COMPMID-344 Updated doxygen
Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae
diff --git a/src/core/NEON/kernels/NEHarrisCornersKernel.cpp b/src/core/NEON/kernels/NEHarrisCornersKernel.cpp
new file mode 100644
index 0000000..585676b
--- /dev/null
+++ b/src/core/NEON/kernels/NEHarrisCornersKernel.cpp
@@ -0,0 +1,1137 @@
+/*
+ * Copyright (c) 2016, 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/NEON/kernels/NEHarrisCornersKernel.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 <algorithm>
+#include <arm_neon.h>
+#include <cmath>
+#include <cstddef>
+
+using namespace arm_compute;
+
+#ifdef ARM_COMPUTE_ENABLE_FP16
+
+template class arm_compute::NEHarrisScoreFP16Kernel<3>;
+template class arm_compute::NEHarrisScoreFP16Kernel<5>;
+template class arm_compute::NEHarrisScoreFP16Kernel<7>;
+
+namespace fp16
+{
+inline float16x8_t harris_score(float16x8_t gx2, float16x8_t gy2, float16x8_t gxgy, float sensitivity, float strength_thresh)
+{
+ static const float16x8_t zero = vdupq_n_f16(0.f);
+
+ // Trace^2
+ float16x8_t trace2 = vaddq_f16(gx2, gy2);
+ trace2 = vmulq_f16(trace2, trace2);
+
+ // Det(A)
+ float16x8_t det = vmulq_f16(gx2, gy2);
+ det = vfmsq_f16(det, gxgy, gxgy);
+
+ // Det(A) - sensitivity * trace^2
+ const float16x8_t mc = vfmsq_f16(det, vdupq_n_f16(sensitivity), trace2);
+
+ // mc > strength_thresh
+ const uint16x8_t mask = vcgtq_f16(mc, vdupq_n_f16(strength_thresh));
+
+ return vbslq_f16(mask, mc, zero);
+}
+
+template <size_t block_size>
+inline void harris_score1xN_FLOAT_FLOAT_FLOAT(float16x8_t low_gx, float16x8_t low_gy, float16x8_t high_gx, float16x8_t high_gy, float16x8_t &gx2, float16x8_t &gy2, float16x8_t &gxgy,
+ float norm_factor)
+{
+ const float16x8_t norm_factor_fp16 = vdupq_n_f16(norm_factor);
+
+ // Normalize
+ low_gx = vmulq_f16(low_gx, norm_factor_fp16);
+ low_gy = vmulq_f16(low_gy, norm_factor_fp16);
+ high_gx = vmulq_f16(high_gx, norm_factor_fp16);
+ high_gy = vmulq_f16(high_gy, norm_factor_fp16);
+
+ float16x8_t gx = vextq_f16(low_gx, high_gx, 0);
+ float16x8_t gy = vextq_f16(low_gy, high_gy, 0);
+
+ gx2 = vfmaq_f16(gx2, gx, gx);
+ gy2 = vfmaq_f16(gy2, gy, gy);
+ gxgy = vfmaq_f16(gxgy, gx, gy);
+
+ gx = vextq_f16(low_gx, high_gx, 1);
+ gy = vextq_f16(low_gy, high_gy, 1);
+
+ gx2 = vfmaq_f16(gx2, gx, gx);
+ gy2 = vfmaq_f16(gy2, gy, gy);
+ gxgy = vfmaq_f16(gxgy, gx, gy);
+
+ gx = vextq_f16(low_gx, high_gx, 2);
+ gy = vextq_f16(low_gy, high_gy, 2);
+
+ gx2 = vfmaq_f16(gx2, gx, gx);
+ gy2 = vfmaq_f16(gy2, gy, gy);
+ gxgy = vfmaq_f16(gxgy, gx, gy);
+
+ if(block_size > 3)
+ {
+ gx = vextq_f16(low_gx, high_gx, 3);
+ gy = vextq_f16(low_gy, high_gy, 3);
+
+ gx2 = vfmaq_f16(gx2, gx, gx);
+ gy2 = vfmaq_f16(gy2, gy, gy);
+ gxgy = vfmaq_f16(gxgy, gx, gy);
+
+ gx = vextq_f16(low_gx, high_gx, 4);
+ gy = vextq_f16(low_gy, high_gy, 4);
+
+ gx2 = vfmaq_f16(gx2, gx, gx);
+ gy2 = vfmaq_f16(gy2, gy, gy);
+ gxgy = vfmaq_f16(gxgy, gx, gy);
+ }
+
+ if(block_size == 7)
+ {
+ gx = vextq_f16(low_gx, high_gx, 5);
+ gy = vextq_f16(low_gy, high_gy, 5);
+
+ gx2 = vfmaq_f16(gx2, gx, gx);
+ gy2 = vfmaq_f16(gy2, gy, gy);
+ gxgy = vfmaq_f16(gxgy, gx, gy);
+
+ gx = vextq_f16(low_gx, high_gx, 6);
+ gy = vextq_f16(low_gy, high_gy, 6);
+
+ gx2 = vfmaq_f16(gx2, gx, gx);
+ gy2 = vfmaq_f16(gy2, gy, gy);
+ gxgy = vfmaq_f16(gxgy, gx, gy);
+ }
+}
+
+template <size_t block_size>
+inline void harris_score_S16_S16_FLOAT(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out_ptr, int32_t in_stride, float norm_factor, float sensitivity,
+ float strength_thresh)
+{
+ auto gx_ptr_0 = static_cast<const int16_t *__restrict>(in1_ptr) - (block_size / 2) * (in_stride + 1);
+ auto gy_ptr_0 = static_cast<const int16_t *__restrict>(in2_ptr) - (block_size / 2) * (in_stride + 1);
+ const int16_t *gx_ptr_1 = gx_ptr_0 + 8;
+ const int16_t *gy_ptr_1 = gy_ptr_0 + 8;
+ const auto output = static_cast<float *__restrict>(out_ptr);
+
+ // Gx^2, Gy^2 and Gx*Gy
+ float16x8_t gx2 = vdupq_n_f16(0.0f);
+ float16x8_t gy2 = vdupq_n_f16(0.0f);
+ float16x8_t gxgy = vdupq_n_f16(0.0f);
+
+ for(size_t i = 0; i < block_size; ++i)
+ {
+ const float16x8_t low_gx = vcvtq_f16_s16(vld1q_s16(gx_ptr_0));
+ const float16x8_t high_gx = vcvtq_f16_s16(vld1q_s16(gx_ptr_1));
+ const float16x8_t low_gy = vcvtq_f16_s16(vld1q_s16(gy_ptr_0));
+ const float16x8_t high_gy = vcvtq_f16_s16(vld1q_s16(gy_ptr_1));
+ harris_score1xN_FLOAT_FLOAT_FLOAT<block_size>(low_gx, low_gy, high_gx, high_gy, gx2, gy2, gxgy, norm_factor);
+
+ // Update gx and gy pointer
+ gx_ptr_0 += in_stride;
+ gy_ptr_0 += in_stride;
+ gx_ptr_1 += in_stride;
+ gy_ptr_1 += in_stride;
+ }
+
+ // Calculate harris score
+ const float16x8_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh);
+
+ // Store score
+ vst1q_f32(output + 0, vcvt_f32_f16(vget_low_f16(mc)));
+ vst1q_f32(output + 4, vcvt_f32_f16(vget_high_f16(mc)));
+}
+
+template <size_t block_size>
+inline void harris_score_S32_S32_FLOAT(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out_ptr, int32_t in_stride, float norm_factor, float sensitivity,
+ float strength_thresh)
+{
+ static const float16x8_t zero = vdupq_n_f16(0.0f);
+
+ auto gx_ptr_0 = static_cast<const int32_t *__restrict>(in1_ptr) - (block_size / 2) * (in_stride + 1);
+ auto gy_ptr_0 = static_cast<const int32_t *__restrict>(in2_ptr) - (block_size / 2) * (in_stride + 1);
+ const int32_t *gx_ptr_1 = gx_ptr_0 + 4;
+ const int32_t *gy_ptr_1 = gy_ptr_0 + 4;
+ const int32_t *gx_ptr_2 = gx_ptr_0 + 8;
+ const int32_t *gy_ptr_2 = gy_ptr_0 + 8;
+ const auto output = static_cast<float *__restrict>(out_ptr);
+
+ // Gx^2, Gy^2 and Gx*Gy
+ float16x8_t gx2 = zero;
+ float16x8_t gy2 = zero;
+ float16x8_t gxgy = zero;
+
+ for(size_t i = 0; i < block_size; ++i)
+ {
+ const float16x8_t low_gx = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_0))),
+ vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_1))));
+ const float16x8_t high_gx = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_2))),
+ vget_low_f16(zero));
+ const float16x8_t low_gy = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_0))),
+ vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_1))));
+ const float16x8_t high_gy = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_2))),
+ vget_low_f16(zero));
+ harris_score1xN_FLOAT_FLOAT_FLOAT<block_size>(low_gx, low_gy, high_gx, high_gy, gx2, gy2, gxgy, norm_factor);
+
+ // Update gx and gy pointer
+ gx_ptr_0 += in_stride;
+ gy_ptr_0 += in_stride;
+ gx_ptr_1 += in_stride;
+ gy_ptr_1 += in_stride;
+ gx_ptr_2 += in_stride;
+ gy_ptr_2 += in_stride;
+ }
+
+ // Calculate harris score
+ const float16x8_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh);
+
+ // Store score
+ vst1q_f32(output + 0, vcvt_f32_f16(vget_low_f16(mc)));
+ vst1q_f32(output + 4, vcvt_f32_f16(vget_high_f16(mc)));
+}
+
+template <>
+inline void harris_score_S32_S32_FLOAT<7>(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out_ptr, int32_t in_stride, float norm_factor, float sensitivity,
+ float strength_thresh)
+{
+ static const float16x8_t zero = vdupq_n_f16(0.0f);
+
+ auto gx_ptr_0 = static_cast<const int32_t *__restrict>(in1_ptr) - 3 * (in_stride + 1);
+ auto gy_ptr_0 = static_cast<const int32_t *__restrict>(in2_ptr) - 3 * (in_stride + 1);
+ const int32_t *gx_ptr_1 = gx_ptr_0 + 4;
+ const int32_t *gy_ptr_1 = gy_ptr_0 + 4;
+ const int32_t *gx_ptr_2 = gx_ptr_0 + 8;
+ const int32_t *gy_ptr_2 = gy_ptr_0 + 8;
+ const int32_t *gx_ptr_3 = gx_ptr_0 + 12;
+ const int32_t *gy_ptr_3 = gy_ptr_0 + 12;
+ const auto output = static_cast<float *__restrict>(out_ptr);
+
+ // Gx^2, Gy^2 and Gx*Gy
+ float16x8_t gx2 = zero;
+ float16x8_t gy2 = zero;
+ float16x8_t gxgy = zero;
+
+ for(size_t i = 0; i < 7; ++i)
+ {
+ const float16x8_t low_gx = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_0))),
+ vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_1))));
+ const float16x8_t high_gx = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_2))),
+ vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gx_ptr_3))));
+ const float16x8_t low_gy = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_0))),
+ vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_1))));
+ const float16x8_t high_gy = vcombine_f16(vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_2))),
+ vcvt_f16_f32(vcvtq_f32_s32(vld1q_s32(gy_ptr_3))));
+ harris_score1xN_FLOAT_FLOAT_FLOAT<7>(low_gx, low_gy, high_gx, high_gy, gx2, gy2, gxgy, norm_factor);
+
+ // Update gx and gy pointer
+ gx_ptr_0 += in_stride;
+ gy_ptr_0 += in_stride;
+ gx_ptr_1 += in_stride;
+ gy_ptr_1 += in_stride;
+ gx_ptr_2 += in_stride;
+ gy_ptr_2 += in_stride;
+ }
+
+ // Calculate harris score
+ const float16x8_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh);
+
+ // Store score
+ vst1q_f32(output + 0, vcvt_f32_f16(vget_low_f16(mc)));
+ vst1q_f32(output + 4, vcvt_f32_f16(vget_high_f16(mc)));
+}
+
+} // namespace fp16
+
+template <int32_t block_size>
+BorderSize NEHarrisScoreFP16Kernel<block_size>::border_size() const
+{
+ return _border_size;
+}
+
+template <int32_t block_size>
+NEHarrisScoreFP16Kernel<block_size>::NEHarrisScoreFP16Kernel()
+ : INEHarrisScoreKernel(), _func(nullptr)
+{
+}
+
+template <int32_t block_size>
+void NEHarrisScoreFP16Kernel<block_size>::run(const Window &window)
+{
+ ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
+ ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window);
+ ARM_COMPUTE_ERROR_ON(_func == nullptr);
+
+ Iterator input1(_input1, window);
+ Iterator input2(_input2, window);
+ Iterator output(_output, window);
+
+ const size_t input_stride = _input1->info()->strides_in_bytes()[1] / element_size_from_data_type(_input1->info()->data_type());
+
+ execute_window_loop(window, [&](const Coordinates & id)
+ {
+ (*_func)(input1.ptr(), input2.ptr(), output.ptr(), input_stride, _norm_factor, _sensitivity, _strength_thresh);
+ },
+ input1, input2, output);
+}
+
+template <int32_t block_size>
+void NEHarrisScoreFP16Kernel<block_size>::configure(const IImage *input1, const IImage *input2, IImage *output, float norm_factor, float strength_thresh, float sensitivity,
+ bool border_undefined)
+{
+ ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input1);
+ ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input2);
+ ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(output);
+ ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input1, 1, DataType::S16, DataType::S32);
+ ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input2, 1, DataType::S16, DataType::S32);
+ ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::F32);
+ ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(input1, input2);
+ ARM_COMPUTE_ERROR_ON(0.0f == norm_factor);
+
+ _input1 = input1;
+ _input2 = input2;
+ _output = output;
+ _sensitivity = sensitivity;
+ _strength_thresh = strength_thresh;
+ _norm_factor = norm_factor;
+ _border_size = BorderSize(block_size / 2);
+
+ if(input1->info()->data_type() == DataType::S16)
+ {
+ _func = &fp16::harris_score_S16_S16_FLOAT<block_size>;
+ }
+ else
+ {
+ _func = &fp16::harris_score_S32_S32_FLOAT<block_size>;
+ }
+
+ ARM_COMPUTE_ERROR_ON(nullptr == _func);
+
+ constexpr unsigned int num_elems_processed_per_iteration = 8;
+ constexpr unsigned int num_elems_read_per_iteration = 16;
+ constexpr unsigned int num_elems_written_per_iteration = 8;
+ constexpr unsigned int num_rows_read_per_iteration = block_size;
+
+ // Configure kernel window
+ Window win = calculate_max_window(*input1->info(), Steps(num_elems_processed_per_iteration), border_undefined, border_size());
+ AccessWindowHorizontal output_access(output->info(), 0, num_elems_written_per_iteration);
+
+ update_window_and_padding(win,
+ AccessWindowRectangle(input1->info(), -_border_size.left, -_border_size.top, num_elems_read_per_iteration, num_rows_read_per_iteration),
+ AccessWindowRectangle(input2->info(), -_border_size.left, -_border_size.top, num_elems_read_per_iteration, num_rows_read_per_iteration),
+ output_access);
+
+ ValidRegion valid_region = intersect_valid_regions(input1->info()->valid_region(),
+ input2->info()->valid_region());
+
+ output_access.set_valid_region(win, valid_region, border_undefined, border_size());
+
+ INEKernel::configure(win);
+}
+
+#endif
+
+template class arm_compute::NEHarrisScoreKernel<3>;
+template class arm_compute::NEHarrisScoreKernel<5>;
+template class arm_compute::NEHarrisScoreKernel<7>;
+template arm_compute::NEHarrisScoreKernel<3>::NEHarrisScoreKernel();
+template arm_compute::NEHarrisScoreKernel<5>::NEHarrisScoreKernel();
+template arm_compute::NEHarrisScoreKernel<7>::NEHarrisScoreKernel();
+
+namespace
+{
+inline float32x4_t harris_score(float32x4_t gx2, float32x4_t gy2, float32x4_t gxgy, float32x4_t sensitivity, float32x4_t strength_thresh)
+{
+ // Trace^2
+ float32x4_t trace2 = vaddq_f32(gx2, gy2);
+ trace2 = vmulq_f32(trace2, trace2);
+
+ // Det(A)
+ float32x4_t det = vmulq_f32(gx2, gy2);
+ det = vmlsq_f32(det, gxgy, gxgy);
+
+ // Det(A) - sensitivity * trace^2
+ const float32x4_t mc = vmlsq_f32(det, sensitivity, trace2);
+
+ // mc > strength_thresh
+ const uint32x4_t mask = vcgtq_f32(mc, strength_thresh);
+
+ return vbslq_f32(mask, mc, vdupq_n_f32(0.0f));
+}
+
+inline void harris_score1x3_FLOAT_FLOAT_FLOAT(float32x4_t low_gx, float32x4_t low_gy, float32x4_t high_gx, float32x4_t high_gy, float32x4_t &gx2, float32x4_t &gy2, float32x4_t &gxgy,
+ float32x4_t norm_factor)
+{
+ // Normalize
+ low_gx = vmulq_f32(low_gx, norm_factor);
+ low_gy = vmulq_f32(low_gy, norm_factor);
+ high_gx = vmulq_f32(high_gx, norm_factor);
+ high_gy = vmulq_f32(high_gy, norm_factor);
+
+ const float32x4_t l_gx = low_gx;
+ const float32x4_t l_gy = low_gy;
+ const float32x4_t m_gx = vextq_f32(low_gx, high_gx, 1);
+ const float32x4_t m_gy = vextq_f32(low_gy, high_gy, 1);
+ const float32x4_t r_gx = vextq_f32(low_gx, high_gx, 2);
+ const float32x4_t r_gy = vextq_f32(low_gy, high_gy, 2);
+
+ // Gx*Gx
+ gx2 = vmlaq_f32(gx2, l_gx, l_gx);
+ gx2 = vmlaq_f32(gx2, m_gx, m_gx);
+ gx2 = vmlaq_f32(gx2, r_gx, r_gx);
+
+ // Gy*Gy
+ gy2 = vmlaq_f32(gy2, l_gy, l_gy);
+ gy2 = vmlaq_f32(gy2, m_gy, m_gy);
+ gy2 = vmlaq_f32(gy2, r_gy, r_gy);
+
+ // Gx*Gy
+ gxgy = vmlaq_f32(gxgy, l_gx, l_gy);
+ gxgy = vmlaq_f32(gxgy, m_gx, m_gy);
+ gxgy = vmlaq_f32(gxgy, r_gx, r_gy);
+}
+
+inline void harris_score1x5_FLOAT_FLOAT_FLOAT(float32x4_t low_gx, float32x4_t low_gy, float32x4_t high_gx, float32x4_t high_gy, float32x4_t &gx2, float32x4_t &gy2, float32x4_t &gxgy,
+ float32x4_t norm_factor)
+{
+ // Normalize
+ low_gx = vmulq_f32(low_gx, norm_factor);
+ low_gy = vmulq_f32(low_gy, norm_factor);
+ high_gx = vmulq_f32(high_gx, norm_factor);
+ high_gy = vmulq_f32(high_gy, norm_factor);
+
+ // L2 values
+ float32x4_t gx = low_gx;
+ float32x4_t gy = low_gy;
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+
+ // L1 values
+ gx = vextq_f32(low_gx, high_gx, 1);
+ gy = vextq_f32(low_gy, high_gy, 1);
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+
+ // M values
+ gx = vextq_f32(low_gx, high_gx, 2);
+ gy = vextq_f32(low_gy, high_gy, 2);
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+
+ // R1 values
+ gx = vextq_f32(low_gx, high_gx, 3);
+ gy = vextq_f32(low_gy, high_gy, 3);
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+
+ // R2 values
+ gx = high_gx;
+ gy = high_gy;
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+}
+
+inline void harris_score1x7_FLOAT_FLOAT_FLOAT(float32x4_t low_gx, float32x4_t low_gy, float32x4_t high_gx, float32x4_t high_gy, float32x4_t high_gx1, float32x4_t high_gy1, float32x4_t &gx2,
+ float32x4_t &gy2, float32x4_t &gxgy, float32x4_t norm_factor)
+{
+ // Normalize
+ low_gx = vmulq_f32(low_gx, norm_factor);
+ low_gy = vmulq_f32(low_gy, norm_factor);
+ high_gx = vmulq_f32(high_gx, norm_factor);
+ high_gy = vmulq_f32(high_gy, norm_factor);
+
+ // L3 values
+ float32x4_t gx = low_gx;
+ float32x4_t gy = low_gy;
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+
+ // L2 values
+ gx = vextq_f32(low_gx, high_gx, 1);
+ gy = vextq_f32(low_gy, high_gy, 1);
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+
+ // L1 values
+ gx = vextq_f32(low_gx, high_gx, 2);
+ gy = vextq_f32(low_gy, high_gy, 2);
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+
+ // M values
+ gx = vextq_f32(low_gx, high_gx, 3);
+ gy = vextq_f32(low_gy, high_gy, 3);
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+
+ // R1 values
+ gx = high_gx;
+ gy = high_gy;
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+
+ // Change tmp_low and tmp_high for calculating R2 and R3 values
+ low_gx = high_gx;
+ low_gy = high_gy;
+ high_gx = high_gx1;
+ high_gy = high_gy1;
+
+ // Normalize
+ high_gx = vmulq_f32(high_gx, norm_factor);
+ high_gy = vmulq_f32(high_gy, norm_factor);
+
+ // R2 values
+ gx = vextq_f32(low_gx, high_gx, 1);
+ gy = vextq_f32(low_gy, high_gy, 1);
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+
+ // R3 values
+ gx = vextq_f32(low_gx, high_gx, 2);
+ gy = vextq_f32(low_gy, high_gy, 2);
+
+ // Accumulate
+ gx2 = vmlaq_f32(gx2, gx, gx);
+ gy2 = vmlaq_f32(gy2, gy, gy);
+ gxgy = vmlaq_f32(gxgy, gx, gy);
+}
+
+inline void harris_score3x3_S16_S16_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride,
+ float in_norm_factor, float in_sensitivity, float in_strength_thresh)
+
+{
+ const auto gx_ptr_0 = static_cast<const int16_t *__restrict>(input1_ptr) - 1;
+ const auto gy_ptr_0 = static_cast<const int16_t *__restrict>(input2_ptr) - 1;
+ const int16_t *gx_ptr_1 = gx_ptr_0 + 4;
+ const int16_t *gy_ptr_1 = gy_ptr_0 + 4;
+ const auto output = static_cast<float *__restrict>(output_ptr);
+
+ // Gx^2, Gy^2 and Gx*Gy
+ float32x4x2_t gx2 =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+ float32x4x2_t gy2 =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+ float32x4x2_t gxgy =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+
+ // Row0
+ int16x8x2_t tmp_gx =
+ {
+ {
+ vld1q_s16(gx_ptr_0 - input_stride),
+ vld1q_s16(gx_ptr_1 - input_stride)
+ }
+ };
+ int16x8x2_t tmp_gy =
+ {
+ {
+ vld1q_s16(gy_ptr_0 - input_stride),
+ vld1q_s16(gy_ptr_1 - input_stride)
+ }
+ };
+ float32x4_t sensitivity = vdupq_n_f32(in_sensitivity);
+ float32x4_t norm_factor = vdupq_n_f32(in_norm_factor);
+ float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh);
+
+ float32x4_t low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0])));
+ float32x4_t low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0])));
+ float32x4_t high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0])));
+ float32x4_t high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0])));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor);
+
+ low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1])));
+ low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1])));
+ high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1])));
+ high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1])));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor);
+
+ // Row1
+ tmp_gx.val[0] = vld1q_s16(gx_ptr_0);
+ tmp_gy.val[0] = vld1q_s16(gy_ptr_0);
+ tmp_gx.val[1] = vld1q_s16(gx_ptr_1);
+ tmp_gy.val[1] = vld1q_s16(gy_ptr_1);
+
+ low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0])));
+ low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0])));
+ high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0])));
+ high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0])));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor);
+
+ low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1])));
+ low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1])));
+ high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1])));
+ high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1])));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor);
+
+ // Row2
+ tmp_gx.val[0] = vld1q_s16(gx_ptr_0 + input_stride);
+ tmp_gy.val[0] = vld1q_s16(gy_ptr_0 + input_stride);
+ tmp_gx.val[1] = vld1q_s16(gx_ptr_1 + input_stride);
+ tmp_gy.val[1] = vld1q_s16(gy_ptr_1 + input_stride);
+
+ low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0])));
+ low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0])));
+ high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0])));
+ high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0])));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor);
+
+ low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1])));
+ low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1])));
+ high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1])));
+ high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1])));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor);
+
+ // Calculate harris score
+ const float32x4x2_t mc =
+ {
+ {
+ harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh),
+ harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh)
+ }
+ };
+
+ // Store score
+ vst1q_f32(output + 0, mc.val[0]);
+ vst1q_f32(output + 4, mc.val[1]);
+}
+
+inline void harris_score3x3_S32_S32_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride,
+ float in_norm_factor, float in_sensitivity, float in_strength_thresh)
+{
+ auto gx_ptr_0 = static_cast<const int32_t *__restrict>(input1_ptr) - 1;
+ auto gy_ptr_0 = static_cast<const int32_t *__restrict>(input2_ptr) - 1;
+ const int32_t *gx_ptr_1 = gx_ptr_0 + 4;
+ const int32_t *gy_ptr_1 = gy_ptr_0 + 4;
+ const int32_t *gx_ptr_2 = gx_ptr_0 + 8;
+ const int32_t *gy_ptr_2 = gy_ptr_0 + 8;
+ const auto output = static_cast<float *__restrict>(output_ptr);
+ float32x4_t sensitivity = vdupq_n_f32(in_sensitivity);
+ float32x4_t norm_factor = vdupq_n_f32(in_norm_factor);
+ float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh);
+
+ // Gx^2, Gy^2 and Gx*Gy
+ float32x4x2_t gx2 =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+ float32x4x2_t gy2 =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+ float32x4x2_t gxgy =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+
+ // Row0
+ float32x4_t low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0 - input_stride));
+ float32x4_t low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0 - input_stride));
+ float32x4_t high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 - input_stride));
+ float32x4_t high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 - input_stride));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor);
+
+ low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 - input_stride));
+ low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 - input_stride));
+ high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_2 - input_stride));
+ high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_2 - input_stride));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor);
+
+ // Row1
+ low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0));
+ low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0));
+ high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1));
+ high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor);
+
+ low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1));
+ low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1));
+ high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_2));
+ high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_2));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor);
+
+ // Row2
+ low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0 + input_stride));
+ low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0 + input_stride));
+ high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 + input_stride));
+ high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 + input_stride));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor);
+
+ low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1 + input_stride));
+ low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1 + input_stride));
+ high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_2 + input_stride));
+ high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_2 + input_stride));
+ harris_score1x3_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor);
+
+ // Calculate harris score
+ const float32x4x2_t mc =
+ {
+ {
+ harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh),
+ harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh)
+ }
+ };
+
+ // Store score
+ vst1q_f32(output + 0, mc.val[0]);
+ vst1q_f32(output + 4, mc.val[1]);
+}
+
+inline void harris_score5x5_S16_S16_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride,
+ float in_norm_factor, float in_sensitivity, float in_strength_thresh)
+{
+ auto gx_ptr_0 = static_cast<const int16_t *__restrict>(input1_ptr) - 2 - 2 * input_stride;
+ auto gy_ptr_0 = static_cast<const int16_t *__restrict>(input2_ptr) - 2 - 2 * input_stride;
+ const int16_t *gx_ptr_1 = gx_ptr_0 + 4;
+ const int16_t *gy_ptr_1 = gy_ptr_0 + 4;
+ const auto output = static_cast<float *__restrict>(output_ptr);
+
+ // Gx^2, Gy^2 and Gx*Gy
+ float32x4x2_t gx2 =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+ float32x4x2_t gy2 =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+ float32x4x2_t gxgy =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+ float32x4_t sensitivity = vdupq_n_f32(in_sensitivity);
+ float32x4_t norm_factor = vdupq_n_f32(in_norm_factor);
+ float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh);
+
+ for(int i = 0; i < 5; ++i)
+ {
+ const int16x8x2_t tmp_gx =
+ {
+ {
+ vld1q_s16(gx_ptr_0),
+ vld1q_s16(gx_ptr_1)
+ }
+ };
+ const int16x8x2_t tmp_gy =
+ {
+ {
+ vld1q_s16(gy_ptr_0),
+ vld1q_s16(gy_ptr_1)
+ }
+ };
+
+ float32x4_t low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[0])));
+ float32x4_t low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[0])));
+ float32x4_t high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[0])));
+ float32x4_t high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[0])));
+ harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor);
+
+ low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gx.val[1])));
+ low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp_gy.val[1])));
+ high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gx.val[1])));
+ high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp_gy.val[1])));
+ harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor);
+
+ // Update gx and gy pointer
+ gx_ptr_0 += input_stride;
+ gy_ptr_0 += input_stride;
+ gx_ptr_1 += input_stride;
+ gy_ptr_1 += input_stride;
+ }
+
+ // Calculate harris score
+ const float32x4x2_t mc =
+ {
+ {
+ harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh),
+ harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh)
+ }
+ };
+
+ // Store score
+ vst1q_f32(output + 0, mc.val[0]);
+ vst1q_f32(output + 4, mc.val[1]);
+}
+
+inline void harris_score5x5_S32_S32_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride,
+ float in_norm_factor, float in_sensitivity, float in_strength_thresh)
+
+{
+ auto gx_ptr_0 = static_cast<const int32_t *__restrict>(input1_ptr) - 2 - 2 * input_stride;
+ auto gy_ptr_0 = static_cast<const int32_t *__restrict>(input2_ptr) - 2 - 2 * input_stride;
+ const int32_t *gx_ptr_1 = gx_ptr_0 + 4;
+ const int32_t *gy_ptr_1 = gy_ptr_0 + 4;
+ const int32_t *gx_ptr_2 = gx_ptr_0 + 8;
+ const int32_t *gy_ptr_2 = gy_ptr_0 + 8;
+ const auto output = static_cast<float *__restrict>(output_ptr);
+
+ // Gx^2, Gy^2 and Gx*Gy
+ float32x4x2_t gx2 =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+ float32x4x2_t gy2 =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+ float32x4x2_t gxgy =
+ {
+ {
+ vdupq_n_f32(0.0f),
+ vdupq_n_f32(0.0f)
+ }
+ };
+ float32x4_t sensitivity = vdupq_n_f32(in_sensitivity);
+ float32x4_t norm_factor = vdupq_n_f32(in_norm_factor);
+ float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh);
+
+ for(int i = 0; i < 5; ++i)
+ {
+ const float32x4_t low_gx_0 = vcvtq_f32_s32(vld1q_s32(gx_ptr_0));
+ const float32x4_t low_gy_0 = vcvtq_f32_s32(vld1q_s32(gy_ptr_0));
+ const float32x4_t high_gx_0 = vcvtq_f32_s32(vld1q_s32(gx_ptr_1));
+ const float32x4_t high_gy_0 = vcvtq_f32_s32(vld1q_s32(gy_ptr_1));
+ harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx_0, low_gy_0, high_gx_0, high_gy_0, gx2.val[0], gy2.val[0], gxgy.val[0], norm_factor);
+
+ const float32x4_t low_gx_1 = vcvtq_f32_s32(vld1q_s32(gx_ptr_1));
+ const float32x4_t low_gy_1 = vcvtq_f32_s32(vld1q_s32(gy_ptr_1));
+ const float32x4_t high_gx_1 = vcvtq_f32_s32(vld1q_s32(gx_ptr_2));
+ const float32x4_t high_gy_1 = vcvtq_f32_s32(vld1q_s32(gy_ptr_2));
+ harris_score1x5_FLOAT_FLOAT_FLOAT(low_gx_1, low_gy_1, high_gx_1, high_gy_1, gx2.val[1], gy2.val[1], gxgy.val[1], norm_factor);
+
+ // Update gx and gy pointer
+ gx_ptr_0 += input_stride;
+ gy_ptr_0 += input_stride;
+ gx_ptr_1 += input_stride;
+ gy_ptr_1 += input_stride;
+ gx_ptr_2 += input_stride;
+ gy_ptr_2 += input_stride;
+ }
+
+ // Calculate harris score
+ const float32x4x2_t mc =
+ {
+ {
+ harris_score(gx2.val[0], gy2.val[0], gxgy.val[0], sensitivity, strength_thresh),
+ harris_score(gx2.val[1], gy2.val[1], gxgy.val[1], sensitivity, strength_thresh)
+ }
+ };
+
+ // Store score
+ vst1q_f32(output + 0, mc.val[0]);
+ vst1q_f32(output + 4, mc.val[1]);
+}
+
+inline void harris_score7x7_S16_S16_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride,
+ float in_norm_factor, float in_sensitivity, float in_strength_thresh)
+{
+ auto gx_ptr_0 = static_cast<const int16_t *__restrict>(input1_ptr) - 3 - 3 * input_stride;
+ auto gy_ptr_0 = static_cast<const int16_t *__restrict>(input2_ptr) - 3 - 3 * input_stride;
+ const int16_t *gx_ptr_1 = gx_ptr_0 + 8;
+ const int16_t *gy_ptr_1 = gy_ptr_0 + 8;
+ const auto output = static_cast<float *__restrict>(output_ptr);
+
+ // Gx^2, Gy^2 and Gx*Gy
+ float32x4_t gx2 = vdupq_n_f32(0.0f);
+ float32x4_t gy2 = vdupq_n_f32(0.0f);
+ float32x4_t gxgy = vdupq_n_f32(0.0f);
+ float32x4_t sensitivity = vdupq_n_f32(in_sensitivity);
+ float32x4_t norm_factor = vdupq_n_f32(in_norm_factor);
+ float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh);
+
+ for(int i = 0; i < 7; ++i)
+ {
+ const int16x8_t tmp0_gx = vld1q_s16(gx_ptr_0);
+ const int16x8_t tmp0_gy = vld1q_s16(gy_ptr_0);
+ const int16x4_t tmp1_gx = vld1_s16(gx_ptr_1);
+ const int16x4_t tmp1_gy = vld1_s16(gy_ptr_1);
+
+ float32x4_t low_gx = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp0_gx)));
+ float32x4_t low_gy = vcvtq_f32_s32(vmovl_s16(vget_low_s16(tmp0_gy)));
+ float32x4_t high_gx = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp0_gx)));
+ float32x4_t high_gy = vcvtq_f32_s32(vmovl_s16(vget_high_s16(tmp0_gy)));
+ float32x4_t high_gx1 = vcvtq_f32_s32(vmovl_s16(tmp1_gx));
+ float32x4_t high_gy1 = vcvtq_f32_s32(vmovl_s16(tmp1_gy));
+ harris_score1x7_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, high_gx1, high_gy1, gx2, gy2, gxgy, norm_factor);
+
+ // Update gx and gy pointer
+ gx_ptr_0 += input_stride;
+ gy_ptr_0 += input_stride;
+ gx_ptr_1 += input_stride;
+ gy_ptr_1 += input_stride;
+ }
+
+ // Calculate harris score
+ const float32x4_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh);
+
+ // Store score
+ vst1q_f32(output, mc);
+}
+
+inline void harris_score7x7_S32_S32_FLOAT(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride,
+ float in_norm_factor, float in_sensitivity, float in_strength_thresh)
+{
+ auto gx_ptr_0 = static_cast<const int32_t *__restrict>(input1_ptr) - 3 - 3 * input_stride;
+ auto gy_ptr_0 = static_cast<const int32_t *__restrict>(input2_ptr) - 3 - 3 * input_stride;
+ const int32_t *gx_ptr_1 = gx_ptr_0 + 4;
+ const int32_t *gy_ptr_1 = gy_ptr_0 + 4;
+ const int32_t *gx_ptr_2 = gx_ptr_1 + 4;
+ const int32_t *gy_ptr_2 = gy_ptr_1 + 4;
+ const auto output = static_cast<float *__restrict>(output_ptr);
+
+ // Gx^2, Gy^2 and Gx*Gy
+ float32x4_t gx2 = vdupq_n_f32(0.0f);
+ float32x4_t gy2 = vdupq_n_f32(0.0f);
+ float32x4_t gxgy = vdupq_n_f32(0.0f);
+ float32x4_t sensitivity = vdupq_n_f32(in_sensitivity);
+ float32x4_t norm_factor = vdupq_n_f32(in_norm_factor);
+ float32x4_t strength_thresh = vdupq_n_f32(in_strength_thresh);
+
+ for(int i = 0; i < 7; ++i)
+ {
+ const float32x4_t low_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_0));
+ const float32x4_t low_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_0));
+ const float32x4_t high_gx = vcvtq_f32_s32(vld1q_s32(gx_ptr_1));
+ const float32x4_t high_gy = vcvtq_f32_s32(vld1q_s32(gy_ptr_1));
+ const float32x4_t high_gx1 = vcvtq_f32_s32(vld1q_s32(gx_ptr_2));
+ const float32x4_t high_gy1 = vcvtq_f32_s32(vld1q_s32(gy_ptr_2));
+ harris_score1x7_FLOAT_FLOAT_FLOAT(low_gx, low_gy, high_gx, high_gy, high_gx1, high_gy1, gx2, gy2, gxgy, norm_factor);
+
+ // Update gx and gy pointer
+ gx_ptr_0 += input_stride;
+ gy_ptr_0 += input_stride;
+ gx_ptr_1 += input_stride;
+ gy_ptr_1 += input_stride;
+ gx_ptr_2 += input_stride;
+ gy_ptr_2 += input_stride;
+ }
+
+ // Calculate harris score
+ const float32x4_t mc = harris_score(gx2, gy2, gxgy, sensitivity, strength_thresh);
+
+ // Store score
+ vst1q_f32(output, mc);
+}
+
+} // namespace
+
+INEHarrisScoreKernel::INEHarrisScoreKernel()
+ : _input1(nullptr), _input2(nullptr), _output(nullptr), _sensitivity(0.0f), _strength_thresh(0.0f), _norm_factor(0.0f), _border_size()
+{
+}
+
+template <int32_t block_size>
+NEHarrisScoreKernel<block_size>::NEHarrisScoreKernel()
+ : INEHarrisScoreKernel(), _func(nullptr)
+{
+}
+
+template <int32_t block_size>
+void NEHarrisScoreKernel<block_size>::run(const Window &window)
+{
+ ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
+ ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window);
+ ARM_COMPUTE_ERROR_ON(_func == nullptr);
+
+ Iterator input1(_input1, window);
+ Iterator input2(_input2, window);
+ Iterator output(_output, window);
+
+ const size_t input_stride = _input1->info()->strides_in_bytes()[1] / element_size_from_data_type(_input1->info()->data_type());
+
+ execute_window_loop(window, [&](const Coordinates & id)
+ {
+ (*_func)(input1.ptr(), input2.ptr(), output.ptr(), input_stride, _norm_factor, _sensitivity, _strength_thresh);
+ },
+ input1, input2, output);
+}
+
+template <int32_t block_size>
+BorderSize NEHarrisScoreKernel<block_size>::border_size() const
+{
+ return _border_size;
+}
+
+template <int32_t block_size>
+void NEHarrisScoreKernel<block_size>::configure(const IImage *input1, const IImage *input2, IImage *output, float norm_factor, float strength_thresh, float sensitivity,
+ bool border_undefined)
+{
+ ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input1);
+ ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input2);
+ ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(output);
+ ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input1, 1, DataType::S16, DataType::S32);
+ ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input2, 1, DataType::S16, DataType::S32);
+ ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::F32);
+ ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(input1, input2);
+ ARM_COMPUTE_ERROR_ON(0.0f == norm_factor);
+
+ _input1 = input1;
+ _input2 = input2;
+ _output = output;
+ _sensitivity = sensitivity;
+ _strength_thresh = strength_thresh;
+ _norm_factor = norm_factor;
+ _border_size = BorderSize(block_size / 2);
+
+ if(input1->info()->data_type() == DataType::S16)
+ {
+ switch(block_size)
+ {
+ case 3:
+ _func = &harris_score3x3_S16_S16_FLOAT;
+ break;
+ case 5:
+ _func = &harris_score5x5_S16_S16_FLOAT;
+ break;
+ case 7:
+ _func = &harris_score7x7_S16_S16_FLOAT;
+ break;
+ default:
+ ARM_COMPUTE_ERROR("Invalid block size");
+ break;
+ }
+ }
+ else
+ {
+ switch(block_size)
+ {
+ case 3:
+ _func = &harris_score3x3_S32_S32_FLOAT;
+ break;
+ case 5:
+ _func = &harris_score5x5_S32_S32_FLOAT;
+ break;
+ case 7:
+ _func = &harris_score7x7_S32_S32_FLOAT;
+ break;
+ default:
+ ARM_COMPUTE_ERROR("Invalid block size");
+ break;
+ }
+ }
+
+ ARM_COMPUTE_ERROR_ON(nullptr == _func);
+
+ constexpr unsigned int num_elems_processed_per_iteration = block_size != 7 ? 8 : 4;
+ constexpr unsigned int num_elems_read_per_iteration = block_size != 7 ? 16 : 12;
+ constexpr unsigned int num_elems_written_per_iteration = block_size != 7 ? 8 : 4;
+ constexpr unsigned int num_rows_read_per_iteration = block_size;
+
+ // Configure kernel window
+ Window win = calculate_max_window(*input1->info(), Steps(num_elems_processed_per_iteration), border_undefined, border_size());
+ AccessWindowHorizontal output_access(output->info(), 0, num_elems_written_per_iteration);
+
+ update_window_and_padding(win,
+ AccessWindowRectangle(input1->info(), -_border_size.left, -_border_size.top, num_elems_read_per_iteration, num_rows_read_per_iteration),
+ AccessWindowRectangle(input2->info(), -_border_size.left, -_border_size.top, num_elems_read_per_iteration, num_rows_read_per_iteration),
+ output_access);
+
+ ValidRegion valid_region = intersect_valid_regions(input1->info()->valid_region(),
+ input2->info()->valid_region());
+
+ output_access.set_valid_region(win, valid_region, border_undefined, border_size());
+
+ INEKernel::configure(win);
+}