Compute Library
 19.08
CLLKTrackerStage0Kernel Class Reference

Interface to run the first stage of LKTracker, where A11, A12, A22, min_eig, ival, ixval and iyval are computed. More...

#include <CLLKTrackerKernel.h>

Collaboration diagram for CLLKTrackerStage0Kernel:
[legend]

Public Member Functions

 CLLKTrackerStage0Kernel ()
 Default constructor. More...
 
 CLLKTrackerStage0Kernel (const CLLKTrackerStage0Kernel &)=delete
 Prevent instances of this class from being copied (As this class contains pointers) More...
 
CLLKTrackerStage0Kerneloperator= (const CLLKTrackerStage0Kernel &)=delete
 Prevent instances of this class from being copied (As this class contains pointers) More...
 
 CLLKTrackerStage0Kernel (CLLKTrackerStage0Kernel &&)=default
 Allow instances of this class to be moved. More...
 
CLLKTrackerStage0Kerneloperator= (CLLKTrackerStage0Kernel &&)=default
 Allow instances of this class to be moved. More...
 
void configure (const ICLTensor *old_input, const ICLTensor *old_scharr_gx, const ICLTensor *old_scharr_gy, ICLLKInternalKeypointArray *old_points_internal, ICLLKInternalKeypointArray *new_points_internal, ICLCoefficientTableArray *coeff_table, ICLOldValArray *old_ival, size_t window_dimension, size_t level)
 Initialise the kernel input and output. More...
 
void run (const Window &window, cl::CommandQueue &queue) override
 Enqueue the OpenCL kernel to process the given window on the passed OpenCL command queue. More...
 
- Public Member Functions inherited from ICLKernel
 ICLKernel ()
 Constructor. More...
 
cl::Kernel & kernel ()
 Returns a reference to the OpenCL kernel of this object. More...
 
template<typename T >
void add_1D_array_argument (unsigned int &idx, const ICLArray< T > *array, const Strides &strides, unsigned int num_dimensions, const Window &window)
 Add the passed 1D array's parameters to the object's kernel's arguments starting from the index idx. More...
 
void add_1D_tensor_argument (unsigned int &idx, const ICLTensor *tensor, const Window &window)
 Add the passed 1D tensor's parameters to the object's kernel's arguments starting from the index idx. More...
 
void add_1D_tensor_argument_if (bool cond, unsigned int &idx, const ICLTensor *tensor, const Window &window)
 Add the passed 1D tensor's parameters to the object's kernel's arguments starting from the index idx if the condition is true. More...
 
void add_2D_tensor_argument (unsigned int &idx, const ICLTensor *tensor, const Window &window)
 Add the passed 2D tensor's parameters to the object's kernel's arguments starting from the index idx. More...
 
void add_2D_tensor_argument_if (bool cond, unsigned int &idx, const ICLTensor *tensor, const Window &window)
 Add the passed 2D tensor's parameters to the object's kernel's arguments starting from the index idx if the condition is true. More...
 
void add_3D_tensor_argument (unsigned int &idx, const ICLTensor *tensor, const Window &window)
 Add the passed 3D tensor's parameters to the object's kernel's arguments starting from the index idx. More...
 
void add_4D_tensor_argument (unsigned int &idx, const ICLTensor *tensor, const Window &window)
 Add the passed 4D tensor's parameters to the object's kernel's arguments starting from the index idx. More...
 
template<typename T >
void add_argument (unsigned int &idx, T value)
 Add the passed parameters to the object's kernel's arguments starting from the index idx. More...
 
void set_lws_hint (const cl::NDRange &lws_hint)
 Set the Local-Workgroup-Size hint. More...
 
cl::NDRange lws_hint () const
 Return the Local-Workgroup-Size hint. More...
 
const std::string & config_id () const
 Get the configuration ID. More...
 
void set_target (GPUTarget target)
 Set the targeted GPU architecture. More...
 
void set_target (cl::Device &device)
 Set the targeted GPU architecture according to the CL device. More...
 
GPUTarget get_target () const
 Get the targeted GPU architecture. More...
 
size_t get_max_workgroup_size ()
 Get the maximum workgroup size for the device the CLKernelLibrary uses. More...
 
template<typename T , unsigned int dimension_size>
void add_array_argument (unsigned &idx, const ICLArray< T > *array, const Strides &strides, unsigned int num_dimensions, const Window &window)
 Add the passed array's parameters to the object's kernel's arguments starting from the index idx. More...
 
template<unsigned int dimension_size>
void add_tensor_argument (unsigned &idx, const ICLTensor *tensor, const Window &window)
 
- Public Member Functions inherited from IKernel
 IKernel ()
 Constructor. More...
 
virtual ~IKernel ()=default
 Destructor. More...
 
virtual bool is_parallelisable () const
 Indicates whether or not the kernel is parallelisable. More...
 
virtual BorderSize border_size () const
 The size of the border for that kernel. More...
 
const Windowwindow () const
 The maximum window the kernel can be executed on. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from ICLKernel
static constexpr unsigned int num_arguments_per_1D_array ()
 Returns the number of arguments enqueued per 1D array object. More...
 
static constexpr unsigned int num_arguments_per_1D_tensor ()
 Returns the number of arguments enqueued per 1D tensor object. More...
 
static constexpr unsigned int num_arguments_per_2D_tensor ()
 Returns the number of arguments enqueued per 2D tensor object. More...
 
static constexpr unsigned int num_arguments_per_3D_tensor ()
 Returns the number of arguments enqueued per 3D tensor object. More...
 
static constexpr unsigned int num_arguments_per_4D_tensor ()
 Returns the number of arguments enqueued per 4D tensor object. More...
 
static cl::NDRange gws_from_window (const Window &window)
 Get the global work size given an execution window. More...
 

Detailed Description

Interface to run the first stage of LKTracker, where A11, A12, A22, min_eig, ival, ixval and iyval are computed.

Definition at line 111 of file CLLKTrackerKernel.h.

Constructor & Destructor Documentation

◆ CLLKTrackerStage0Kernel() [1/3]

Default constructor.

Definition at line 118 of file CLLKTrackerKernel.cpp.

119  : _old_input(nullptr), _old_scharr_gx(nullptr), _old_scharr_gy(nullptr)
120 {
121 }

◆ CLLKTrackerStage0Kernel() [2/3]

Prevent instances of this class from being copied (As this class contains pointers)

◆ CLLKTrackerStage0Kernel() [3/3]

Allow instances of this class to be moved.

Member Function Documentation

◆ configure()

void configure ( const ICLTensor old_input,
const ICLTensor old_scharr_gx,
const ICLTensor old_scharr_gy,
ICLLKInternalKeypointArray old_points_internal,
ICLLKInternalKeypointArray new_points_internal,
ICLCoefficientTableArray coeff_table,
ICLOldValArray old_ival,
size_t  window_dimension,
size_t  level 
)

Initialise the kernel input and output.

Parameters
[in]old_inputPointer to the input old tensor. Data types supported: U8
[in]old_scharr_gxPointer to the input scharr X tensor. Data types supported: S16
[in]old_scharr_gyPointer to the input scharr Y tensor. Data types supported: S16
[in]old_points_internalPointer to the array of CLLKInternalKeypoint old points
[in,out]new_points_internalPointer to the array of CLLKInternalKeypoint new points
[out]coeff_tablePointer to the array holding the Spatial Gradient coefficients
[out]old_ivalPointer to the array holding internal values
[in]window_dimensionThe size of the window on which to perform the algorithm
[in]levelThe pyramid level

Definition at line 123 of file CLLKTrackerKernel.cpp.

128 {
132  ARM_COMPUTE_ERROR_ON(old_points_internal == nullptr);
133  ARM_COMPUTE_ERROR_ON(new_points_internal == nullptr);
134  ARM_COMPUTE_ERROR_ON(coeff_table == nullptr);
135  ARM_COMPUTE_ERROR_ON(old_ival == nullptr);
136 
137  _old_input = old_input;
138  _old_scharr_gx = old_scharr_gx;
139  _old_scharr_gy = old_scharr_gy;
140 
141  // Configure kernel window
142  Window window;
143  window.set(Window::DimX, Window::Dimension(0, new_points_internal->num_values(), 1));
145 
147  old_input->info()->valid_region(),
148  old_scharr_gx->info()->valid_region(),
149  old_scharr_gy->info()->valid_region());
150 
154  AccessWindowStatic(old_scharr_gx->info(), valid_region.start(0), valid_region.start(1),
156  AccessWindowStatic(old_scharr_gy->info(), valid_region.start(0), valid_region.start(1),
157  valid_region.end(0), valid_region.end(1)));
158 
159  ICLKernel::configure_internal(window);
160 
161  // Initialize required variables
162  const int level0 = (level == 0) ? 1 : 0;
163  const int window_size = window_dimension;
164  const int window_size_squared = window_dimension * window_dimension;
165  const int window_size_half = window_dimension / 2;
166  const float eig_const = 1.0f / (2.0f * window_size_squared);
167  const cl_float3 border_limits =
168  {
169  {
170  // -1 because we load 2 values at once for bilinear interpolation
171  static_cast<cl_float>(valid_region.end(0) - window_size - 1),
172  static_cast<cl_float>(valid_region.end(1) - window_size - 1),
173  static_cast<cl_float>(valid_region.start(0))
174  }
175  };
176 
177  // Create kernel
178  _kernel = static_cast<cl::Kernel>(CLKernelLibrary::get().create_kernel("lktracker_stage0"));
179 
180  // Set arguments
181  unsigned int idx = 3 * num_arguments_per_2D_tensor();
182  _kernel.setArg(idx++, old_points_internal->cl_buffer());
183  _kernel.setArg(idx++, new_points_internal->cl_buffer());
184  _kernel.setArg(idx++, coeff_table->cl_buffer());
185  _kernel.setArg(idx++, old_ival->cl_buffer());
186  _kernel.setArg<cl_int>(idx++, window_size);
187  _kernel.setArg<cl_int>(idx++, window_size_squared);
188  _kernel.setArg<cl_int>(idx++, window_size_half);
189  _kernel.setArg<cl_float3>(idx++, border_limits);
190  _kernel.setArg<cl_float>(idx++, eig_const);
191  _kernel.setArg<cl_int>(idx++, level0);
192 }
const Window & window() const
The maximum window the kernel can be executed on.
Definition: IKernel.cpp:28
1 channel, 1 U8 per channel
#define ARM_COMPUTE_ERROR_ON(cond)
If the condition is true then an error message is printed and an exception thrown.
Definition: Error.h:337
static CLKernelLibrary & get()
Access the KernelLibrary singleton.
Describe one of the image's dimensions with a start, end and step.
Definition: Window.h:75
virtual ValidRegion valid_region() const =0
Valid region of the tensor.
Implementation of a static rectangular access pattern.
static constexpr size_t DimX
Alias for dimension 0 also known as X dimension.
Definition: Window.h:43
bool update_window_and_padding(Window &win, Ts &&... patterns)
Update window and padding size for each of the access patterns.
Definition: Helpers.h:402
size_t num_values() const
Number of values currently stored in the array.
Definition: IArray.h:68
int start(unsigned int d) const
Return the start of the valid region for the given dimension d.
Definition: Types.h:220
virtual ITensorInfo * info() const =0
Interface to be implemented by the child class to return the tensor's metadata.
ValidRegion intersect_valid_regions(const Ts &... regions)
Intersect multiple valid regions.
Definition: Helpers.h:503
void set(size_t dimension, const Dimension &dim)
Set the values of a given dimension.
Definition: Window.inl:48
static constexpr unsigned int num_arguments_per_2D_tensor()
Returns the number of arguments enqueued per 2D tensor object.
Definition: ICLKernel.h:192
std::unique_ptr< Kernel > create_kernel()
Helper function to create and return a unique_ptr pointed to a CL/GLES kernel object.
Definition: Helpers.h:86
1 channel, 1 S16 per channel
#define ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(t, c,...)
Definition: Validate.h:789
static constexpr size_t DimY
Alias for dimension 1 also known as Y dimension.
Definition: Window.h:45
int end(unsigned int d) const
Return the end of the valid region for the given dimension d.
Definition: Types.h:226
Container for valid region of a window.
Definition: Types.h:174
virtual const cl::Buffer & cl_buffer() const =0
Interface to be implemented by the child class to return a reference to the OpenCL buffer containing ...
Describe a multidimensional execution window.
Definition: Window.h:39

References ARM_COMPUTE_ERROR_ON, ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN, ICLArray< T >::cl_buffer(), arm_compute::create_kernel(), Window::DimX, Window::DimY, ValidRegion::end(), CLKernelLibrary::get(), ITensor::info(), arm_compute::intersect_valid_regions(), ICLKernel::num_arguments_per_2D_tensor(), IArray< T >::num_values(), arm_compute::S16, Window::set(), ValidRegion::start(), arm_compute::U8, arm_compute::update_window_and_padding(), arm_compute::test::validation::valid_region, ITensorInfo::valid_region(), and IKernel::window().

◆ operator=() [1/2]

CLLKTrackerStage0Kernel& operator= ( const CLLKTrackerStage0Kernel )
delete

Prevent instances of this class from being copied (As this class contains pointers)

◆ operator=() [2/2]

CLLKTrackerStage0Kernel& operator= ( CLLKTrackerStage0Kernel &&  )
default

Allow instances of this class to be moved.

◆ run()

void run ( const Window window,
cl::CommandQueue &  queue 
)
overridevirtual

Enqueue the OpenCL kernel to process the given window on the passed OpenCL command queue.

Note
The queue is not flushed by this method, and therefore the kernel will not have been executed by the time this method returns.
Parameters
[in]windowRegion on which to execute the kernel. (Must be a valid region of the window returned by window()).
[in,out]queueCommand queue on which to enqueue the kernel.

Implements ICLKernel.

Definition at line 194 of file CLLKTrackerKernel.cpp.

195 {
198 
199  // Set static tensor arguments. Setting here as allocation might be deferred.
200  unsigned int idx = 0;
201  add_2D_tensor_argument(idx, _old_input, window);
202  add_2D_tensor_argument(idx, _old_scharr_gx, window);
203  add_2D_tensor_argument(idx, _old_scharr_gy, window);
204 
205  enqueue(queue, *this, window);
206 }
const Window & window() const
The maximum window the kernel can be executed on.
Definition: IKernel.cpp:28
void enqueue(cl::CommandQueue &queue, ICLKernel &kernel, const Window &window, const cl::NDRange &lws_hint=CLKernelLibrary::get().default_ndrange(), bool use_dummy_work_items=false)
Add the kernel to the command queue with the given window.
Definition: ICLKernel.cpp:39
void add_2D_tensor_argument(unsigned int &idx, const ICLTensor *tensor, const Window &window)
Add the passed 2D tensor's parameters to the object's kernel's arguments starting from the index idx.
Definition: ICLKernel.h:134
#define ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(f, s)
Definition: Validate.h:205
#define ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(k)
Definition: Validate.h:940

References ICLKernel::add_2D_tensor_argument(), ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW, ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL, arm_compute::enqueue(), and IKernel::window().


The documentation for this class was generated from the following files: