1 /*
2 * Copyright (c) 2017-2020 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 "arm_compute/core/CPP/kernels/CPPCornerCandidatesKernel.h"
25
26 #include "arm_compute/core/Helpers.h"
27 #include "arm_compute/core/TensorInfo.h"
28 #include "src/core/helpers/WindowHelpers.h"
29
30 using namespace arm_compute;
31
32 namespace
33 {
check_corner(float x,float y,float strength,InternalKeypoint * output,int32_t * num_corner_candidates,arm_compute::Mutex * corner_candidates_mutex)34 inline void check_corner(float x, float y, float strength, InternalKeypoint *output, int32_t *num_corner_candidates, arm_compute::Mutex *corner_candidates_mutex)
35 {
36 if(strength != 0.0f)
37 {
38 /* Set index and update num_corner_candidate */
39 arm_compute::unique_lock<arm_compute::Mutex> lock(*corner_candidates_mutex);
40
41 const int32_t idx = *num_corner_candidates;
42
43 *num_corner_candidates += 1;
44
45 lock.unlock();
46
47 /* Add keypoint */
48 output[idx] = std::make_tuple(x, y, strength);
49 }
50 }
51
corner_candidates(const float * __restrict input,InternalKeypoint * __restrict output,int32_t x,int32_t y,int32_t * num_corner_candidates,arm_compute::Mutex * corner_candidates_mutex)52 inline void corner_candidates(const float *__restrict input, InternalKeypoint *__restrict output, int32_t x, int32_t y, int32_t *num_corner_candidates, arm_compute::Mutex *corner_candidates_mutex)
53 {
54 check_corner(x, y, *input, output, num_corner_candidates, corner_candidates_mutex);
55 }
56 } // namespace
57
keypoint_compare(const InternalKeypoint & lhs,const InternalKeypoint & rhs)58 bool keypoint_compare(const InternalKeypoint &lhs, const InternalKeypoint &rhs)
59 {
60 return std::get<2>(lhs) > std::get<2>(rhs);
61 }
62
CPPCornerCandidatesKernel()63 CPPCornerCandidatesKernel::CPPCornerCandidatesKernel()
64 : _num_corner_candidates(nullptr), _corner_candidates_mutex(), _input(nullptr), _output(nullptr)
65 {
66 }
67
configure(const IImage * input,InternalKeypoint * output,int32_t * num_corner_candidates)68 void CPPCornerCandidatesKernel::configure(const IImage *input, InternalKeypoint *output, int32_t *num_corner_candidates)
69 {
70 ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input);
71 ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::F32);
72 ARM_COMPUTE_ERROR_ON(nullptr == output);
73 ARM_COMPUTE_ERROR_ON(nullptr == num_corner_candidates);
74 ARM_COMPUTE_ERROR_ON(*num_corner_candidates != 0);
75
76 _input = input;
77 _output = output;
78 _num_corner_candidates = num_corner_candidates;
79
80 const unsigned int num_elems_processed_per_iteration = 1;
81
82 // Configure kernel window
83 Window win = calculate_max_window(*input->info(), Steps(num_elems_processed_per_iteration));
84
85 update_window_and_padding(win, AccessWindowHorizontal(input->info(), 0, num_elems_processed_per_iteration));
86
87 ICPPKernel::configure(win);
88 }
89
run(const Window & window,const ThreadInfo & info)90 void CPPCornerCandidatesKernel::run(const Window &window, const ThreadInfo &info)
91 {
92 ARM_COMPUTE_UNUSED(info);
93 ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
94 ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(ICPPKernel::window(), window);
95 Iterator input(_input, window);
96
97 execute_window_loop(window, [&](const Coordinates & id)
98 {
99 corner_candidates(reinterpret_cast<float *>(input.ptr()), &_output[0], id.x(), id.y(), _num_corner_candidates, &_corner_candidates_mutex);
100 },
101 input);
102 }
103