Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 1 | /* |
John Richardson | 7f4a819 | 2018-02-05 15:12:22 +0000 | [diff] [blame] | 2 | * Copyright (c) 2017-2018 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/CPPDetectionWindowNonMaximaSuppressionKernel.h" |
| 25 | |
| 26 | #include "arm_compute/core/Error.h" |
| 27 | #include "arm_compute/core/Helpers.h" |
| 28 | |
| 29 | #include <algorithm> |
| 30 | #include <cmath> |
| 31 | |
| 32 | using namespace arm_compute; |
| 33 | |
| 34 | namespace |
| 35 | { |
| 36 | bool compare_detection_window(const DetectionWindow &lhs, const DetectionWindow &rhs) |
| 37 | { |
John Richardson | 7f4a819 | 2018-02-05 15:12:22 +0000 | [diff] [blame] | 38 | if(lhs.idx_class < rhs.idx_class) |
| 39 | { |
| 40 | return true; |
| 41 | } |
| 42 | if(rhs.idx_class < lhs.idx_class) |
| 43 | { |
| 44 | return false; |
| 45 | } |
| 46 | |
| 47 | // idx_classes are equal so compare by score |
| 48 | if(lhs.score > rhs.score) |
| 49 | { |
| 50 | return true; |
| 51 | } |
| 52 | if(rhs.score > lhs.score) |
| 53 | { |
| 54 | return false; |
| 55 | } |
| 56 | |
| 57 | return false; |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 58 | } |
| 59 | } // namespace |
| 60 | |
| 61 | CPPDetectionWindowNonMaximaSuppressionKernel::CPPDetectionWindowNonMaximaSuppressionKernel() |
| 62 | : _input_output(nullptr), _min_distance(0.0f) |
| 63 | { |
| 64 | } |
| 65 | |
| 66 | bool CPPDetectionWindowNonMaximaSuppressionKernel::is_parallelisable() const |
| 67 | { |
| 68 | return false; |
| 69 | } |
| 70 | |
| 71 | void CPPDetectionWindowNonMaximaSuppressionKernel::configure(IDetectionWindowArray *input_output, float min_distance) |
| 72 | { |
| 73 | ARM_COMPUTE_ERROR_ON(nullptr == input_output); |
| 74 | |
| 75 | _input_output = input_output; |
| 76 | _min_distance = min_distance; |
| 77 | |
| 78 | IKernel::configure(Window()); // Default 1 iteration window |
| 79 | } |
| 80 | |
Moritz Pflanzer | c186b57 | 2017-09-07 09:48:04 +0100 | [diff] [blame] | 81 | void CPPDetectionWindowNonMaximaSuppressionKernel::run(const Window &window, const ThreadInfo &info) |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 82 | { |
Moritz Pflanzer | c186b57 | 2017-09-07 09:48:04 +0100 | [diff] [blame] | 83 | ARM_COMPUTE_UNUSED(info); |
Anthony Barbier | c0ee461 | 2017-12-11 13:15:02 +0000 | [diff] [blame] | 84 | ARM_COMPUTE_UNUSED(window); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 85 | ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| 86 | ARM_COMPUTE_ERROR_ON_MISMATCHING_WINDOWS(IKernel::window(), window); |
| 87 | ARM_COMPUTE_ERROR_ON(_input_output->buffer() == nullptr); |
| 88 | |
| 89 | const size_t num_candidates = _input_output->num_values(); |
| 90 | size_t num_detections = 0; |
| 91 | |
John Richardson | 7f4a819 | 2018-02-05 15:12:22 +0000 | [diff] [blame] | 92 | // Sort list of candidates by idx_class and then score |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 93 | std::sort(_input_output->buffer(), _input_output->buffer() + num_candidates, compare_detection_window); |
| 94 | |
| 95 | const float min_distance_pow2 = _min_distance * _min_distance; |
| 96 | |
| 97 | // Euclidean distance |
| 98 | for(size_t i = 0; i < num_candidates; ++i) |
| 99 | { |
| 100 | if(0.0f != _input_output->at(i).score) |
| 101 | { |
| 102 | DetectionWindow cur; |
| 103 | cur.x = _input_output->at(i).x; |
| 104 | cur.y = _input_output->at(i).y; |
| 105 | cur.width = _input_output->at(i).width; |
| 106 | cur.height = _input_output->at(i).height; |
| 107 | cur.idx_class = _input_output->at(i).idx_class; |
| 108 | cur.score = _input_output->at(i).score; |
| 109 | |
| 110 | // Store window |
| 111 | _input_output->at(num_detections) = cur; |
| 112 | |
| 113 | ++num_detections; |
| 114 | |
| 115 | const float xc = cur.x + cur.width * 0.5f; |
| 116 | const float yc = cur.y + cur.height * 0.5f; |
| 117 | |
John Richardson | 7f4a819 | 2018-02-05 15:12:22 +0000 | [diff] [blame] | 118 | for(size_t k = i + 1; k < (num_candidates) && (cur.idx_class == _input_output->at(k).idx_class); ++k) |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 119 | { |
| 120 | const float xn = _input_output->at(k).x + _input_output->at(k).width * 0.5f; |
| 121 | const float yn = _input_output->at(k).y + _input_output->at(k).height * 0.5f; |
| 122 | |
| 123 | const float dx = std::fabs(xn - xc); |
| 124 | const float dy = std::fabs(yn - yc); |
| 125 | |
| 126 | if(dx < _min_distance && dy < _min_distance) |
| 127 | { |
| 128 | const float d = dx * dx + dy * dy; |
| 129 | |
| 130 | if(d < min_distance_pow2) |
| 131 | { |
John Richardson | 7f4a819 | 2018-02-05 15:12:22 +0000 | [diff] [blame] | 132 | // Invalidate detection window |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 133 | _input_output->at(k).score = 0.0f; |
| 134 | } |
| 135 | } |
| 136 | } |
| 137 | } |
| 138 | } |
| 139 | |
| 140 | _input_output->resize(num_detections); |
| 141 | } |