COMPMID-344 Updated doxygen
Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae
diff --git a/src/core/CPP/kernels/CPPCornerCandidatesKernel.cpp b/src/core/CPP/kernels/CPPCornerCandidatesKernel.cpp
new file mode 100644
index 0000000..884da28
--- /dev/null
+++ b/src/core/CPP/kernels/CPPCornerCandidatesKernel.cpp
@@ -0,0 +1,110 @@
+/*
+ * 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/core/CPP/kernels/CPPCornerCandidatesKernel.h"
+
+#include "arm_compute/core/Coordinates.h"
+#include "arm_compute/core/Error.h"
+#include "arm_compute/core/Helpers.h"
+#include "arm_compute/core/IAccessWindow.h"
+#include "arm_compute/core/TensorInfo.h"
+#include "arm_compute/core/Types.h"
+#include "arm_compute/core/Utils.h"
+#include "arm_compute/core/Validate.h"
+#include "arm_compute/core/Window.h"
+
+using namespace arm_compute;
+
+namespace
+{
+inline void check_corner(float x, float y, float strength, InternalKeypoint *output, int32_t *num_corner_candidates, std::mutex *corner_candidates_mutex)
+{
+ if(strength != 0.0f)
+ {
+ /* Set index and update num_corner_candidate */
+ std::unique_lock<std::mutex> lock(*corner_candidates_mutex);
+
+ const int32_t idx = *num_corner_candidates;
+
+ *num_corner_candidates += 1;
+
+ lock.unlock();
+
+ /* Add keypoint */
+ output[idx] = std::make_tuple(x, y, strength);
+ }
+}
+
+inline void corner_candidates(const float *__restrict input, InternalKeypoint *__restrict output, int32_t x, int32_t y, int32_t *num_corner_candidates, std::mutex *corner_candidates_mutex)
+{
+ check_corner(x + 0, y, *(input + 0), output, num_corner_candidates, corner_candidates_mutex);
+ check_corner(x + 1, y, *(input + 1), output, num_corner_candidates, corner_candidates_mutex);
+ check_corner(x + 2, y, *(input + 2), output, num_corner_candidates, corner_candidates_mutex);
+ check_corner(x + 3, y, *(input + 3), output, num_corner_candidates, corner_candidates_mutex);
+}
+} // namespace
+
+bool keypoint_compare(const InternalKeypoint &lhs, const InternalKeypoint &rhs)
+{
+ return std::get<2>(lhs) > std::get<2>(rhs);
+}
+
+CPPCornerCandidatesKernel::CPPCornerCandidatesKernel()
+ : _num_corner_candidates(nullptr), _corner_candidates_mutex(), _input(nullptr), _output(nullptr)
+{
+}
+
+void CPPCornerCandidatesKernel::configure(const IImage *input, InternalKeypoint *output, int32_t *num_corner_candidates)
+{
+ ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input);
+ ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::F32);
+ ARM_COMPUTE_ERROR_ON(nullptr == output);
+ ARM_COMPUTE_ERROR_ON(nullptr == num_corner_candidates);
+ ARM_COMPUTE_ERROR_ON(*num_corner_candidates != 0);
+
+ _input = input;
+ _output = output;
+ _num_corner_candidates = num_corner_candidates;
+
+ const unsigned int num_elems_processed_per_iteration = 4;
+
+ // Configure kernel window
+ Window win = calculate_max_window(*input->info(), Steps(num_elems_processed_per_iteration));
+
+ update_window_and_padding(win, AccessWindowHorizontal(input->info(), 0, num_elems_processed_per_iteration));
+
+ INEKernel::configure(win);
+}
+
+void CPPCornerCandidatesKernel::run(const Window &window)
+{
+ ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
+ ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window);
+ Iterator input(_input, window);
+
+ execute_window_loop(window, [&](const Coordinates & id)
+ {
+ corner_candidates(reinterpret_cast<float *>(input.ptr()), &_output[0], id.x(), id.y(), _num_corner_candidates, &_corner_candidates_mutex);
+ },
+ input);
+}
diff --git a/src/core/CPP/kernels/CPPDetectionWindowNonMaximaSuppressionKernel.cpp b/src/core/CPP/kernels/CPPDetectionWindowNonMaximaSuppressionKernel.cpp
new file mode 100644
index 0000000..62bfdd6
--- /dev/null
+++ b/src/core/CPP/kernels/CPPDetectionWindowNonMaximaSuppressionKernel.cpp
@@ -0,0 +1,120 @@
+/*
+ * 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/core/CPP/kernels/CPPDetectionWindowNonMaximaSuppressionKernel.h"
+
+#include "arm_compute/core/Error.h"
+#include "arm_compute/core/Helpers.h"
+
+#include <algorithm>
+#include <cmath>
+
+using namespace arm_compute;
+
+namespace
+{
+bool compare_detection_window(const DetectionWindow &lhs, const DetectionWindow &rhs)
+{
+ return lhs.score > rhs.score;
+}
+} // namespace
+
+CPPDetectionWindowNonMaximaSuppressionKernel::CPPDetectionWindowNonMaximaSuppressionKernel()
+ : _input_output(nullptr), _min_distance(0.0f)
+{
+}
+
+bool CPPDetectionWindowNonMaximaSuppressionKernel::is_parallelisable() const
+{
+ return false;
+}
+
+void CPPDetectionWindowNonMaximaSuppressionKernel::configure(IDetectionWindowArray *input_output, float min_distance)
+{
+ ARM_COMPUTE_ERROR_ON(nullptr == input_output);
+
+ _input_output = input_output;
+ _min_distance = min_distance;
+
+ IKernel::configure(Window()); // Default 1 iteration window
+}
+
+void CPPDetectionWindowNonMaximaSuppressionKernel::run(const Window &window)
+{
+ ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
+ ARM_COMPUTE_ERROR_ON_MISMATCHING_WINDOWS(IKernel::window(), window);
+ ARM_COMPUTE_ERROR_ON(_input_output->buffer() == nullptr);
+
+ const size_t num_candidates = _input_output->num_values();
+ size_t num_detections = 0;
+
+ // Sort list of candidates
+ std::sort(_input_output->buffer(), _input_output->buffer() + num_candidates, compare_detection_window);
+
+ const float min_distance_pow2 = _min_distance * _min_distance;
+
+ // Euclidean distance
+ for(size_t i = 0; i < num_candidates; ++i)
+ {
+ if(0.0f != _input_output->at(i).score)
+ {
+ DetectionWindow cur;
+ cur.x = _input_output->at(i).x;
+ cur.y = _input_output->at(i).y;
+ cur.width = _input_output->at(i).width;
+ cur.height = _input_output->at(i).height;
+ cur.idx_class = _input_output->at(i).idx_class;
+ cur.score = _input_output->at(i).score;
+
+ // Store window
+ _input_output->at(num_detections) = cur;
+
+ ++num_detections;
+
+ const float xc = cur.x + cur.width * 0.5f;
+ const float yc = cur.y + cur.height * 0.5f;
+
+ for(size_t k = i + 1; k < num_candidates; ++k)
+ {
+ const float xn = _input_output->at(k).x + _input_output->at(k).width * 0.5f;
+ const float yn = _input_output->at(k).y + _input_output->at(k).height * 0.5f;
+
+ const float dx = std::fabs(xn - xc);
+ const float dy = std::fabs(yn - yc);
+
+ if(dx < _min_distance && dy < _min_distance)
+ {
+ const float d = dx * dx + dy * dy;
+
+ if(d < min_distance_pow2)
+ {
+ // Invalidate keypoint
+ _input_output->at(k).score = 0.0f;
+ }
+ }
+ }
+ }
+ }
+
+ _input_output->resize(num_detections);
+}
diff --git a/src/core/CPP/kernels/CPPSortEuclideanDistanceKernel.cpp b/src/core/CPP/kernels/CPPSortEuclideanDistanceKernel.cpp
new file mode 100644
index 0000000..09d3ccf
--- /dev/null
+++ b/src/core/CPP/kernels/CPPSortEuclideanDistanceKernel.cpp
@@ -0,0 +1,115 @@
+/*
+ * 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/core/CPP/kernels/CPPSortEuclideanDistanceKernel.h"
+
+#include "arm_compute/core/Coordinates.h"
+#include "arm_compute/core/Error.h"
+#include "arm_compute/core/Helpers.h"
+#include "arm_compute/core/TensorInfo.h"
+#include "arm_compute/core/Types.h"
+#include "arm_compute/core/Utils.h"
+#include "arm_compute/core/Validate.h"
+#include "arm_compute/core/Window.h"
+
+#include <cmath>
+
+using namespace arm_compute;
+
+namespace
+{
+bool keypoint_compare(const InternalKeypoint &lhs, const InternalKeypoint &rhs)
+{
+ return std::get<2>(lhs) > std::get<2>(rhs);
+}
+} // namespace
+
+CPPSortEuclideanDistanceKernel::CPPSortEuclideanDistanceKernel()
+ : _num_corner_candidates(), _min_distance(0.0f), _in_out(nullptr), _output(nullptr)
+{
+}
+
+void CPPSortEuclideanDistanceKernel::configure(InternalKeypoint *in_out, IKeyPointArray *output, const int32_t *num_corner_candidates, float min_distance)
+{
+ ARM_COMPUTE_ERROR_ON(nullptr == in_out);
+ ARM_COMPUTE_ERROR_ON(nullptr == output);
+ ARM_COMPUTE_ERROR_ON(nullptr == num_corner_candidates);
+ ARM_COMPUTE_ERROR_ON(!((min_distance > 0) && (min_distance <= 30)));
+
+ _in_out = in_out;
+ _output = output;
+ _min_distance = min_distance * min_distance; // We compare squares of distances
+ _num_corner_candidates = num_corner_candidates;
+ ICPPKernel::configure(Window()); // Default 1 iteration window
+}
+
+bool CPPSortEuclideanDistanceKernel::is_parallelisable() const
+{
+ return false;
+}
+
+void CPPSortEuclideanDistanceKernel::run(const Window &window)
+{
+ ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
+ ARM_COMPUTE_ERROR_ON_MISMATCHING_WINDOWS(ICPPKernel::window(), window);
+
+ const int32_t num_corner_candidates = *_num_corner_candidates;
+
+ /* Sort list of corner candidates */
+ std::sort(_in_out, _in_out + num_corner_candidates, keypoint_compare);
+
+ /* Euclidean distance */
+ for(int32_t i = 0; i < num_corner_candidates; ++i)
+ {
+ if(std::get<2>(_in_out[i]) != 0.0f)
+ {
+ KeyPoint keypt;
+ const auto xc = std::get<0>(_in_out[i]);
+ const auto yc = std::get<1>(_in_out[i]);
+
+ keypt.x = xc;
+ keypt.y = yc;
+ keypt.strength = std::get<2>(_in_out[i]);
+ keypt.tracking_status = 1;
+
+ /* Store corner */
+ _output->push_back(keypt);
+ for(int32_t k = i + 1; k < num_corner_candidates; ++k)
+ {
+ const float dx = std::fabs(std::get<0>(_in_out[k]) - xc);
+ const float dy = std::fabs(std::get<1>(_in_out[k]) - yc);
+
+ if((dx < _min_distance) && (dy < _min_distance))
+ {
+ const float d = (dx * dx + dy * dy);
+
+ if(d < _min_distance)
+ {
+ /* Invalidate keypoint */
+ std::get<2>(_in_out[k]) = 0.0f;
+ }
+ }
+ }
+ }
+ }
+}