| /* |
| * 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 "arm_compute/runtime/CL/functions/CLOpticalFlow.h" |
| |
| #include "arm_compute/core/CL/ICLTensor.h" |
| #include "arm_compute/core/CL/kernels/CLLKTrackerKernel.h" |
| #include "arm_compute/core/Error.h" |
| #include "arm_compute/core/TensorInfo.h" |
| #include "arm_compute/core/Window.h" |
| #include "arm_compute/runtime/CL/CLPyramid.h" |
| #include "arm_compute/runtime/CL/CLScheduler.h" |
| #include "arm_compute/runtime/CL/CLTensor.h" |
| #include "arm_compute/runtime/CL/CLTensorAllocator.h" |
| #include "arm_compute/runtime/CL/functions/CLScharr3x3.h" |
| #include "support/ToolchainSupport.h" |
| |
| using namespace arm_compute; |
| |
| CLOpticalFlow::CLOpticalFlow(std::shared_ptr<IMemoryManager> memory_manager) // NOLINT |
| : _memory_group(std::move(memory_manager)), |
| _tracker_init_kernel(), |
| _tracker_stage0_kernel(), |
| _tracker_stage1_kernel(), |
| _tracker_finalize_kernel(), |
| _func_scharr(), |
| _scharr_gx(), |
| _scharr_gy(), |
| _old_points(nullptr), |
| _new_points_estimates(nullptr), |
| _new_points(nullptr), |
| _old_points_internal(), |
| _new_points_internal(), |
| _coefficient_table(), |
| _old_values(), |
| _num_levels(0) |
| { |
| } |
| |
| void CLOpticalFlow::configure(const CLPyramid *old_pyramid, const CLPyramid *new_pyramid, |
| const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points, |
| Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate, |
| BorderMode border_mode, uint8_t constant_border_value) |
| { |
| ARM_COMPUTE_ERROR_ON(nullptr == old_pyramid); |
| ARM_COMPUTE_ERROR_ON(nullptr == new_pyramid); |
| ARM_COMPUTE_ERROR_ON(nullptr == old_points); |
| ARM_COMPUTE_ERROR_ON(nullptr == new_points_estimates); |
| ARM_COMPUTE_ERROR_ON(nullptr == new_points); |
| ARM_COMPUTE_ERROR_ON(old_pyramid->info()->num_levels() != new_pyramid->info()->num_levels()); |
| ARM_COMPUTE_ERROR_ON(0 == old_pyramid->info()->num_levels()); |
| ARM_COMPUTE_ERROR_ON(old_pyramid->info()->width() != new_pyramid->info()->width()); |
| ARM_COMPUTE_ERROR_ON(old_pyramid->info()->height() != new_pyramid->info()->height()); |
| ARM_COMPUTE_ERROR_ON(use_initial_estimate && old_points->num_values() != new_points_estimates->num_values()); |
| |
| // Set member variables |
| _old_points = old_points; |
| _new_points_estimates = new_points_estimates; |
| _new_points = new_points; |
| _num_levels = old_pyramid->info()->num_levels(); |
| |
| const float pyr_scale = old_pyramid->info()->scale(); |
| const int list_length = old_points->num_values(); |
| const int old_values_list_length = list_length * window_dimension * window_dimension; |
| |
| // Create kernels and tensors |
| _tracker_init_kernel = arm_compute::support::cpp14::make_unique<CLLKTrackerInitKernel[]>(_num_levels); |
| _tracker_stage0_kernel = arm_compute::support::cpp14::make_unique<CLLKTrackerStage0Kernel[]>(_num_levels); |
| _tracker_stage1_kernel = arm_compute::support::cpp14::make_unique<CLLKTrackerStage1Kernel[]>(_num_levels); |
| _func_scharr = arm_compute::support::cpp14::make_unique<CLScharr3x3[]>(_num_levels); |
| _scharr_gx = arm_compute::support::cpp14::make_unique<CLTensor[]>(_num_levels); |
| _scharr_gy = arm_compute::support::cpp14::make_unique<CLTensor[]>(_num_levels); |
| |
| // Create internal keypoint arrays |
| _old_points_internal = arm_compute::support::cpp14::make_unique<CLLKInternalKeypointArray>(list_length); |
| _old_points_internal->resize(list_length); |
| _new_points_internal = arm_compute::support::cpp14::make_unique<CLLKInternalKeypointArray>(list_length); |
| _new_points_internal->resize(list_length); |
| _coefficient_table = arm_compute::support::cpp14::make_unique<CLCoefficientTableArray>(list_length); |
| _coefficient_table->resize(list_length); |
| _old_values = arm_compute::support::cpp14::make_unique<CLOldValueArray>(old_values_list_length); |
| _old_values->resize(old_values_list_length); |
| _new_points->resize(list_length); |
| |
| for(size_t i = 0; i < _num_levels; ++i) |
| { |
| // Get images from the ith level of old and right pyramid |
| ICLImage *old_ith_input = old_pyramid->get_pyramid_level(i); |
| ICLImage *new_ith_input = new_pyramid->get_pyramid_level(i); |
| |
| // Get width and height of images |
| const unsigned int width_ith = old_ith_input->info()->dimension(0); |
| const unsigned int height_ith = new_ith_input->info()->dimension(1); |
| |
| // Initialize Scharr tensors |
| TensorInfo tensor_info(TensorShape(width_ith, height_ith), 1, DataType::S16); |
| _scharr_gx[i].allocator()->init(tensor_info); |
| _scharr_gy[i].allocator()->init(tensor_info); |
| |
| // Manage intermediate buffers |
| _memory_group.manage(_scharr_gx.get() + i); |
| _memory_group.manage(_scharr_gy.get() + i); |
| |
| // Init Scharr kernel |
| _func_scharr[i].configure(old_ith_input, &_scharr_gx[i], &_scharr_gy[i], border_mode, constant_border_value); |
| |
| // Init Lucas-Kanade init kernel |
| _tracker_init_kernel[i].configure(old_points, new_points_estimates, _old_points_internal.get(), _new_points_internal.get(), use_initial_estimate, i, _num_levels, pyr_scale); |
| |
| // Init Lucas-Kanade stage0 kernel |
| _tracker_stage0_kernel[i].configure(old_ith_input, &_scharr_gx[i], &_scharr_gy[i], |
| _old_points_internal.get(), _new_points_internal.get(), _coefficient_table.get(), _old_values.get(), |
| window_dimension, i); |
| |
| // Init Lucas-Kanade stage1 kernel |
| _tracker_stage1_kernel[i].configure(new_ith_input, _new_points_internal.get(), _coefficient_table.get(), _old_values.get(), |
| termination, epsilon, num_iterations, window_dimension, i); |
| |
| // Allocate intermediate buffers |
| _scharr_gx[i].allocator()->allocate(); |
| _scharr_gy[i].allocator()->allocate(); |
| } |
| |
| // Finalize Lucas-Kanade |
| _tracker_finalize_kernel.configure(_new_points_internal.get(), new_points); |
| } |
| |
| void CLOpticalFlow::run() |
| { |
| ARM_COMPUTE_ERROR_ON_MSG(_num_levels == 0, "Unconfigured function"); |
| |
| _memory_group.acquire(); |
| |
| for(unsigned int level = _num_levels; level > 0; --level) |
| { |
| // Run Scharr kernel |
| _func_scharr[level - 1].run(); |
| |
| // Run Lucas-Kanade init kernel |
| CLScheduler::get().enqueue(_tracker_init_kernel[level - 1]); |
| |
| // Run Lucas-Kanade stage0 kernel |
| CLScheduler::get().enqueue(_tracker_stage0_kernel[level - 1]); |
| |
| // Run Lucas-Kanade stage1 kernel |
| CLScheduler::get().enqueue(_tracker_stage1_kernel[level - 1]); |
| } |
| |
| CLScheduler::get().enqueue(_tracker_finalize_kernel, true); |
| |
| _memory_group.release(); |
| } |