Compute Library
 21.02
CLOpticalFlow.cpp
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25 
27 #include "arm_compute/core/Error.h"
37 
38 using namespace arm_compute;
39 
40 CLOpticalFlow::CLOpticalFlow(std::shared_ptr<IMemoryManager> memory_manager) // NOLINT
41  : _memory_group(std::move(memory_manager)),
42  _tracker_init_kernel(),
43  _tracker_stage0_kernel(),
44  _tracker_stage1_kernel(),
45  _tracker_finalize_kernel(std::make_unique<CLLKTrackerFinalizeKernel>()),
46  _func_scharr(),
47  _scharr_gx(),
48  _scharr_gy(),
49  _old_points(nullptr),
50  _new_points_estimates(nullptr),
51  _new_points(nullptr),
52  _old_points_internal(),
53  _new_points_internal(),
54  _coefficient_table(),
55  _old_values(),
56  _num_levels(0)
57 {
58 }
59 
61 
62 void CLOpticalFlow::configure(const CLPyramid *old_pyramid, const CLPyramid *new_pyramid,
63  const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points,
64  Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate,
65  BorderMode border_mode, uint8_t constant_border_value)
66 {
67  configure(CLKernelLibrary::get().get_compile_context(), old_pyramid, new_pyramid, old_points, new_points_estimates, new_points, termination, epsilon, num_iterations, window_dimension,
68  use_initial_estimate, border_mode, constant_border_value);
69 }
70 
71 void CLOpticalFlow::configure(const CLCompileContext &compile_context, const CLPyramid *old_pyramid, const CLPyramid *new_pyramid,
72  const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points,
73  Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate,
74  BorderMode border_mode, uint8_t constant_border_value)
75 {
76  ARM_COMPUTE_ERROR_ON(nullptr == old_pyramid);
77  ARM_COMPUTE_ERROR_ON(nullptr == new_pyramid);
78  ARM_COMPUTE_ERROR_ON(nullptr == old_points);
79  ARM_COMPUTE_ERROR_ON(nullptr == new_points_estimates);
80  ARM_COMPUTE_ERROR_ON(nullptr == new_points);
81  ARM_COMPUTE_ERROR_ON(old_pyramid->info()->num_levels() != new_pyramid->info()->num_levels());
82  ARM_COMPUTE_ERROR_ON(0 == old_pyramid->info()->num_levels());
83  ARM_COMPUTE_ERROR_ON(old_pyramid->info()->width() != new_pyramid->info()->width());
84  ARM_COMPUTE_ERROR_ON(old_pyramid->info()->height() != new_pyramid->info()->height());
85  ARM_COMPUTE_ERROR_ON(use_initial_estimate && old_points->num_values() != new_points_estimates->num_values());
86 
87  // Set member variables
88  _old_points = old_points;
89  _new_points_estimates = new_points_estimates;
90  _new_points = new_points;
91  _num_levels = old_pyramid->info()->num_levels();
92 
93  const float pyr_scale = old_pyramid->info()->scale();
94  const int list_length = old_points->num_values();
95  const int old_values_list_length = list_length * window_dimension * window_dimension;
96 
97  // Create kernels and tensors
98  _tracker_init_kernel.reserve(_num_levels);
99  _tracker_stage0_kernel.reserve(_num_levels);
100  _tracker_stage1_kernel.reserve(_num_levels);
101  _func_scharr.resize(_num_levels);
102  _scharr_gx.resize(_num_levels);
103  _scharr_gy.resize(_num_levels);
104 
105  // Create internal keypoint arrays
106  _old_points_internal = std::make_unique<CLLKInternalKeypointArray>(list_length);
107  _old_points_internal->resize(list_length);
108  _new_points_internal = std::make_unique<CLLKInternalKeypointArray>(list_length);
109  _new_points_internal->resize(list_length);
110  _coefficient_table = std::make_unique<CLCoefficientTableArray>(list_length);
111  _coefficient_table->resize(list_length);
112  _old_values = std::make_unique<CLOldValueArray>(old_values_list_length);
113  _old_values->resize(old_values_list_length);
114  _new_points->resize(list_length);
115 
116  for(size_t i = 0; i < _num_levels; ++i)
117  {
118  // Get images from the ith level of old and right pyramid
119  ICLImage *old_ith_input = old_pyramid->get_pyramid_level(i);
120  ICLImage *new_ith_input = new_pyramid->get_pyramid_level(i);
121 
122  // Get width and height of images
123  const unsigned int width_ith = old_ith_input->info()->dimension(0);
124  const unsigned int height_ith = new_ith_input->info()->dimension(1);
125 
126  // Initialize Scharr tensors
127  TensorInfo tensor_info(TensorShape(width_ith, height_ith), 1, DataType::S16);
128  _scharr_gx[i].allocator()->init(tensor_info);
129  _scharr_gy[i].allocator()->init(tensor_info);
130 
131  // Manage intermediate buffers
132  _memory_group.manage(&_scharr_gx[i]);
133  _memory_group.manage(&_scharr_gy[i]);
134 
135  // Init Scharr kernel
136  _func_scharr[i].configure(compile_context, old_ith_input, &_scharr_gx[i], &_scharr_gy[i], border_mode, constant_border_value);
137 
138  // Init Lucas-Kanade init kernel
139  _tracker_init_kernel.emplace_back(std::make_unique<CLLKTrackerInitKernel>());
140  _tracker_init_kernel.back()->configure(compile_context, old_points, new_points_estimates, _old_points_internal.get(), _new_points_internal.get(), use_initial_estimate, i, _num_levels, pyr_scale);
141 
142  // Init Lucas-Kanade stage0 kernel
143  _tracker_stage0_kernel.emplace_back(std::make_unique<CLLKTrackerStage0Kernel>());
144  _tracker_stage0_kernel.back()->configure(compile_context, old_ith_input, &_scharr_gx[i], &_scharr_gy[i],
145  _old_points_internal.get(), _new_points_internal.get(), _coefficient_table.get(), _old_values.get(),
146  window_dimension, i);
147 
148  // Init Lucas-Kanade stage1 kernel
149  _tracker_stage1_kernel.emplace_back(std::make_unique<CLLKTrackerStage1Kernel>());
150  _tracker_stage1_kernel.back()->configure(compile_context, new_ith_input, _new_points_internal.get(), _coefficient_table.get(), _old_values.get(),
151  termination, epsilon, num_iterations, window_dimension, i);
152 
153  // Allocate intermediate buffers
154  _scharr_gx[i].allocator()->allocate();
155  _scharr_gy[i].allocator()->allocate();
156  }
157 
158  // Finalize Lucas-Kanade
159  _tracker_finalize_kernel->configure(compile_context, _new_points_internal.get(), new_points);
160 }
161 
163 {
164  ARM_COMPUTE_ERROR_ON_MSG(_num_levels == 0, "Unconfigured function");
165 
166  MemoryGroupResourceScope scope_mg(_memory_group);
167 
168  for(unsigned int level = _num_levels; level > 0; --level)
169  {
170  // Run Scharr kernel
171  _func_scharr[level - 1].run();
172 
173  // Run Lucas-Kanade init kernel
174  CLScheduler::get().enqueue(*_tracker_init_kernel[level - 1]);
175 
176  // Run Lucas-Kanade stage0 kernel
177  CLScheduler::get().enqueue(*_tracker_stage0_kernel[level - 1]);
178 
179  // Run Lucas-Kanade stage1 kernel
180  CLScheduler::get().enqueue(*_tracker_stage1_kernel[level - 1]);
181  }
182 
183  CLScheduler::get().enqueue(*_tracker_finalize_kernel, true);
184 }
BorderMode
Methods available to handle borders.
Definition: Types.h:265
Shape of a tensor.
Definition: TensorShape.h:39
virtual size_t dimension(size_t index) const =0
Return the size of the requested dimension.
static CLScheduler & get()
Access the scheduler singleton.
const PyramidInfo * info() const override
Interface to be implemented by the child class to return the Pyramid&#39;s metadata.
Definition: CLPyramid.cpp:117
void resize(size_t num)
Resizes the array to contain "num" elements.
Definition: IArray.h:128
#define ARM_COMPUTE_ERROR_ON(cond)
If the condition is true then an error message is printed and an exception thrown.
Definition: Error.h:466
static CLKernelLibrary & get()
Access the KernelLibrary singleton.
Copyright (c) 2017-2021 Arm Limited.
void manage(IMemoryManageable *obj) override
Sets a object to be managed by the given memory group.
Definition: MemoryGroup.h:79
Interface to enqueue OpenCL kernels and get/set the OpenCL CommandQueue and ICLTuner.
void run() override
Run the kernels contained in the function.
Interface for OpenCL Array.
Definition: ICLArray.h:35
size_t num_values() const
Number of values currently stored in the array.
Definition: IArray.h:68
Basic implementation of the OpenCL pyramid interface.
Definition: CLPyramid.h:40
#define ARM_COMPUTE_ERROR_ON_MSG(cond, msg)
Definition: Error.h:456
virtual ITensorInfo * info() const =0
Interface to be implemented by the child class to return the tensor&#39;s metadata.
float scale() const
Return the scale factor of the pyramid.
~CLOpticalFlow()
Default destructor.
Termination
Termination criteria.
Definition: Types.h:414
1 channel, 1 S16 per channel
void enqueue(ICLKernel &kernel, bool flush=true)
Schedule the execution of the passed kernel if possible.
CLCompileContext class.
Memory group resources scope handling class.
Definition: IMemoryGroup.h:82
Interface for OpenCL tensor.
Definition: ICLTensor.h:42
void configure(const CLPyramid *old_pyramid, const CLPyramid *new_pyramid, const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points, Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate, BorderMode border_mode, uint8_t constant_border_value=0)
Initialise the function input and output.
CLOpticalFlow(std::shared_ptr< IMemoryManager > memory_manager=nullptr)
Default constructor.
CLTensor * get_pyramid_level(size_t index) const override
Retrieves a level of the pyramid as a ITensor pointer.
Definition: CLPyramid.cpp:122
Interface to run the finalize step of LKTracker, where it truncates the coordinates stored in new_poi...
Store the tensor&#39;s metadata.
Definition: TensorInfo.h:45
size_t width() const
Return the width of the 0th level tensor.
Definition: PyramidInfo.cpp:82
size_t num_levels() const
Return the number of the pyramid levels.
Definition: PyramidInfo.cpp:77
size_t height() const
Return the height of the 0th level tensor.
Definition: PyramidInfo.cpp:87