blob: 33a58f1904adedaf1b258a70f8f26d2d192ea92d [file] [log] [blame]
Anthony Barbier6ff3b192017-09-04 18:44:23 +01001/*
2 * Copyright (c) 2016, 2017 ARM Limited.
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/functions/NEFastCorners.h"
25
26#include "arm_compute/core/Error.h"
27#include "arm_compute/core/ITensor.h"
28#include "arm_compute/core/NEON/kernels/NEFillBorderKernel.h"
29#include "arm_compute/core/PixelValue.h"
30#include "arm_compute/core/TensorInfo.h"
31#include "arm_compute/core/Validate.h"
32#include "arm_compute/runtime/Array.h"
33#include "arm_compute/runtime/NEON/NEScheduler.h"
34#include "arm_compute/runtime/TensorAllocator.h"
35
36using namespace arm_compute;
37
38NEFastCorners::NEFastCorners()
39 : _fast_corners_kernel(),
40 _border_handler(),
41 _nonmax_kernel(),
42 _fill_kernel(),
43 _output(),
44 _suppressed(),
45 _non_max(false)
46{
47}
48
49void NEFastCorners::configure(IImage *input, float threshold, bool nonmax_suppression, KeyPointArray *corners,
50 BorderMode border_mode, uint8_t constant_border_value)
51{
52 ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input);
53 ARM_COMPUTE_ERROR_ON(BorderMode::UNDEFINED != border_mode);
54 ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8);
55 ARM_COMPUTE_ERROR_ON(nullptr == corners);
56 ARM_COMPUTE_ERROR_ON(threshold < 1 && threshold > 255);
57
58 _non_max = nonmax_suppression;
59
60 TensorInfo tensor_info(input->info()->tensor_shape(), Format::U8);
61 _output.allocator()->init(tensor_info);
62
63 // If border is UNDEFINED _fast_corners_kernel will operate in xwindow (3,
64 // width - 3) and ywindow (3, height -3) so the output image will leave the
65 // pixels on the borders unchanged. This is reflected in the valid region
66 // of the output. The non maxima suppression is only run on the valid
67 // pixels.
68 _fast_corners_kernel.configure(input, &_output, threshold, nonmax_suppression, BorderMode::UNDEFINED == border_mode);
69 _border_handler.configure(input, _fast_corners_kernel.border_size(), border_mode, constant_border_value);
70
71 if(!_non_max)
72 {
73 _fill_kernel.configure(&_output, 1 /* we keep all texels >0 */, corners);
74 }
75 else
76 {
77 _suppressed.allocator()->init(tensor_info);
78 _nonmax_kernel.configure(&_output, &_suppressed, BorderMode::UNDEFINED == border_mode);
79 _fill_kernel.configure(&_suppressed, 1 /* we keep all texels >0 */, corners);
80
81 // Allocate intermediate tensors
82 _suppressed.allocator()->allocate();
83 }
84
85 // Allocate intermediate tensors
86 _output.allocator()->allocate();
87}
88
89void NEFastCorners::run()
90{
91 _border_handler.run(_border_handler.window());
92
93 NEScheduler::get().schedule(&_fast_corners_kernel, Window::DimY);
94
95 if(_non_max)
96 {
97 NEScheduler::get().schedule(&_nonmax_kernel, Window::DimY);
98 }
99
100 NEScheduler::get().schedule(&_fill_kernel, Window::DimY);
101}