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