| /* |
| * 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/CPPCornerCandidatesKernel.h" |
| |
| #include "arm_compute/core/Coordinates.h" |
| #include "arm_compute/core/Error.h" |
| #include "arm_compute/core/Helpers.h" |
| #include "arm_compute/core/IAccessWindow.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" |
| |
| using namespace arm_compute; |
| |
| namespace |
| { |
| inline void check_corner(float x, float y, float strength, InternalKeypoint *output, int32_t *num_corner_candidates, std::mutex *corner_candidates_mutex) |
| { |
| if(strength != 0.0f) |
| { |
| /* Set index and update num_corner_candidate */ |
| std::unique_lock<std::mutex> lock(*corner_candidates_mutex); |
| |
| const int32_t idx = *num_corner_candidates; |
| |
| *num_corner_candidates += 1; |
| |
| lock.unlock(); |
| |
| /* Add keypoint */ |
| output[idx] = std::make_tuple(x, y, strength); |
| } |
| } |
| |
| inline void corner_candidates(const float *__restrict input, InternalKeypoint *__restrict output, int32_t x, int32_t y, int32_t *num_corner_candidates, std::mutex *corner_candidates_mutex) |
| { |
| check_corner(x + 0, y, *(input + 0), output, num_corner_candidates, corner_candidates_mutex); |
| check_corner(x + 1, y, *(input + 1), output, num_corner_candidates, corner_candidates_mutex); |
| check_corner(x + 2, y, *(input + 2), output, num_corner_candidates, corner_candidates_mutex); |
| check_corner(x + 3, y, *(input + 3), output, num_corner_candidates, corner_candidates_mutex); |
| } |
| } // namespace |
| |
| bool keypoint_compare(const InternalKeypoint &lhs, const InternalKeypoint &rhs) |
| { |
| return std::get<2>(lhs) > std::get<2>(rhs); |
| } |
| |
| CPPCornerCandidatesKernel::CPPCornerCandidatesKernel() |
| : _num_corner_candidates(nullptr), _corner_candidates_mutex(), _input(nullptr), _output(nullptr) |
| { |
| } |
| |
| void CPPCornerCandidatesKernel::configure(const IImage *input, InternalKeypoint *output, int32_t *num_corner_candidates) |
| { |
| ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::F32); |
| ARM_COMPUTE_ERROR_ON(nullptr == output); |
| ARM_COMPUTE_ERROR_ON(nullptr == num_corner_candidates); |
| ARM_COMPUTE_ERROR_ON(*num_corner_candidates != 0); |
| |
| _input = input; |
| _output = output; |
| _num_corner_candidates = num_corner_candidates; |
| |
| const unsigned int num_elems_processed_per_iteration = 4; |
| |
| // Configure kernel window |
| 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)); |
| |
| INEKernel::configure(win); |
| } |
| |
| void CPPCornerCandidatesKernel::run(const Window &window) |
| { |
| ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); |
| Iterator input(_input, window); |
| |
| execute_window_loop(window, [&](const Coordinates & id) |
| { |
| corner_candidates(reinterpret_cast<float *>(input.ptr()), &_output[0], id.x(), id.y(), _num_corner_candidates, &_corner_candidates_mutex); |
| }, |
| input); |
| } |