| /* |
| * 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, const ThreadInfo &info) |
| { |
| ARM_COMPUTE_UNUSED(info); |
| ARM_COMPUTE_UNUSED(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); |
| } |