Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 1 | /* |
Sang-Hoon Park | 68dd25f | 2020-10-19 16:00:11 +0100 | [diff] [blame^] | 2 | * Copyright (c) 2017-2020 Arm Limited. |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +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/core/CPP/kernels/CPPCornerCandidatesKernel.h" |
| 25 | |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 26 | #include "arm_compute/core/Helpers.h" |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 27 | #include "arm_compute/core/TensorInfo.h" |
Sang-Hoon Park | 68dd25f | 2020-10-19 16:00:11 +0100 | [diff] [blame^] | 28 | #include "src/core/helpers/WindowHelpers.h" |
Georgios Pinitas | e874ef9 | 2019-09-09 17:40:33 +0100 | [diff] [blame] | 29 | |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 30 | using namespace arm_compute; |
| 31 | |
| 32 | namespace |
| 33 | { |
Michalis Spyrou | 07781ac | 2017-08-31 15:11:41 +0100 | [diff] [blame] | 34 | inline void check_corner(float x, float y, float strength, InternalKeypoint *output, int32_t *num_corner_candidates, arm_compute::Mutex *corner_candidates_mutex) |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 35 | { |
| 36 | if(strength != 0.0f) |
| 37 | { |
| 38 | /* Set index and update num_corner_candidate */ |
Georgios Pinitas | e874ef9 | 2019-09-09 17:40:33 +0100 | [diff] [blame] | 39 | arm_compute::unique_lock<arm_compute::Mutex> lock(*corner_candidates_mutex); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 40 | |
| 41 | const int32_t idx = *num_corner_candidates; |
| 42 | |
| 43 | *num_corner_candidates += 1; |
| 44 | |
| 45 | lock.unlock(); |
| 46 | |
| 47 | /* Add keypoint */ |
| 48 | output[idx] = std::make_tuple(x, y, strength); |
| 49 | } |
| 50 | } |
| 51 | |
Michalis Spyrou | 07781ac | 2017-08-31 15:11:41 +0100 | [diff] [blame] | 52 | inline void corner_candidates(const float *__restrict input, InternalKeypoint *__restrict output, int32_t x, int32_t y, int32_t *num_corner_candidates, arm_compute::Mutex *corner_candidates_mutex) |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 53 | { |
Giorgio Arena | fc2817d | 2017-06-27 17:26:37 +0100 | [diff] [blame] | 54 | check_corner(x, y, *input, output, num_corner_candidates, corner_candidates_mutex); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 55 | } |
| 56 | } // namespace |
| 57 | |
| 58 | bool keypoint_compare(const InternalKeypoint &lhs, const InternalKeypoint &rhs) |
| 59 | { |
| 60 | return std::get<2>(lhs) > std::get<2>(rhs); |
| 61 | } |
| 62 | |
| 63 | CPPCornerCandidatesKernel::CPPCornerCandidatesKernel() |
| 64 | : _num_corner_candidates(nullptr), _corner_candidates_mutex(), _input(nullptr), _output(nullptr) |
| 65 | { |
| 66 | } |
| 67 | |
| 68 | void CPPCornerCandidatesKernel::configure(const IImage *input, InternalKeypoint *output, int32_t *num_corner_candidates) |
| 69 | { |
| 70 | ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input); |
| 71 | ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::F32); |
| 72 | ARM_COMPUTE_ERROR_ON(nullptr == output); |
| 73 | ARM_COMPUTE_ERROR_ON(nullptr == num_corner_candidates); |
| 74 | ARM_COMPUTE_ERROR_ON(*num_corner_candidates != 0); |
| 75 | |
| 76 | _input = input; |
| 77 | _output = output; |
| 78 | _num_corner_candidates = num_corner_candidates; |
| 79 | |
Giorgio Arena | fc2817d | 2017-06-27 17:26:37 +0100 | [diff] [blame] | 80 | const unsigned int num_elems_processed_per_iteration = 1; |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 81 | |
| 82 | // Configure kernel window |
| 83 | Window win = calculate_max_window(*input->info(), Steps(num_elems_processed_per_iteration)); |
| 84 | |
| 85 | update_window_and_padding(win, AccessWindowHorizontal(input->info(), 0, num_elems_processed_per_iteration)); |
| 86 | |
| 87 | INEKernel::configure(win); |
| 88 | } |
| 89 | |
Moritz Pflanzer | c186b57 | 2017-09-07 09:48:04 +0100 | [diff] [blame] | 90 | void CPPCornerCandidatesKernel::run(const Window &window, const ThreadInfo &info) |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 91 | { |
Moritz Pflanzer | c186b57 | 2017-09-07 09:48:04 +0100 | [diff] [blame] | 92 | ARM_COMPUTE_UNUSED(info); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 93 | ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| 94 | ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); |
| 95 | Iterator input(_input, window); |
| 96 | |
| 97 | execute_window_loop(window, [&](const Coordinates & id) |
| 98 | { |
| 99 | corner_candidates(reinterpret_cast<float *>(input.ptr()), &_output[0], id.x(), id.y(), _num_corner_candidates, &_corner_candidates_mutex); |
| 100 | }, |
| 101 | input); |
| 102 | } |