| /* |
| * Copyright (c) 2019 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/NEON/NEFunctions.h" |
| |
| #include "arm_compute/core/Types.h" |
| #include "utils/ImageLoader.h" |
| #include "utils/Utils.h" |
| |
| #include <fstream> |
| #include <sstream> |
| #include <vector> |
| |
| using namespace arm_compute; |
| using namespace utils; |
| |
| class NeonOpticalFlowExample : public Example |
| { |
| public: |
| NeonOpticalFlowExample() |
| : input_points(100), output_points(100), point_estimates(100) |
| { |
| } |
| |
| bool do_setup(int argc, char **argv) override |
| { |
| if(argc < 5) |
| { |
| // Print help |
| std::cout << "Usage: ./build/neon_opticalflow [src_1st.ppm] [src_2nd.ppm] [keypoints] [estimates]\n\n"; |
| const unsigned int img_width = 64; |
| const unsigned int img_height = 64; |
| const unsigned int rect_x = 20; |
| const unsigned int rect_y = 40; |
| const unsigned int rect_s = 8; |
| const unsigned int offsetx = 24; |
| const unsigned int offsety = 3; |
| std::cout << "No input_image provided, creating test data:\n"; |
| std::cout << "\t Image src_1st = (" << img_width << "," << img_height << ")" << std::endl; |
| std::cout << "\t Image src_2nd = (" << img_width << "," << img_height << ")" << std::endl; |
| init_img(src_1st, img_width, img_height, rect_x, rect_y, rect_s); |
| init_img(src_2nd, img_width, img_height, rect_x + offsetx, rect_y + offsety, rect_s); |
| const int num_points = 4; |
| input_points.resize(num_points); |
| point_estimates.resize(num_points); |
| const std::array<unsigned int, num_points> tracking_coordsx = { rect_x - 1, rect_x, rect_x + 1, rect_x + 2 }; |
| const std::array<unsigned int, num_points> tracking_coordsy = { rect_y - 1, rect_y, rect_y + 1, rect_y + 2 }; |
| const std::array<unsigned int, num_points> estimate_coordsx = { rect_x + offsetx - 1, rect_x + offsetx, rect_x + offsetx + 1, rect_x + offsetx + 2 }; |
| const std::array<unsigned int, num_points> estimate_coordsy = { rect_y + offsety - 1, rect_y + offsety, rect_y + offsety + 1, rect_y + offsety + 2 }; |
| |
| for(int k = 0; k < num_points; ++k) |
| { |
| auto &keypoint = input_points.at(k); |
| keypoint.x = tracking_coordsx[k]; |
| keypoint.y = tracking_coordsy[k]; |
| keypoint.tracking_status = 1; |
| } |
| for(int k = 0; k < num_points; ++k) |
| { |
| auto &keypoint = point_estimates.at(k); |
| keypoint.x = estimate_coordsx[k]; |
| keypoint.y = estimate_coordsy[k]; |
| keypoint.tracking_status = 1; |
| } |
| } |
| else |
| { |
| load_ppm(argv[1], src_1st); |
| load_ppm(argv[2], src_2nd); |
| load_keypoints(argv[3], input_points); |
| load_keypoints(argv[4], point_estimates); |
| } |
| |
| print_points(input_points, "Tracking points : "); |
| print_points(point_estimates, "Estimates points : "); |
| |
| const unsigned int num_levels = 3; |
| // Initialise and allocate pyramids |
| PyramidInfo pyramid_info(num_levels, SCALE_PYRAMID_HALF, src_1st.info()->tensor_shape(), src_1st.info()->format()); |
| pyr_1st.init_auto_padding(pyramid_info); |
| pyr_2nd.init_auto_padding(pyramid_info); |
| |
| pyrf_1st.configure(&src_1st, &pyr_1st, BorderMode::UNDEFINED, 0); |
| pyrf_2nd.configure(&src_2nd, &pyr_2nd, BorderMode::UNDEFINED, 0); |
| |
| output_points.resize(input_points.num_values()); |
| |
| optkf.configure(&pyr_1st, &pyr_2nd, |
| &input_points, &point_estimates, &output_points, |
| Termination::TERM_CRITERIA_BOTH, 0.01f, 15, 5, true, BorderMode::UNDEFINED, 0); |
| |
| pyr_1st.allocate(); |
| pyr_2nd.allocate(); |
| |
| return true; |
| } |
| void do_run() override |
| { |
| //Execute the functions: |
| pyrf_1st.run(); |
| pyrf_2nd.run(); |
| optkf.run(); |
| } |
| void do_teardown() override |
| { |
| print_points(output_points, "Output points : "); |
| } |
| |
| private: |
| /** Loads the input keypoints from a file into an array |
| * |
| * @param[in] fn Filename containing the keypoints. Each line must have two values X Y. |
| * @param[out] img Reference to an unintialised KeyPointArray |
| */ |
| bool load_keypoints(const std::string &fn, KeyPointArray &array) |
| { |
| assert(!fn.empty()); |
| std::ifstream f(fn); |
| if(f.is_open()) |
| { |
| std::cout << "Reading points from " << fn << std::endl; |
| std::vector<KeyPoint> v; |
| for(std::string line; std::getline(f, line);) |
| { |
| std::stringstream ss(line); |
| std::string xcoord; |
| std::string ycoord; |
| getline(ss, xcoord, ' '); |
| getline(ss, ycoord, ' '); |
| KeyPoint kp; |
| kp.x = std::stoi(xcoord); |
| kp.y = std::stoi(ycoord); |
| kp.tracking_status = 1; |
| v.push_back(kp); |
| } |
| const int num_points = v.size(); |
| array.resize(num_points); |
| for(int k = 0; k < num_points; ++k) |
| { |
| auto &keypoint = array.at(k); |
| keypoint = v[k]; |
| } |
| return true; |
| } |
| else |
| { |
| std::cout << "Cannot open keypoints file " << fn << std::endl; |
| return false; |
| } |
| } |
| |
| /** Creates and Image and fills it with the ppm data from the file |
| * |
| * @param[in] fn PPM filename to be loaded |
| * @param[out] img Reference to an unintialised image instance |
| */ |
| bool load_ppm(const std::string &fn, Image &img) |
| { |
| assert(!fn.empty()); |
| PPMLoader ppm; |
| ppm.open(fn); |
| ppm.init_image(img, Format::U8); |
| img.allocator()->allocate(); |
| if(ppm.is_open()) |
| { |
| std::cout << "Reading image " << fn << std::endl; |
| ppm.fill_image(img); |
| return true; |
| } |
| else |
| { |
| std::cout << "Cannot open " << fn << std::endl; |
| return false; |
| } |
| } |
| /** Creates and Image and draws a square in the specified coordinares. |
| * |
| * @param[out] img Reference to an unintialised image instance |
| * @param[in] img_width Width of the image to be created |
| * @param[in] img_height Height of the image to be created |
| * @param[in] square_center_x Coordinate along x-axis to be used as the center for the square |
| * @param[in] square_center_y Coordinate along y-axis to be used as the center for the square |
| * @param[in] square_size Size in pixels to be used for the square |
| */ |
| void init_img(Image &img, unsigned int img_width, unsigned int img_height, |
| unsigned int square_center_x, unsigned int square_center_y, |
| unsigned int square_size) |
| { |
| img.allocator()->init(TensorInfo(img_width, img_height, Format::U8)); |
| img.allocator()->allocate(); |
| const unsigned int square_half = square_size / 2; |
| // assert the square is in the bounds of the image |
| assert(square_center_x > square_half && square_center_x + square_half < img_width); |
| assert(square_center_y > square_half && square_center_y + square_half < img_height); |
| // get ptr to the top left pixel for the squeare |
| std::fill(img.buffer(), img.buffer() + img_width * img_height, 0); |
| for(unsigned int i = 0; i < square_size; ++i) |
| { |
| for(unsigned int j = 0; j < square_size; ++j) |
| { |
| uint8_t *ptr = img.ptr_to_element(Coordinates(square_center_x - square_half + j, square_center_y - square_half + i)); |
| *ptr = 0xFF; |
| } |
| } |
| } |
| /** Prints an array of keypoints and an optional label |
| * |
| * @param[in] a Keypoint array to be printed |
| * @param[in] str Label to be printed before the array |
| */ |
| void print_points(const KeyPointArray &a, const std::string &str = "") |
| { |
| std::cout << str << std::endl; |
| for(unsigned int k = 0; k < a.num_values(); ++k) |
| { |
| auto kp = a.at(k); |
| std::cout << "\t " |
| << " (x,y) = (" << kp.x << "," << kp.y << ")"; |
| std::cout << " strength = " << kp.strength << " " |
| << " scale = " << kp.scale << " orientation " << kp.orientation << " status " << kp.tracking_status << " err = " << kp.error << std::endl; |
| } |
| } |
| |
| Pyramid pyr_1st{}; |
| Pyramid pyr_2nd{}; |
| NEGaussianPyramidHalf pyrf_1st{}; |
| NEGaussianPyramidHalf pyrf_2nd{}; |
| NEOpticalFlow optkf{}; |
| Image src_1st{}, src_2nd{}; |
| KeyPointArray input_points; |
| KeyPointArray output_points; |
| KeyPointArray point_estimates; |
| }; |
| |
| /** Main program for optical flow test |
| * |
| * @param[in] argc Number of arguments |
| * @param[in] argv Arguments ( [optional] Path to PPM image to process ) |
| */ |
| int main(int argc, char **argv) |
| { |
| return utils::run_example<NeonOpticalFlowExample>(argc, argv); |
| } |