1 /*
2 * Copyright (c) 2016-2020 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 "src/core/CL/kernels/CLHarrisCornersKernel.h"
25
26 #include "arm_compute/core/CL/CLHelpers.h"
27 #include "arm_compute/core/CL/CLKernelLibrary.h"
28 #include "arm_compute/core/CL/ICLTensor.h"
29 #include "arm_compute/core/CL/OpenCL.h"
30 #include "arm_compute/core/Helpers.h"
31 #include "arm_compute/core/TensorInfo.h"
32 #include "arm_compute/core/Validate.h"
33 #include "src/core/AccessWindowStatic.h"
34 #include "src/core/helpers/AutoConfiguration.h"
35 #include "src/core/helpers/WindowHelpers.h"
36 #include "support/StringSupport.h"
37
38 #include <set>
39 #include <sstream>
40 #include <string>
41
42 using namespace arm_compute;
43
CLHarrisScoreKernel()44 CLHarrisScoreKernel::CLHarrisScoreKernel()
45 : _input1(nullptr), _input2(nullptr), _output(nullptr), _sensitivity(), _strength_thresh(), _norm_factor(), _border_size(0)
46 {
47 }
48
border_size() const49 BorderSize CLHarrisScoreKernel::border_size() const
50 {
51 return _border_size;
52 }
53
configure(const ICLImage * input1,const ICLImage * input2,ICLImage * output,int32_t block_size,float norm_factor,float strength_thresh,float sensitivity,bool border_undefined)54 void CLHarrisScoreKernel::configure(const ICLImage *input1, const ICLImage *input2, ICLImage *output,
55 int32_t block_size, float norm_factor, float strength_thresh, float sensitivity,
56 bool border_undefined)
57 {
58 configure(CLKernelLibrary::get().get_compile_context(), input1, input2, output, block_size, norm_factor, strength_thresh, sensitivity, border_undefined);
59 }
60
configure(const CLCompileContext & compile_context,const ICLImage * input1,const ICLImage * input2,ICLImage * output,int32_t block_size,float norm_factor,float strength_thresh,float sensitivity,bool border_undefined)61 void CLHarrisScoreKernel::configure(const CLCompileContext &compile_context, const ICLImage *input1, const ICLImage *input2, ICLImage *output,
62 int32_t block_size, float norm_factor, float strength_thresh, float sensitivity,
63 bool border_undefined)
64 {
65 ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input1);
66 ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input2);
67 ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(output);
68 ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input1, 1, DataType::S16, DataType::S32);
69 ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input2, 1, DataType::S16, DataType::S32);
70 ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::F32);
71 ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(input1, input2);
72 ARM_COMPUTE_ERROR_ON(!(block_size == 3 || block_size == 5 || block_size == 7));
73 ARM_COMPUTE_ERROR_ON(0.0f == norm_factor);
74
75 _input1 = input1;
76 _input2 = input2;
77 _output = output;
78 _sensitivity = sensitivity;
79 _strength_thresh = strength_thresh;
80 _norm_factor = norm_factor;
81 _border_size = BorderSize(block_size / 2);
82
83 // Select kernel
84 std::stringstream harris_score_kernel_name;
85 harris_score_kernel_name << "harris_score_" << block_size << "x" << block_size;
86
87 // Create build options
88 std::set<std::string> build_opts = { ("-DDATA_TYPE=" + get_cl_type_from_data_type(input1->info()->data_type())) };
89
90 // Create kernel
91 _kernel = create_kernel(compile_context, harris_score_kernel_name.str(), build_opts);
92
93 // Set static kernel arguments
94 unsigned int idx = 3 * num_arguments_per_2D_tensor(); //Skip the input and output parameters
95 _kernel.setArg(idx++, sensitivity);
96 _kernel.setArg(idx++, strength_thresh);
97 _kernel.setArg(idx++, norm_factor);
98
99 // Configure kernel window
100 constexpr unsigned int num_elems_processed_per_iteration = 4;
101 constexpr unsigned int num_elems_written_per_iteration = 4;
102 const unsigned int num_elems_read_per_iteration = block_size == 7 ? 10 : 8;
103 const unsigned int num_rows_read_per_iteration = block_size;
104
105 Window win = calculate_max_window(*_input1->info(), Steps(num_elems_processed_per_iteration), border_undefined, border_size());
106
107 AccessWindowRectangle input1_access(input1->info(), -border_size().left, -border_size().top, num_elems_read_per_iteration, num_rows_read_per_iteration);
108 AccessWindowRectangle input2_access(input2->info(), -border_size().left, -border_size().top, num_elems_read_per_iteration, num_rows_read_per_iteration);
109 AccessWindowHorizontal output_access(output->info(), 0, num_elems_written_per_iteration);
110
111 update_window_and_padding(win, input1_access, input2_access, output_access);
112
113 ValidRegion valid_region = intersect_valid_regions(input1->info()->valid_region(), input2->info()->valid_region());
114 output_access.set_valid_region(win, valid_region, border_undefined, border_size());
115
116 ICLKernel::configure_internal(win);
117
118 // Set config_id for enabling LWS tuning
119 _config_id = harris_score_kernel_name.str();
120 _config_id += "_";
121 _config_id += lower_string(string_from_data_type(input1->info()->data_type()));
122 _config_id += "_";
123 _config_id += support::cpp11::to_string(input1->info()->dimension(0));
124 _config_id += "_";
125 _config_id += support::cpp11::to_string(input1->info()->dimension(1));
126 _config_id += "_";
127 _config_id += lower_string(string_from_data_type(input2->info()->data_type()));
128 _config_id += "_";
129 _config_id += support::cpp11::to_string(input2->info()->dimension(0));
130 _config_id += "_";
131 _config_id += support::cpp11::to_string(input2->info()->dimension(1));
132 }
133
run(const Window & window,cl::CommandQueue & queue)134 void CLHarrisScoreKernel::run(const Window &window, cl::CommandQueue &queue)
135 {
136 ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
137 ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICLKernel::window(), window);
138
139 Window slice = window.first_slice_window_2D();
140 do
141 {
142 unsigned int idx = 0;
143 add_2D_tensor_argument(idx, _input1, slice);
144 add_2D_tensor_argument(idx, _input2, slice);
145 add_2D_tensor_argument(idx, _output, slice);
146 enqueue(queue, *this, slice, lws_hint());
147 }
148 while(window.slide_window_slice_2D(slice));
149 }
150