COMPMID-344 Updated doxygen
Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae
diff --git a/src/runtime/NEON/functions/NEHarrisCorners.cpp b/src/runtime/NEON/functions/NEHarrisCorners.cpp
new file mode 100644
index 0000000..b54fb67
--- /dev/null
+++ b/src/runtime/NEON/functions/NEHarrisCorners.cpp
@@ -0,0 +1,212 @@
+/*
+ * 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/NEON/functions/NEHarrisCorners.h"
+
+#include "arm_compute/core/Error.h"
+#include "arm_compute/core/Helpers.h"
+#include "arm_compute/core/NEON/kernels/NEFillBorderKernel.h"
+#include "arm_compute/core/NEON/kernels/NEHarrisCornersKernel.h"
+#include "arm_compute/core/TensorInfo.h"
+#include "arm_compute/core/Validate.h"
+#include "arm_compute/runtime/Array.h"
+#include "arm_compute/runtime/NEON/NEScheduler.h"
+#include "arm_compute/runtime/NEON/functions/NESobel3x3.h"
+#include "arm_compute/runtime/NEON/functions/NESobel5x5.h"
+#include "arm_compute/runtime/NEON/functions/NESobel7x7.h"
+#include "arm_compute/runtime/TensorAllocator.h"
+
+#include <cmath>
+#include <utility>
+
+using namespace arm_compute;
+
+NEHarrisCorners::NEHarrisCorners()
+ : _sobel(), _harris_score(), _non_max_suppr(), _candidates(), _sort_euclidean(), _border_gx(), _border_gy(), _gx(), _gy(), _score(), _nonmax(), _corners_list(), _num_corner_candidates(0)
+{
+}
+
+void NEHarrisCorners::configure(IImage *input, float threshold, float min_dist,
+ float sensitivity, int32_t gradient_size, int32_t block_size, KeyPointArray *corners,
+ BorderMode border_mode, uint8_t constant_border_value, bool use_fp16)
+{
+ 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));
+
+ const TensorShape shape = input->info()->tensor_shape();
+ TensorInfo tensor_info_gxgy;
+
+ if(gradient_size < 7)
+ {
+ tensor_info_gxgy.init(shape, Format::S16);
+ }
+ else
+ {
+ tensor_info_gxgy.init(shape, Format::S32);
+ }
+
+ _gx.allocator()->init(tensor_info_gxgy);
+ _gy.allocator()->init(tensor_info_gxgy);
+
+ TensorInfo tensor_info_score(shape, Format::F32);
+ _score.allocator()->init(tensor_info_score);
+ _nonmax.allocator()->init(tensor_info_score);
+
+ _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<NESobel3x3>();
+ k->configure(input, &_gx, &_gy, border_mode, constant_border_value);
+ _sobel = std::move(k);
+ break;
+ }
+ case 5:
+ {
+ auto k = arm_compute::cpp14::make_unique<NESobel5x5>();
+ k->configure(input, &_gx, &_gy, border_mode, constant_border_value);
+ _sobel = std::move(k);
+ break;
+ }
+ case 7:
+ {
+ auto k = arm_compute::cpp14::make_unique<NESobel7x7>();
+ k->configure(input, &_gx, &_gy, border_mode, constant_border_value);
+ _sobel = std::move(k);
+ break;
+ }
+ default:
+ ARM_COMPUTE_ERROR("Gradient size not implemented");
+ }
+
+ // Normalization factor
+ const float norm_factor = 1.0f / (255.0f * pow(4.0f, gradient_size / 2) * block_size);
+
+ if(use_fp16)
+ {
+ switch(block_size)
+ {
+ case 3:
+ {
+ auto k = arm_compute::cpp14::make_unique<NEHarrisScoreFP16Kernel<3>>();
+ k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+ _harris_score = std::move(k);
+ }
+ break;
+ case 5:
+ {
+ auto k = arm_compute::cpp14::make_unique<NEHarrisScoreFP16Kernel<5>>();
+ k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+ _harris_score = std::move(k);
+ }
+ break;
+ case 7:
+ {
+ auto k = arm_compute::cpp14::make_unique<NEHarrisScoreFP16Kernel<7>>();
+ k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+ _harris_score = std::move(k);
+ }
+ default:
+ break;
+ }
+ }
+ else
+ {
+ // Set/init Harris Score kernel accordingly with block_size
+ switch(block_size)
+ {
+ case 3:
+ {
+ auto k = arm_compute::cpp14::make_unique<NEHarrisScoreKernel<3>>();
+ k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+ _harris_score = std::move(k);
+ }
+ break;
+ case 5:
+ {
+ auto k = arm_compute::cpp14::make_unique<NEHarrisScoreKernel<5>>();
+ k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+ _harris_score = std::move(k);
+ }
+ break;
+ case 7:
+ {
+ auto k = arm_compute::cpp14::make_unique<NEHarrisScoreKernel<7>>();
+ k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED);
+ _harris_score = std::move(k);
+ }
+ default:
+ break;
+ }
+ }
+
+ // Configure border filling before harris score
+ _border_gx.configure(&_gx, _harris_score->border_size(), border_mode, constant_border_value);
+ _border_gy.configure(&_gy, _harris_score->border_size(), border_mode, constant_border_value);
+
+ // Init non-maxima suppression function
+ _non_max_suppr.configure(&_score, &_nonmax, border_mode);
+
+ // 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 once all the configure methods have been called
+ _gx.allocator()->allocate();
+ _gy.allocator()->allocate();
+ _score.allocator()->allocate();
+ _nonmax.allocator()->allocate();
+}
+
+void NEHarrisCorners::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
+ _border_gx.run(_border_gx.window());
+ _border_gy.run(_border_gy.window());
+
+ // Run harris score kernel
+ NEScheduler::get().schedule(_harris_score.get(), Window::DimY);
+
+ // Run non-maxima suppression
+ _non_max_suppr.run();
+
+ // Run corner candidate kernel
+ NEScheduler::get().schedule(&_candidates, Window::DimY);
+
+ // Run sort & euclidean distance
+ _sort_euclidean.run(_sort_euclidean.window());
+}