Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 1 | /* |
| 2 | * Copyright (c) 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/core/CPP/kernels/CPPSortEuclideanDistanceKernel.h" |
| 25 | |
| 26 | #include "arm_compute/core/Coordinates.h" |
| 27 | #include "arm_compute/core/Error.h" |
| 28 | #include "arm_compute/core/Helpers.h" |
| 29 | #include "arm_compute/core/TensorInfo.h" |
| 30 | #include "arm_compute/core/Types.h" |
| 31 | #include "arm_compute/core/Utils.h" |
| 32 | #include "arm_compute/core/Validate.h" |
| 33 | #include "arm_compute/core/Window.h" |
| 34 | |
| 35 | #include <cmath> |
| 36 | |
| 37 | using namespace arm_compute; |
| 38 | |
| 39 | namespace |
| 40 | { |
| 41 | bool keypoint_compare(const InternalKeypoint &lhs, const InternalKeypoint &rhs) |
| 42 | { |
| 43 | return std::get<2>(lhs) > std::get<2>(rhs); |
| 44 | } |
| 45 | } // namespace |
| 46 | |
| 47 | CPPSortEuclideanDistanceKernel::CPPSortEuclideanDistanceKernel() |
| 48 | : _num_corner_candidates(), _min_distance(0.0f), _in_out(nullptr), _output(nullptr) |
| 49 | { |
| 50 | } |
| 51 | |
| 52 | void CPPSortEuclideanDistanceKernel::configure(InternalKeypoint *in_out, IKeyPointArray *output, const int32_t *num_corner_candidates, float min_distance) |
| 53 | { |
| 54 | ARM_COMPUTE_ERROR_ON(nullptr == in_out); |
| 55 | ARM_COMPUTE_ERROR_ON(nullptr == output); |
| 56 | ARM_COMPUTE_ERROR_ON(nullptr == num_corner_candidates); |
| 57 | ARM_COMPUTE_ERROR_ON(!((min_distance > 0) && (min_distance <= 30))); |
| 58 | |
| 59 | _in_out = in_out; |
| 60 | _output = output; |
| 61 | _min_distance = min_distance * min_distance; // We compare squares of distances |
| 62 | _num_corner_candidates = num_corner_candidates; |
| 63 | ICPPKernel::configure(Window()); // Default 1 iteration window |
| 64 | } |
| 65 | |
| 66 | bool CPPSortEuclideanDistanceKernel::is_parallelisable() const |
| 67 | { |
| 68 | return false; |
| 69 | } |
| 70 | |
Moritz Pflanzer | c186b57 | 2017-09-07 09:48:04 +0100 | [diff] [blame] | 71 | void CPPSortEuclideanDistanceKernel::run(const Window &window, const ThreadInfo &info) |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 72 | { |
Moritz Pflanzer | c186b57 | 2017-09-07 09:48:04 +0100 | [diff] [blame] | 73 | ARM_COMPUTE_UNUSED(info); |
Anthony Barbier | 95ca9a5 | 2017-12-12 09:34:44 +0000 | [diff] [blame^] | 74 | ARM_COMPUTE_UNUSED(window); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 75 | ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| 76 | ARM_COMPUTE_ERROR_ON_MISMATCHING_WINDOWS(ICPPKernel::window(), window); |
| 77 | |
| 78 | const int32_t num_corner_candidates = *_num_corner_candidates; |
| 79 | |
| 80 | /* Sort list of corner candidates */ |
| 81 | std::sort(_in_out, _in_out + num_corner_candidates, keypoint_compare); |
| 82 | |
| 83 | /* Euclidean distance */ |
| 84 | for(int32_t i = 0; i < num_corner_candidates; ++i) |
| 85 | { |
| 86 | if(std::get<2>(_in_out[i]) != 0.0f) |
| 87 | { |
| 88 | KeyPoint keypt; |
| 89 | const auto xc = std::get<0>(_in_out[i]); |
| 90 | const auto yc = std::get<1>(_in_out[i]); |
| 91 | |
| 92 | keypt.x = xc; |
| 93 | keypt.y = yc; |
| 94 | keypt.strength = std::get<2>(_in_out[i]); |
| 95 | keypt.tracking_status = 1; |
| 96 | |
| 97 | /* Store corner */ |
| 98 | _output->push_back(keypt); |
| 99 | for(int32_t k = i + 1; k < num_corner_candidates; ++k) |
| 100 | { |
| 101 | const float dx = std::fabs(std::get<0>(_in_out[k]) - xc); |
| 102 | const float dy = std::fabs(std::get<1>(_in_out[k]) - yc); |
| 103 | |
| 104 | if((dx < _min_distance) && (dy < _min_distance)) |
| 105 | { |
| 106 | const float d = (dx * dx + dy * dy); |
| 107 | |
| 108 | if(d < _min_distance) |
| 109 | { |
| 110 | /* Invalidate keypoint */ |
| 111 | std::get<2>(_in_out[k]) = 0.0f; |
| 112 | } |
| 113 | } |
| 114 | } |
| 115 | } |
| 116 | } |
| 117 | } |