconfigured function"); |
| |
| _memory_group.acquire(); |
| |
| // Init to 0 number of corner candidates |
| _num_corner_candidates = 0; |
| |
| // Run Sobel kernel |
| _sobel->run(); |
| |
| // Fill border before harris score kernel |
| CLScheduler::get().enqueue(_border_gx, false); |
| CLScheduler::get().enqueue(_border_gy, false); |
| |
| // Run harris score kernel |
| CLScheduler::get().enqueue(_harris_score, false); |
| |
| // Run non-maxima suppression |
| _non_max_suppr.run(); |
| |
| // Run corner candidate kernel |
| _nonmax.map(true); |
| Scheduler::get().schedule(&_candidates, Window::DimY); |
| _nonmax.unmap(); |
| |
| _corners->map(CLScheduler::get().queue(), true); |
| Scheduler::get().schedule(&_sort_euclidean, Window::DimY); |
| _corners->unmap(CLScheduler::get().queue()); |
| |
| _memory_group.release(); |
| } |