Compute Library
 19.08
CLLKTrackerStage1Kernel Class Reference

Interface to run the second stage of LKTracker, where the motion vectors of the given points are computed. More...

#include <CLLKTrackerKernel.h>

Collaboration diagram for CLLKTrackerStage1Kernel:
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Public Member Functions

 CLLKTrackerStage1Kernel ()
 Default constructor. More...
 
 CLLKTrackerStage1Kernel (const CLLKTrackerStage1Kernel &)=delete
 Prevent instances of this class from being copied (As this class contains pointers) More...
 
CLLKTrackerStage1Kerneloperator= (const CLLKTrackerStage1Kernel &)=delete
 Prevent instances of this class from being copied (As this class contains pointers) More...
 
 CLLKTrackerStage1Kernel (CLLKTrackerStage1Kernel &&)=default
 Allow instances of this class to be moved. More...
 
CLLKTrackerStage1Kerneloperator= (CLLKTrackerStage1Kernel &&)=default
 Allow instances of this class to be moved. More...
 
void configure (const ICLTensor *new_input, ICLLKInternalKeypointArray *new_points_internal, ICLCoefficientTableArray *coeff_table, ICLOldValArray *old_ival, Termination termination, float epsilon, size_t num_iterations, 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 second stage of LKTracker, where the motion vectors of the given points are computed.

Definition at line 151 of file CLLKTrackerKernel.h.

Constructor & Destructor Documentation

◆ CLLKTrackerStage1Kernel() [1/3]

Default constructor.

Definition at line 208 of file CLLKTrackerKernel.cpp.

209  : _new_input(nullptr)
210 {
211 }

◆ CLLKTrackerStage1Kernel() [2/3]

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

◆ CLLKTrackerStage1Kernel() [3/3]

Allow instances of this class to be moved.

Member Function Documentation

◆ configure()

void configure ( const ICLTensor new_input,
ICLLKInternalKeypointArray new_points_internal,
ICLCoefficientTableArray coeff_table,
ICLOldValArray old_ival,
Termination  termination,
float  epsilon,
size_t  num_iterations,
size_t  window_dimension,
size_t  level 
)

Initialise the kernel input and output.

Parameters
[in]new_inputPointer to the input new tensor. Data types supported: U8
[in,out]new_points_internalPointer to the array of CLLKInternalKeypoint for new points
[in]coeff_tablePointer to the array holding the Spatial Gradient coefficients
[in]old_ivalPointer to the array holding internal values
[in]terminationThe criteria to terminate the search of each keypoint.
[in]epsilonThe error for terminating the algorithm
[in]num_iterationsThe maximum number of iterations before terminating the algorithm
[in]window_dimensionThe size of the window on which to perform the algorithm
[in]levelThe pyramid level

Definition at line 213 of file CLLKTrackerKernel.cpp.

216 {
218  ARM_COMPUTE_ERROR_ON(new_points_internal == nullptr);
219  ARM_COMPUTE_ERROR_ON(coeff_table == nullptr);
220  ARM_COMPUTE_ERROR_ON(old_ival == nullptr);
221 
222  _new_input = new_input;
223 
224  // Configure kernel window
225  Window window;
226  window.set(Window::DimX, Window::Dimension(0, new_points_internal->num_values(), 1));
228 
229  const ValidRegion &valid_region = new_input->info()->valid_region();
230 
233  valid_region.end(0), valid_region.end(1)));
234 
235  ICLKernel::configure_internal(window);
236 
237  // Initialize required variables
238  const int level0 = (level == 0) ? 1 : 0;
239  const int window_size = window_dimension;
240  const int window_size_squared = window_dimension * window_dimension;
241  const int window_size_half = window_dimension / 2;
242  const float eig_const = 1.0f / (2.0f * window_size_squared);
243  const cl_float3 border_limits =
244  {
245  {
246  // -1 because we load 2 values at once for bilinear interpolation
247  static_cast<cl_float>(valid_region.end(0) - window_size - 1),
248  static_cast<cl_float>(valid_region.end(1) - window_size - 1),
249  static_cast<cl_float>(valid_region.start(0))
250  }
251  };
252 
253  // Set maximum number of iterations used for convergence
254  const size_t max_iterations = 1000;
255  num_iterations = (termination == Termination::TERM_CRITERIA_EPSILON) ? max_iterations : num_iterations;
256 
257  const int term_epsilon = (termination == Termination::TERM_CRITERIA_EPSILON || termination == Termination::TERM_CRITERIA_BOTH) ? 1 : 0;
258 
259  // Create kernel
260  _kernel = static_cast<cl::Kernel>(CLKernelLibrary::get().create_kernel("lktracker_stage1"));
261 
262  // Set static kernel arguments
263  unsigned int idx = num_arguments_per_2D_tensor();
264  _kernel.setArg(idx++, new_points_internal->cl_buffer());
265  _kernel.setArg(idx++, coeff_table->cl_buffer());
266  _kernel.setArg(idx++, old_ival->cl_buffer());
267  _kernel.setArg<cl_int>(idx++, window_size);
268  _kernel.setArg<cl_int>(idx++, window_size_squared);
269  _kernel.setArg<cl_int>(idx++, window_size_half);
270  _kernel.setArg<cl_int>(idx++, num_iterations);
271  _kernel.setArg<cl_float>(idx++, epsilon);
272  _kernel.setArg<cl_float3>(idx++, border_limits);
273  _kernel.setArg<cl_float>(idx++, eig_const);
274  _kernel.setArg<cl_int>(idx++, level0);
275  _kernel.setArg<cl_int>(idx++, term_epsilon);
276 }
const Window & window() const
The maximum window the kernel can be executed on.
Definition: IKernel.cpp:28
1 channel, 1 U8 per channel
Terminate when within epsilon of a threshold.
constexpr float epsilon
#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
Terminate on whichever of the other conditions occurs first.
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.
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
#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(), epsilon, CLKernelLibrary::get(), ITensor::info(), ICLKernel::num_arguments_per_2D_tensor(), IArray< T >::num_values(), Window::set(), ValidRegion::start(), arm_compute::TERM_CRITERIA_BOTH, arm_compute::TERM_CRITERIA_EPSILON, arm_compute::U8, arm_compute::update_window_and_padding(), arm_compute::test::validation::valid_region, ITensorInfo::valid_region(), and IKernel::window().

◆ operator=() [1/2]

CLLKTrackerStage1Kernel& operator= ( const CLLKTrackerStage1Kernel )
delete

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

◆ operator=() [2/2]

CLLKTrackerStage1Kernel& operator= ( CLLKTrackerStage1Kernel &&  )
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 278 of file CLLKTrackerKernel.cpp.

279 {
282 
283  // Set static tensor arguments. Setting here as allocation might be deferred.
284  unsigned int idx = 0;
285  add_2D_tensor_argument(idx, _new_input, window);
286 
287  enqueue(queue, *this, window);
288 }
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: