Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 1 | /* |
Matthew Bentham | 9204646 | 2020-03-07 22:15:55 +0000 | [diff] [blame] | 2 | * Copyright (c) 2016-2020 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/runtime/NEON/functions/NEHarrisCorners.h" |
| 25 | |
| 26 | #include "arm_compute/core/Error.h" |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 27 | #include "arm_compute/core/NEON/kernels/NEFillBorderKernel.h" |
| 28 | #include "arm_compute/core/NEON/kernels/NEHarrisCornersKernel.h" |
| 29 | #include "arm_compute/core/TensorInfo.h" |
| 30 | #include "arm_compute/core/Validate.h" |
| 31 | #include "arm_compute/runtime/Array.h" |
| 32 | #include "arm_compute/runtime/NEON/NEScheduler.h" |
| 33 | #include "arm_compute/runtime/NEON/functions/NESobel3x3.h" |
| 34 | #include "arm_compute/runtime/NEON/functions/NESobel5x5.h" |
| 35 | #include "arm_compute/runtime/NEON/functions/NESobel7x7.h" |
| 36 | #include "arm_compute/runtime/TensorAllocator.h" |
Matthew Bentham | 9204646 | 2020-03-07 22:15:55 +0000 | [diff] [blame] | 37 | #include "support/MemorySupport.h" |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 38 | |
| 39 | #include <cmath> |
| 40 | #include <utility> |
| 41 | |
| 42 | using namespace arm_compute; |
| 43 | |
Georgios Pinitas | d910ffa | 2017-09-18 16:04:42 +0100 | [diff] [blame] | 44 | NEHarrisCorners::NEHarrisCorners(std::shared_ptr<IMemoryManager> memory_manager) // NOLINT |
| 45 | : _memory_group(std::move(memory_manager)), |
| 46 | _sobel(), |
Moritz Pflanzer | f4af76e | 2017-09-06 07:42:43 +0100 | [diff] [blame] | 47 | _harris_score(), |
| 48 | _non_max_suppr(), |
| 49 | _candidates(), |
| 50 | _sort_euclidean(), |
| 51 | _border_gx(), |
| 52 | _border_gy(), |
| 53 | _gx(), |
| 54 | _gy(), |
| 55 | _score(), |
| 56 | _nonmax(), |
| 57 | _corners_list(), |
| 58 | _num_corner_candidates(0) |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 59 | { |
| 60 | } |
| 61 | |
| 62 | void NEHarrisCorners::configure(IImage *input, float threshold, float min_dist, |
| 63 | float sensitivity, int32_t gradient_size, int32_t block_size, KeyPointArray *corners, |
Georgios Pinitas | 09d3451 | 2018-08-30 16:02:11 +0100 | [diff] [blame] | 64 | BorderMode border_mode, uint8_t constant_border_value) |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 65 | { |
| 66 | ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input); |
| 67 | ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8); |
| 68 | ARM_COMPUTE_ERROR_ON(!(block_size == 3 || block_size == 5 || block_size == 7)); |
| 69 | |
| 70 | const TensorShape shape = input->info()->tensor_shape(); |
| 71 | TensorInfo tensor_info_gxgy; |
| 72 | |
| 73 | if(gradient_size < 7) |
| 74 | { |
| 75 | tensor_info_gxgy.init(shape, Format::S16); |
| 76 | } |
| 77 | else |
| 78 | { |
| 79 | tensor_info_gxgy.init(shape, Format::S32); |
| 80 | } |
| 81 | |
| 82 | _gx.allocator()->init(tensor_info_gxgy); |
| 83 | _gy.allocator()->init(tensor_info_gxgy); |
| 84 | |
Georgios Pinitas | d910ffa | 2017-09-18 16:04:42 +0100 | [diff] [blame] | 85 | // Manage intermediate buffers |
| 86 | _memory_group.manage(&_gx); |
| 87 | _memory_group.manage(&_gy); |
| 88 | |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 89 | TensorInfo tensor_info_score(shape, Format::F32); |
| 90 | _score.allocator()->init(tensor_info_score); |
| 91 | _nonmax.allocator()->init(tensor_info_score); |
| 92 | |
Michalis Spyrou | bcfd09a | 2019-05-01 13:03:59 +0100 | [diff] [blame] | 93 | _corners_list.resize(shape.x() * shape.y()); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 94 | |
| 95 | // Set/init Sobel kernel accordingly with gradient_size |
| 96 | switch(gradient_size) |
| 97 | { |
| 98 | case 3: |
| 99 | { |
Moritz Pflanzer | d0ae8b8 | 2017-06-29 14:51:57 +0100 | [diff] [blame] | 100 | auto k = arm_compute::support::cpp14::make_unique<NESobel3x3>(); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 101 | k->configure(input, &_gx, &_gy, border_mode, constant_border_value); |
| 102 | _sobel = std::move(k); |
| 103 | break; |
| 104 | } |
| 105 | case 5: |
| 106 | { |
Moritz Pflanzer | d0ae8b8 | 2017-06-29 14:51:57 +0100 | [diff] [blame] | 107 | auto k = arm_compute::support::cpp14::make_unique<NESobel5x5>(); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 108 | k->configure(input, &_gx, &_gy, border_mode, constant_border_value); |
| 109 | _sobel = std::move(k); |
| 110 | break; |
| 111 | } |
| 112 | case 7: |
| 113 | { |
Moritz Pflanzer | d0ae8b8 | 2017-06-29 14:51:57 +0100 | [diff] [blame] | 114 | auto k = arm_compute::support::cpp14::make_unique<NESobel7x7>(); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 115 | k->configure(input, &_gx, &_gy, border_mode, constant_border_value); |
| 116 | _sobel = std::move(k); |
| 117 | break; |
| 118 | } |
| 119 | default: |
| 120 | ARM_COMPUTE_ERROR("Gradient size not implemented"); |
| 121 | } |
| 122 | |
| 123 | // Normalization factor |
| 124 | const float norm_factor = 1.0f / (255.0f * pow(4.0f, gradient_size / 2) * block_size); |
| 125 | |
Georgios Pinitas | d910ffa | 2017-09-18 16:04:42 +0100 | [diff] [blame] | 126 | // Manage intermediate buffers |
| 127 | _memory_group.manage(&_score); |
| 128 | |
Georgios Pinitas | 09d3451 | 2018-08-30 16:02:11 +0100 | [diff] [blame] | 129 | // Set/init Harris Score kernel accordingly with block_size |
| 130 | switch(block_size) |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 131 | { |
Georgios Pinitas | 09d3451 | 2018-08-30 16:02:11 +0100 | [diff] [blame] | 132 | case 3: |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 133 | { |
Georgios Pinitas | 09d3451 | 2018-08-30 16:02:11 +0100 | [diff] [blame] | 134 | auto k = arm_compute::support::cpp14::make_unique<NEHarrisScoreKernel<3>>(); |
| 135 | k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); |
| 136 | _harris_score = std::move(k); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 137 | } |
Georgios Pinitas | 09d3451 | 2018-08-30 16:02:11 +0100 | [diff] [blame] | 138 | break; |
| 139 | case 5: |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 140 | { |
Georgios Pinitas | 09d3451 | 2018-08-30 16:02:11 +0100 | [diff] [blame] | 141 | auto k = arm_compute::support::cpp14::make_unique<NEHarrisScoreKernel<5>>(); |
| 142 | k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); |
| 143 | _harris_score = std::move(k); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 144 | } |
Georgios Pinitas | 09d3451 | 2018-08-30 16:02:11 +0100 | [diff] [blame] | 145 | break; |
| 146 | case 7: |
| 147 | { |
| 148 | auto k = arm_compute::support::cpp14::make_unique<NEHarrisScoreKernel<7>>(); |
| 149 | k->configure(&_gx, &_gy, &_score, norm_factor, threshold, sensitivity, border_mode == BorderMode::UNDEFINED); |
| 150 | _harris_score = std::move(k); |
| 151 | } |
| 152 | default: |
| 153 | break; |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 154 | } |
| 155 | |
| 156 | // Configure border filling before harris score |
| 157 | _border_gx.configure(&_gx, _harris_score->border_size(), border_mode, constant_border_value); |
| 158 | _border_gy.configure(&_gy, _harris_score->border_size(), border_mode, constant_border_value); |
| 159 | |
Georgios Pinitas | d910ffa | 2017-09-18 16:04:42 +0100 | [diff] [blame] | 160 | // Allocate once all the configure methods have been called |
| 161 | _gx.allocator()->allocate(); |
| 162 | _gy.allocator()->allocate(); |
| 163 | |
| 164 | // Manage intermediate buffers |
| 165 | _memory_group.manage(&_nonmax); |
| 166 | |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 167 | // Init non-maxima suppression function |
| 168 | _non_max_suppr.configure(&_score, &_nonmax, border_mode); |
| 169 | |
Georgios Pinitas | d910ffa | 2017-09-18 16:04:42 +0100 | [diff] [blame] | 170 | // Allocate once all the configure methods have been called |
| 171 | _score.allocator()->allocate(); |
| 172 | |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 173 | // Init corner candidates kernel |
Michalis Spyrou | bcfd09a | 2019-05-01 13:03:59 +0100 | [diff] [blame] | 174 | _candidates.configure(&_nonmax, _corners_list.data(), &_num_corner_candidates); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 175 | |
Georgios Pinitas | d910ffa | 2017-09-18 16:04:42 +0100 | [diff] [blame] | 176 | // Allocate once all the configure methods have been called |
| 177 | _nonmax.allocator()->allocate(); |
| 178 | |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 179 | // Init euclidean distance |
Michalis Spyrou | bcfd09a | 2019-05-01 13:03:59 +0100 | [diff] [blame] | 180 | _sort_euclidean.configure(_corners_list.data(), corners, &_num_corner_candidates, min_dist); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 181 | } |
| 182 | |
| 183 | void NEHarrisCorners::run() |
| 184 | { |
| 185 | ARM_COMPUTE_ERROR_ON_MSG(_sobel == nullptr, "Unconfigured function"); |
| 186 | |
Georgios Pinitas | da953f2 | 2019-04-02 17:27:03 +0100 | [diff] [blame] | 187 | MemoryGroupResourceScope scope_mg(_memory_group); |
Georgios Pinitas | d910ffa | 2017-09-18 16:04:42 +0100 | [diff] [blame] | 188 | |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 189 | // Init to 0 number of corner candidates |
| 190 | _num_corner_candidates = 0; |
| 191 | |
| 192 | // Run Sobel kernel |
| 193 | _sobel->run(); |
| 194 | |
| 195 | // Fill border before harris score kernel |
Moritz Pflanzer | c186b57 | 2017-09-07 09:48:04 +0100 | [diff] [blame] | 196 | NEScheduler::get().schedule(&_border_gx, Window::DimZ); |
| 197 | NEScheduler::get().schedule(&_border_gy, Window::DimZ); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 198 | |
| 199 | // Run harris score kernel |
| 200 | NEScheduler::get().schedule(_harris_score.get(), Window::DimY); |
| 201 | |
| 202 | // Run non-maxima suppression |
| 203 | _non_max_suppr.run(); |
| 204 | |
| 205 | // Run corner candidate kernel |
| 206 | NEScheduler::get().schedule(&_candidates, Window::DimY); |
| 207 | |
| 208 | // Run sort & euclidean distance |
Moritz Pflanzer | c186b57 | 2017-09-07 09:48:04 +0100 | [diff] [blame] | 209 | NEScheduler::get().schedule(&_sort_euclidean, Window::DimY); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 210 | } |