Pablo Tello | e99196c | 2019-06-05 15:51:52 +0100 | [diff] [blame] | 1 | /* |
Michele Di Giorgio | d9eaf61 | 2020-07-08 11:12:57 +0100 | [diff] [blame] | 2 | * Copyright (c) 2019 Arm Limited. |
Pablo Tello | e99196c | 2019-06-05 15:51:52 +0100 | [diff] [blame] | 3 | * |
| 4 | * SPDX-License-Identifier: MIT |
| 5 | * |
| 6 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| 7 | * of this software and associated documentation files (the "Software"), to |
| 8 | * deal in the Software without restriction, including without limitation the |
| 9 | * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or |
| 10 | * sell copies of the Software, and to permit persons to whom the Software is |
| 11 | * furnished to do so, subject to the following conditions: |
| 12 | * |
| 13 | * The above copyright notice and this permission notice shall be included in all |
| 14 | * copies or substantial portions of the Software. |
| 15 | * |
| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| 17 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| 18 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| 19 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| 20 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| 21 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
| 22 | * SOFTWARE. |
| 23 | */ |
| 24 | #include "arm_compute/runtime/NEON/NEFunctions.h" |
| 25 | |
| 26 | #include "arm_compute/core/Types.h" |
| 27 | #include "utils/ImageLoader.h" |
| 28 | #include "utils/Utils.h" |
| 29 | |
| 30 | #include <fstream> |
| 31 | #include <sstream> |
| 32 | #include <vector> |
| 33 | |
| 34 | using namespace arm_compute; |
| 35 | using namespace utils; |
| 36 | |
| 37 | class NeonOpticalFlowExample : public Example |
| 38 | { |
| 39 | public: |
| 40 | NeonOpticalFlowExample() |
| 41 | : input_points(100), output_points(100), point_estimates(100) |
| 42 | { |
| 43 | } |
| 44 | |
| 45 | bool do_setup(int argc, char **argv) override |
| 46 | { |
| 47 | if(argc < 5) |
| 48 | { |
| 49 | // Print help |
| 50 | std::cout << "Usage: ./build/neon_opticalflow [src_1st.ppm] [src_2nd.ppm] [keypoints] [estimates]\n\n"; |
| 51 | const unsigned int img_width = 64; |
| 52 | const unsigned int img_height = 64; |
| 53 | const unsigned int rect_x = 20; |
| 54 | const unsigned int rect_y = 40; |
| 55 | const unsigned int rect_s = 8; |
| 56 | const unsigned int offsetx = 24; |
| 57 | const unsigned int offsety = 3; |
| 58 | std::cout << "No input_image provided, creating test data:\n"; |
| 59 | std::cout << "\t Image src_1st = (" << img_width << "," << img_height << ")" << std::endl; |
| 60 | std::cout << "\t Image src_2nd = (" << img_width << "," << img_height << ")" << std::endl; |
| 61 | init_img(src_1st, img_width, img_height, rect_x, rect_y, rect_s); |
| 62 | init_img(src_2nd, img_width, img_height, rect_x + offsetx, rect_y + offsety, rect_s); |
| 63 | const int num_points = 4; |
| 64 | input_points.resize(num_points); |
| 65 | point_estimates.resize(num_points); |
| 66 | const std::array<unsigned int, num_points> tracking_coordsx = { rect_x - 1, rect_x, rect_x + 1, rect_x + 2 }; |
| 67 | const std::array<unsigned int, num_points> tracking_coordsy = { rect_y - 1, rect_y, rect_y + 1, rect_y + 2 }; |
| 68 | const std::array<unsigned int, num_points> estimate_coordsx = { rect_x + offsetx - 1, rect_x + offsetx, rect_x + offsetx + 1, rect_x + offsetx + 2 }; |
| 69 | const std::array<unsigned int, num_points> estimate_coordsy = { rect_y + offsety - 1, rect_y + offsety, rect_y + offsety + 1, rect_y + offsety + 2 }; |
| 70 | |
| 71 | for(int k = 0; k < num_points; ++k) |
| 72 | { |
| 73 | auto &keypoint = input_points.at(k); |
| 74 | keypoint.x = tracking_coordsx[k]; |
| 75 | keypoint.y = tracking_coordsy[k]; |
| 76 | keypoint.tracking_status = 1; |
| 77 | } |
| 78 | for(int k = 0; k < num_points; ++k) |
| 79 | { |
| 80 | auto &keypoint = point_estimates.at(k); |
| 81 | keypoint.x = estimate_coordsx[k]; |
| 82 | keypoint.y = estimate_coordsy[k]; |
| 83 | keypoint.tracking_status = 1; |
| 84 | } |
| 85 | } |
| 86 | else |
| 87 | { |
| 88 | load_ppm(argv[1], src_1st); |
| 89 | load_ppm(argv[2], src_2nd); |
| 90 | load_keypoints(argv[3], input_points); |
| 91 | load_keypoints(argv[4], point_estimates); |
| 92 | } |
| 93 | |
| 94 | print_points(input_points, "Tracking points : "); |
| 95 | print_points(point_estimates, "Estimates points : "); |
| 96 | |
| 97 | const unsigned int num_levels = 3; |
| 98 | // Initialise and allocate pyramids |
| 99 | PyramidInfo pyramid_info(num_levels, SCALE_PYRAMID_HALF, src_1st.info()->tensor_shape(), src_1st.info()->format()); |
| 100 | pyr_1st.init_auto_padding(pyramid_info); |
| 101 | pyr_2nd.init_auto_padding(pyramid_info); |
| 102 | |
| 103 | pyrf_1st.configure(&src_1st, &pyr_1st, BorderMode::UNDEFINED, 0); |
| 104 | pyrf_2nd.configure(&src_2nd, &pyr_2nd, BorderMode::UNDEFINED, 0); |
| 105 | |
| 106 | output_points.resize(input_points.num_values()); |
| 107 | |
| 108 | optkf.configure(&pyr_1st, &pyr_2nd, |
| 109 | &input_points, &point_estimates, &output_points, |
| 110 | Termination::TERM_CRITERIA_BOTH, 0.01f, 15, 5, true, BorderMode::UNDEFINED, 0); |
| 111 | |
| 112 | pyr_1st.allocate(); |
| 113 | pyr_2nd.allocate(); |
| 114 | |
| 115 | return true; |
| 116 | } |
| 117 | void do_run() override |
| 118 | { |
| 119 | //Execute the functions: |
| 120 | pyrf_1st.run(); |
| 121 | pyrf_2nd.run(); |
| 122 | optkf.run(); |
| 123 | } |
| 124 | void do_teardown() override |
| 125 | { |
| 126 | print_points(output_points, "Output points : "); |
| 127 | } |
| 128 | |
| 129 | private: |
| 130 | /** Loads the input keypoints from a file into an array |
| 131 | * |
| 132 | * @param[in] fn Filename containing the keypoints. Each line must have two values X Y. |
| 133 | * @param[out] img Reference to an unintialised KeyPointArray |
| 134 | */ |
| 135 | bool load_keypoints(const std::string &fn, KeyPointArray &array) |
| 136 | { |
| 137 | assert(!fn.empty()); |
| 138 | std::ifstream f(fn); |
| 139 | if(f.is_open()) |
| 140 | { |
| 141 | std::cout << "Reading points from " << fn << std::endl; |
| 142 | std::vector<KeyPoint> v; |
| 143 | for(std::string line; std::getline(f, line);) |
| 144 | { |
| 145 | std::stringstream ss(line); |
| 146 | std::string xcoord; |
| 147 | std::string ycoord; |
| 148 | getline(ss, xcoord, ' '); |
| 149 | getline(ss, ycoord, ' '); |
| 150 | KeyPoint kp; |
| 151 | kp.x = std::stoi(xcoord); |
| 152 | kp.y = std::stoi(ycoord); |
| 153 | kp.tracking_status = 1; |
| 154 | v.push_back(kp); |
| 155 | } |
| 156 | const int num_points = v.size(); |
| 157 | array.resize(num_points); |
| 158 | for(int k = 0; k < num_points; ++k) |
| 159 | { |
| 160 | auto &keypoint = array.at(k); |
| 161 | keypoint = v[k]; |
| 162 | } |
| 163 | return true; |
| 164 | } |
| 165 | else |
| 166 | { |
| 167 | std::cout << "Cannot open keypoints file " << fn << std::endl; |
| 168 | return false; |
| 169 | } |
| 170 | } |
| 171 | |
| 172 | /** Creates and Image and fills it with the ppm data from the file |
| 173 | * |
| 174 | * @param[in] fn PPM filename to be loaded |
| 175 | * @param[out] img Reference to an unintialised image instance |
| 176 | */ |
| 177 | bool load_ppm(const std::string &fn, Image &img) |
| 178 | { |
| 179 | assert(!fn.empty()); |
| 180 | PPMLoader ppm; |
| 181 | ppm.open(fn); |
| 182 | ppm.init_image(img, Format::U8); |
| 183 | img.allocator()->allocate(); |
| 184 | if(ppm.is_open()) |
| 185 | { |
| 186 | std::cout << "Reading image " << fn << std::endl; |
| 187 | ppm.fill_image(img); |
| 188 | return true; |
| 189 | } |
| 190 | else |
| 191 | { |
| 192 | std::cout << "Cannot open " << fn << std::endl; |
| 193 | return false; |
| 194 | } |
| 195 | } |
| 196 | /** Creates and Image and draws a square in the specified coordinares. |
| 197 | * |
| 198 | * @param[out] img Reference to an unintialised image instance |
| 199 | * @param[in] img_width Width of the image to be created |
| 200 | * @param[in] img_height Height of the image to be created |
| 201 | * @param[in] square_center_x Coordinate along x-axis to be used as the center for the square |
| 202 | * @param[in] square_center_y Coordinate along y-axis to be used as the center for the square |
| 203 | * @param[in] square_size Size in pixels to be used for the square |
| 204 | */ |
| 205 | void init_img(Image &img, unsigned int img_width, unsigned int img_height, |
| 206 | unsigned int square_center_x, unsigned int square_center_y, |
| 207 | unsigned int square_size) |
| 208 | { |
| 209 | img.allocator()->init(TensorInfo(img_width, img_height, Format::U8)); |
| 210 | img.allocator()->allocate(); |
| 211 | const unsigned int square_half = square_size / 2; |
| 212 | // assert the square is in the bounds of the image |
| 213 | assert(square_center_x > square_half && square_center_x + square_half < img_width); |
| 214 | assert(square_center_y > square_half && square_center_y + square_half < img_height); |
| 215 | // get ptr to the top left pixel for the squeare |
| 216 | std::fill(img.buffer(), img.buffer() + img_width * img_height, 0); |
| 217 | for(unsigned int i = 0; i < square_size; ++i) |
| 218 | { |
| 219 | for(unsigned int j = 0; j < square_size; ++j) |
| 220 | { |
| 221 | uint8_t *ptr = img.ptr_to_element(Coordinates(square_center_x - square_half + j, square_center_y - square_half + i)); |
| 222 | *ptr = 0xFF; |
| 223 | } |
| 224 | } |
| 225 | } |
| 226 | /** Prints an array of keypoints and an optional label |
| 227 | * |
| 228 | * @param[in] a Keypoint array to be printed |
| 229 | * @param[in] str Label to be printed before the array |
| 230 | */ |
| 231 | void print_points(const KeyPointArray &a, const std::string &str = "") |
| 232 | { |
| 233 | std::cout << str << std::endl; |
| 234 | for(unsigned int k = 0; k < a.num_values(); ++k) |
| 235 | { |
| 236 | auto kp = a.at(k); |
| 237 | std::cout << "\t " |
| 238 | << " (x,y) = (" << kp.x << "," << kp.y << ")"; |
| 239 | std::cout << " strength = " << kp.strength << " " |
| 240 | << " scale = " << kp.scale << " orientation " << kp.orientation << " status " << kp.tracking_status << " err = " << kp.error << std::endl; |
| 241 | } |
| 242 | } |
| 243 | |
| 244 | Pyramid pyr_1st{}; |
| 245 | Pyramid pyr_2nd{}; |
| 246 | NEGaussianPyramidHalf pyrf_1st{}; |
| 247 | NEGaussianPyramidHalf pyrf_2nd{}; |
| 248 | NEOpticalFlow optkf{}; |
| 249 | Image src_1st{}, src_2nd{}; |
| 250 | KeyPointArray input_points; |
| 251 | KeyPointArray output_points; |
| 252 | KeyPointArray point_estimates; |
| 253 | }; |
| 254 | |
| 255 | /** Main program for optical flow test |
| 256 | * |
| 257 | * @param[in] argc Number of arguments |
| 258 | * @param[in] argv Arguments ( [optional] Path to PPM image to process ) |
| 259 | */ |
| 260 | int main(int argc, char **argv) |
| 261 | { |
| 262 | return utils::run_example<NeonOpticalFlowExample>(argc, argv); |
| 263 | } |