| /* |
| * 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/NEFastCorners.h" |
| |
| #include "arm_compute/core/Error.h" |
| #include "arm_compute/core/ITensor.h" |
| #include "arm_compute/core/NEON/kernels/NEFillBorderKernel.h" |
| #include "arm_compute/core/PixelValue.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/TensorAllocator.h" |
| |
| using namespace arm_compute; |
| |
| NEFastCorners::NEFastCorners(std::shared_ptr<IMemoryManager> memory_manager) |
| : _memory_group(std::move(memory_manager)), |
| _fast_corners_kernel(), |
| _border_handler(), |
| _nonmax_kernel(), |
| _fill_kernel(), |
| _output(), |
| _suppressed(), |
| _non_max(false) |
| { |
| } |
| |
| void NEFastCorners::configure(IImage *input, float threshold, bool nonmax_suppression, KeyPointArray *corners, |
| BorderMode border_mode, uint8_t constant_border_value) |
| { |
| ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input); |
| ARM_COMPUTE_ERROR_ON(BorderMode::UNDEFINED != border_mode); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8); |
| ARM_COMPUTE_ERROR_ON(nullptr == corners); |
| ARM_COMPUTE_ERROR_ON(threshold < 1 && threshold > 255); |
| |
| _non_max = nonmax_suppression; |
| |
| TensorInfo tensor_info(input->info()->tensor_shape(), Format::U8); |
| _output.allocator()->init(tensor_info); |
| _memory_group.manage(&_output); |
| |
| // If border is UNDEFINED _fast_corners_kernel will operate in xwindow (3, |
| // width - 3) and ywindow (3, height -3) so the output image will leave the |
| // pixels on the borders unchanged. This is reflected in the valid region |
| // of the output. The non maxima suppression is only run on the valid |
| // pixels. |
| _fast_corners_kernel.configure(input, &_output, threshold, nonmax_suppression, BorderMode::UNDEFINED == border_mode); |
| _border_handler.configure(input, _fast_corners_kernel.border_size(), border_mode, constant_border_value); |
| |
| if(!_non_max) |
| { |
| _fill_kernel.configure(&_output, 1 /* we keep all texels >0 */, corners); |
| } |
| else |
| { |
| _suppressed.allocator()->init(tensor_info); |
| _memory_group.manage(&_suppressed); |
| _nonmax_kernel.configure(&_output, &_suppressed, BorderMode::UNDEFINED == border_mode); |
| _fill_kernel.configure(&_suppressed, 1 /* we keep all texels >0 */, corners); |
| |
| // Allocate intermediate tensors |
| _suppressed.allocator()->allocate(); |
| } |
| |
| // Allocate intermediate tensors |
| _output.allocator()->allocate(); |
| } |
| |
| void NEFastCorners::run() |
| { |
| NEScheduler::get().schedule(&_border_handler, Window::DimZ); |
| |
| _memory_group.acquire(); |
| |
| NEScheduler::get().schedule(&_fast_corners_kernel, Window::DimY); |
| |
| if(_non_max) |
| { |
| NEScheduler::get().schedule(&_nonmax_kernel, Window::DimY); |
| } |
| |
| NEScheduler::get().schedule(&_fill_kernel, Window::DimY); |
| |
| _memory_group.release(); |
| } |