COMPMID-344 Updated doxygen
Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae
diff --git a/src/runtime/CL/functions/CLHarrisCorners.cpp b/src/runtime/CL/functions/CLHarrisCorners.cpp
new file mode 100644
index 0000000..2db277f
--- /dev/null
+++ b/src/runtime/CL/functions/CLHarrisCorners.cpp
@@ -0,0 +1,157 @@
+/*
+ * 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/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/Helpers.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 <cmath>
+#include <utility>
+
+using namespace arm_compute;
+
+CLHarrisCorners::CLHarrisCorners()
+ : _sobel(), _harris_score(), _non_max_suppr(), _candidates(), _sort_euclidean(), _border_gx(), _border_gy(), _gx(), _gy(), _score(), _nonmax(), _corners_list(), _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)
+{
+ 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::cpp14::make_unique<InternalKeypoint[]>(shape.x() * shape.y());
+
+ /* Set/init Sobel kernel accordingly with gradient_size */
+ switch(gradient_size)
+ {
+ case 3:
+ {
+ auto k = arm_compute::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::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::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");
+ }
+
+ // Configure border filling before harris score
+ _border_gx.configure(&_gx, block_size / 2, border_mode, constant_border_value);
+ _border_gy.configure(&_gy, block_size / 2, border_mode, constant_border_value);
+
+ // 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);
+
+ // 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);
+
+ // Init non-maxima suppression function
+ _non_max_suppr.configure(&_score, &_nonmax, border_mode == BorderMode::UNDEFINED);
+
+ // Init corner candidates kernel
+ _candidates.configure(&_nonmax, _corners_list.get(), &_num_corner_candidates);
+
+ // Init euclidean distance
+ _sort_euclidean.configure(_corners_list.get(), _corners, &_num_corner_candidates, min_dist);
+
+ // Allocate intermediate buffers
+ _gx.allocator()->allocate();
+ _gy.allocator()->allocate();
+ _score.allocator()->allocate();
+ _nonmax.allocator()->allocate();
+}
+
+void CLHarrisCorners::run()
+{
+ ARM_COMPUTE_ERROR_ON_MSG(_sobel == nullptr, "Unconfigured function");
+
+ // 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
+ CLScheduler::get().enqueue(_non_max_suppr);
+
+ // Run corner candidate kernel
+ _nonmax.map(true);
+ Scheduler::get().schedule(&_candidates, Window::DimY);
+ _nonmax.unmap();
+
+ _corners->map(CLScheduler::get().queue(), true);
+ _sort_euclidean.run(_sort_euclidean.window());
+ _corners->unmap(CLScheduler::get().queue());
+}