| /* |
| * 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/CL/kernels/CLFastCornersKernel.h" |
| |
| #include "arm_compute/core/CL/CLKernelLibrary.h" |
| #include "arm_compute/core/CL/ICLTensor.h" |
| #include "arm_compute/core/CL/OpenCL.h" |
| #include "arm_compute/core/Error.h" |
| #include "arm_compute/core/Helpers.h" |
| #include "arm_compute/core/IAccessWindow.h" |
| #include "arm_compute/core/Validate.h" |
| #include "arm_compute/core/Window.h" |
| |
| #include <set> |
| #include <string> |
| |
| using namespace arm_compute; |
| |
| CLFastCornersKernel::CLFastCornersKernel() |
| : ICLKernel(), _input(nullptr), _output(nullptr) |
| { |
| } |
| |
| BorderSize CLFastCornersKernel::border_size() const |
| { |
| return BorderSize(3); |
| } |
| |
| void CLFastCornersKernel::configure(const ICLImage *input, ICLImage *output, float threshold, bool non_max_suppression, BorderMode border_mode) |
| { |
| ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input); |
| ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(output); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::U8); |
| ARM_COMPUTE_ERROR_ON_MSG(border_mode != BorderMode::UNDEFINED, "Not implemented"); |
| |
| _input = input; |
| _output = output; |
| |
| // Create build options |
| std::set<std::string> build_opts; |
| |
| if(non_max_suppression) |
| { |
| build_opts.emplace("-DUSE_MAXSUPPRESSION"); |
| } |
| |
| // Create kernel |
| _kernel = static_cast<cl::Kernel>(CLKernelLibrary::get().create_kernel("fast_corners", build_opts)); |
| |
| // Set static kernel arguments |
| unsigned int idx = 2 * num_arguments_per_2D_tensor(); // Skip the input and output parameters |
| _kernel.setArg<cl_float>(idx, static_cast<float>(threshold)); |
| |
| // Configure kernel window |
| constexpr unsigned int num_elems_processed_per_iteration = 1; |
| constexpr unsigned int num_elems_read_per_iteration = 7; |
| constexpr unsigned int num_rows_read_per_iteration = 3; |
| |
| Window win = calculate_max_window(*input->info(), Steps(num_elems_processed_per_iteration), border_mode == BorderMode::UNDEFINED, BorderSize(3)); |
| |
| AccessWindowHorizontal output_access(output->info(), 0, num_elems_processed_per_iteration); |
| AccessWindowRectangle input_access(input->info(), -border_size().left, -border_size().top, num_elems_read_per_iteration, num_rows_read_per_iteration); |
| |
| update_window_and_padding(win, input_access, output_access); |
| |
| output_access.set_valid_region(win, input->info()->valid_region(), border_mode == BorderMode::UNDEFINED, border_size()); |
| |
| ICLKernel::configure(win); |
| } |
| |
| void CLFastCornersKernel::run(const Window &window, cl::CommandQueue &queue) |
| { |
| ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICLKernel::window(), window); |
| |
| Window slice = window.first_slice_window_2D(); |
| |
| do |
| { |
| unsigned int idx = 0; |
| add_2D_tensor_argument(idx, _input, slice); |
| add_2D_tensor_argument(idx, _output, slice); |
| enqueue(queue, *this, slice); |
| } |
| while(window.slide_window_slice_2D(slice)); |
| } |
| |
| CLCopyToArrayKernel::CLCopyToArrayKernel() |
| : ICLKernel(), _input(nullptr), _corners(nullptr), _num_buffer(nullptr) |
| { |
| } |
| |
| void CLCopyToArrayKernel::configure(const ICLImage *input, bool update_number, ICLKeyPointArray *corners, cl::Buffer *num_buffers) |
| { |
| 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(corners == nullptr); |
| ARM_COMPUTE_ERROR_ON(num_buffers == nullptr); |
| |
| _input = input; |
| _corners = corners; |
| _num_buffer = num_buffers; |
| |
| std::set<std::string> build_opts; |
| |
| if(update_number) |
| { |
| build_opts.emplace("-DUPDATE_NUMBER"); |
| } |
| |
| // Create kernel |
| _kernel = static_cast<cl::Kernel>(CLKernelLibrary::get().create_kernel("copy_to_keypoint", build_opts)); |
| |
| //Get how many pixels skipped in the x dimension in the previous stages |
| unsigned int offset = _input->info()->valid_region().anchor.x(); |
| |
| // Set static kernel arguments |
| unsigned int idx = num_arguments_per_2D_tensor(); // Skip the input and output parameters |
| _kernel.setArg<unsigned int>(idx++, corners->max_num_values()); |
| _kernel.setArg<cl_uint>(idx++, offset); |
| _kernel.setArg(idx++, *_num_buffer); |
| _kernel.setArg(idx++, _corners->cl_buffer()); |
| |
| // Configure kernel window |
| constexpr unsigned int num_elems_processed_per_iteration = 1; |
| Window win = calculate_max_window(*input->info(), Steps(num_elems_processed_per_iteration)); |
| update_window_and_padding(win, |
| AccessWindowHorizontal(input->info(), 0, num_elems_processed_per_iteration)); |
| ICLKernel::configure(win); |
| } |
| |
| void CLCopyToArrayKernel::run(const Window &window, cl::CommandQueue &queue) |
| { |
| ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICLKernel::window(), window); |
| |
| //Initialise the _num_buffer as it used as both input and output |
| static const unsigned int zero_init = 0; |
| queue.enqueueWriteBuffer(*_num_buffer, CL_FALSE, 0, sizeof(unsigned int), &zero_init); |
| |
| Window slice = window.first_slice_window_2D(); |
| |
| do |
| { |
| unsigned int idx = 0; |
| add_2D_tensor_argument(idx, _input, slice); |
| enqueue(queue, *this, slice); |
| } |
| while(window.slide_window_slice_2D(slice)); |
| } |