Compute Library
 21.02
NEFastCorners.cpp
Go to the documentation of this file.
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  */
25 
26 #include "arm_compute/core/Error.h"
38 
39 namespace arm_compute
40 {
42 
43 NEFastCorners::NEFastCorners(std::shared_ptr<IMemoryManager> memory_manager)
44  : _memory_group(std::move(memory_manager)),
45  _fast_corners_kernel(),
46  _border_handler(),
47  _nonmax_kernel(),
48  _fill_kernel(),
49  _output(),
50  _suppressed(),
51  _non_max(false)
52 {
53 }
54 
55 void NEFastCorners::configure(IImage *input, float threshold, bool nonmax_suppression, KeyPointArray *corners,
56  BorderMode border_mode, uint8_t constant_border_value)
57 {
61  ARM_COMPUTE_ERROR_ON(nullptr == corners);
62  ARM_COMPUTE_ERROR_ON(threshold < 1 && threshold > 255);
63 
64  _non_max = nonmax_suppression;
65 
66  TensorInfo tensor_info(input->info()->tensor_shape(), Format::U8);
67  _output.allocator()->init(tensor_info);
68  _memory_group.manage(&_output);
69 
70  _fast_corners_kernel = std::make_unique<NEFastCornersKernel>();
71  _border_handler = std::make_unique<NEFillBorderKernel>();
72  _fill_kernel = std::make_unique<NEFillArrayKernel>();
73  // If border is UNDEFINED _fast_corners_kernel will operate in xwindow (3,
74  // width - 3) and ywindow (3, height -3) so the output image will leave the
75  // pixels on the borders unchanged. This is reflected in the valid region
76  // of the output. The non maxima suppression is only run on the valid
77  // pixels.
78  _fast_corners_kernel->configure(input, &_output, threshold, nonmax_suppression, BorderMode::UNDEFINED == border_mode);
79  _border_handler->configure(input, _fast_corners_kernel->border_size(), border_mode, constant_border_value);
80 
81  if(!_non_max)
82  {
83  _fill_kernel->configure(&_output, 1 /* we keep all texels >0 */, corners);
84  }
85  else
86  {
87  _suppressed.allocator()->init(tensor_info);
88  _memory_group.manage(&_suppressed);
89  _nonmax_kernel = std::make_unique<NENonMaximaSuppression3x3Kernel>();
90  _nonmax_kernel->configure(&_output, &_suppressed, BorderMode::UNDEFINED == border_mode);
91  _fill_kernel->configure(&_suppressed, 1 /* we keep all texels >0 */, corners);
92 
93  // Allocate intermediate tensors
94  _suppressed.allocator()->allocate();
95  }
96 
97  // Allocate intermediate tensors
98  _output.allocator()->allocate();
99 }
100 
102 {
103  NEScheduler::get().schedule(_border_handler.get(), Window::DimZ);
104 
105  MemoryGroupResourceScope scope_mg(_memory_group);
106 
107  NEScheduler::get().schedule(_fast_corners_kernel.get(), Window::DimY);
108 
109  if(_non_max)
110  {
111  NEScheduler::get().schedule(_nonmax_kernel.get(), Window::DimY);
112  }
113 
114  NEScheduler::get().schedule(_fill_kernel.get(), Window::DimY);
115 }
116 } // namespace arm_compute
BorderMode
Methods available to handle borders.
Definition: Types.h:265
void init(const TensorAllocator &allocator, const Coordinates &coords, TensorInfo &sub_info)
Shares the same backing memory with another tensor allocator, while the tensor info might be differen...
#define ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(t)
Definition: Validate.h:856
1 channel, 1 U8 per channel
~NEFastCorners()
Default destructor.
#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
Interface for Neon tensor.
Definition: ITensor.h:36
Copyright (c) 2017-2021 Arm Limited.
TensorAllocator * allocator()
Return a pointer to the tensor&#39;s allocator.
Definition: Tensor.cpp:48
Basic implementation of the IArray interface which allocates a static number of T values...
Definition: Array.h:36
void manage(IMemoryManageable *obj) override
Sets a object to be managed by the given memory group.
Definition: MemoryGroup.h:79
virtual const TensorShape & tensor_shape() const =0
Size for each dimension of the tensor.
void allocate() override
Allocate size specified by TensorInfo of CPU memory.
void run() override
Run the kernels contained in the function.
virtual ITensorInfo * info() const =0
Interface to be implemented by the child class to return the tensor&#39;s metadata.
NEFastCorners(std::shared_ptr< IMemoryManager > memory_manager=nullptr)
Constructor.
#define ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(t, c,...)
Definition: Validate.h:790
static constexpr size_t DimY
Alias for dimension 1 also known as Y dimension.
Definition: Window.h:45
Memory group resources scope handling class.
Definition: IMemoryGroup.h:82
virtual void schedule(ICPPKernel *kernel, const Hints &hints)=0
Runs the kernel in the same thread as the caller synchronously.
static constexpr size_t DimZ
Alias for dimension 2 also known as Z dimension.
Definition: Window.h:47
Borders are left undefined.
void configure(IImage *input, float threshold, bool nonmax_suppression, KeyPointArray *corners, BorderMode border_mode, uint8_t constant_border_value=0)
Initialize the function&#39;s source, destination, conv and border_mode.
Store the tensor&#39;s metadata.
Definition: TensorInfo.h:45
SimpleTensor< T > threshold(const SimpleTensor< T > &src, T threshold, T false_value, T true_value, ThresholdType type, T upper)
Definition: Threshold.cpp:35
static IScheduler & get()
Access the scheduler singleton.
Definition: Scheduler.cpp:94