| /* |
| * Copyright (c) 2016, 2017 ARM Limited. |
| * |
| * SPDX-License-Identifier: MIT |
| * |
| * Permission is hereby granted, free of charge, to any person obtaining a copy |
| * of this software and associated documentation files (the "Software"), to |
| * deal in the Software without restriction, including without limitation the |
| * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or |
| * sell copies of the Software, and to permit persons to whom the Software is |
| * furnished to do so, subject to the following conditions: |
| * |
| * The above copyright notice and this permission notice shall be included in all |
| * copies or substantial portions of the Software. |
| * |
| * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
| * SOFTWARE. |
| */ |
| #include "arm_compute/core/NEON/kernels/NECannyEdgeKernel.h" |
| |
| #include "arm_compute/core/AccessWindowStatic.h" |
| #include "arm_compute/core/Error.h" |
| #include "arm_compute/core/Helpers.h" |
| #include "arm_compute/core/ITensor.h" |
| #include "arm_compute/core/TensorInfo.h" |
| #include "arm_compute/core/Types.h" |
| #include "arm_compute/core/Utils.h" |
| #include "arm_compute/core/Validate.h" |
| |
| #include <arm_neon.h> |
| #include <cstddef> |
| #include <cstdint> |
| #include <tuple> |
| |
| using namespace arm_compute; |
| |
| namespace arm_compute |
| { |
| class Coordinates; |
| } // namespace arm_compute |
| |
| namespace |
| { |
| constexpr int NO_EDGE = 0; |
| constexpr int EDGE = 255; |
| constexpr int MAYBE = 127; |
| } // namespace |
| |
| #ifdef ARM_COMPUTE_ENABLE_FP16 |
| namespace fp16 |
| { |
| inline uint8x8_t phase_quantization(const float32x4x2_t &gx, const float32x4x2_t &gy) |
| { |
| // Constant use for evaluating score1 and score3 |
| static const float32x4_t const45 = vdupq_n_f32(0.70710678118655f); |
| static const float32x4_t zero = vdupq_n_f32(0.0f); |
| static const float32x4_t one = vdupq_n_f32(1.0f); |
| static const float32x4_t two = vdupq_n_f32(2.0f); |
| static const float32x4_t three = vdupq_n_f32(3.0f); |
| |
| // Score0: (1, 0) |
| const float32x4x2_t score0 = |
| { |
| vabsq_f32(gx.val[0]), |
| vabsq_f32(gx.val[1]) |
| }; |
| |
| // Score2: ( 0, 1 ) |
| const float32x4x2_t score2 = |
| { |
| vabsq_f32(gy.val[0]), |
| vabsq_f32(gy.val[1]) |
| }; |
| |
| // Score1 and Score3: ( sqrt(2) / 2, sqrt(2) / 2 ) - ( -sqrt(2) / 2, sqrt(2) / 2 ) |
| float32x4x2_t score1 = |
| { |
| vmulq_f32(gy.val[0], const45), |
| vmulq_f32(gy.val[1], const45) |
| }; |
| |
| float32x4x2_t score3 = score1; |
| |
| score1.val[0] = vmlaq_f32(score1.val[0], gx.val[0], const45); |
| score1.val[1] = vmlaq_f32(score1.val[1], gx.val[1], const45); |
| score3.val[0] = vmlsq_f32(score3.val[0], gx.val[0], const45); |
| score3.val[1] = vmlsq_f32(score3.val[1], gx.val[1], const45); |
| |
| score1.val[0] = vabsq_f32(score1.val[0]); |
| score1.val[1] = vabsq_f32(score1.val[1]); |
| score3.val[0] = vabsq_f32(score3.val[0]); |
| score3.val[1] = vabsq_f32(score3.val[1]); |
| |
| float32x4x2_t phase = |
| { |
| zero, |
| zero |
| }; |
| |
| float32x4x2_t old_score = score0; |
| |
| // score1 > old_score? |
| uint32x4x2_t mask = |
| { |
| vcgtq_f32(score1.val[0], old_score.val[0]), |
| vcgtq_f32(score1.val[1], old_score.val[1]) |
| }; |
| |
| phase.val[0] = vbslq_f32(mask.val[0], one, phase.val[0]); |
| phase.val[1] = vbslq_f32(mask.val[1], one, phase.val[1]); |
| old_score.val[0] = vbslq_f32(mask.val[0], score1.val[0], old_score.val[0]); |
| old_score.val[1] = vbslq_f32(mask.val[1], score1.val[1], old_score.val[1]); |
| |
| // score2 > old_score? |
| mask.val[0] = vcgtq_f32(score2.val[0], old_score.val[0]); |
| mask.val[1] = vcgtq_f32(score2.val[1], old_score.val[1]); |
| |
| phase.val[0] = vbslq_f32(mask.val[0], two, phase.val[0]); |
| phase.val[1] = vbslq_f32(mask.val[1], two, phase.val[1]); |
| old_score.val[0] = vbslq_f32(mask.val[0], score2.val[0], old_score.val[0]); |
| old_score.val[1] = vbslq_f32(mask.val[1], score2.val[1], old_score.val[1]); |
| |
| // score3 > old_score? |
| mask.val[0] = vcgtq_f32(score3.val[0], old_score.val[0]); |
| mask.val[1] = vcgtq_f32(score3.val[1], old_score.val[1]); |
| |
| phase.val[0] = vbslq_f32(mask.val[0], three, phase.val[0]); |
| phase.val[1] = vbslq_f32(mask.val[1], three, phase.val[1]); |
| old_score.val[0] = vbslq_f32(mask.val[0], score3.val[0], old_score.val[0]); |
| old_score.val[1] = vbslq_f32(mask.val[1], score3.val[1], old_score.val[1]); |
| |
| // Convert from float32x4_t to uint8x8_t |
| return vmovn_u16(vcombine_u16(vmovn_u32(vcvtq_u32_f32(phase.val[0])), |
| vmovn_u32(vcvtq_u32_f32(phase.val[1])))); |
| } |
| |
| inline uint8x8_t phase_quantization(float16x8_t gx, float16x8_t gy) |
| { |
| // Constant use for evaluating score1 and score3 |
| static const float16x8_t const45 = vdupq_n_f16(0.70710678118655f); |
| static const float16x8_t zero = vdupq_n_f16(0.0f); |
| static const float16x8_t one = vdupq_n_f16(1.0f); |
| static const float16x8_t two = vdupq_n_f16(2.0f); |
| static const float16x8_t three = vdupq_n_f16(3.0f); |
| |
| // Score0: (1, 0) |
| const float16x8_t score0 = vabsq_f16(gx); |
| |
| // Score2: ( 0, 1 ) |
| const float16x8_t score2 = vabsq_f16(gy); |
| |
| // Score1 and Score3: ( sqrt(2) / 2, sqrt(2) / 2 ) - ( -sqrt(2) / 2, sqrt(2) / 2 ) |
| float16x8_t score1 = vmulq_f16(gy, const45); |
| float16x8_t score3 = score1; |
| |
| score1 = vfmaq_f16(score1, gx, const45); |
| score3 = vfmsq_f16(score3, gx, const45); |
| |
| score1 = vabsq_f16(score1); |
| score3 = vabsq_f16(score3); |
| |
| float16x8_t phase = zero; |
| float16x8_t old_score = score0; |
| |
| // score1 > old_score? |
| uint16x8_t mask = vcgtq_f16(score1, old_score); |
| |
| phase = vbslq_f16(mask, one, phase); |
| old_score = vbslq_f16(mask, score1, old_score); |
| |
| // score2 > old_score? |
| mask = vcgtq_f16(score2, old_score); |
| |
| phase = vbslq_f16(mask, two, phase); |
| old_score = vbslq_f16(mask, score2, old_score); |
| |
| // score3 > old_score? |
| mask = vcgtq_f16(score3, old_score); |
| |
| phase = vbslq_f16(mask, three, phase); |
| |
| // Convert from float16x8_t to uint8x8_t |
| return vmovn_u16(vcvtq_u16_f16(phase)); |
| } |
| |
| /** Computes the gradient phase if gradient_size = 3 or 5. The output is quantized. |
| * 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return quantized phase for 8 pixels |
| */ |
| inline uint8x8_t phase_quantization_S16_S16(int16x8_t gx, int16x8_t gy) |
| { |
| return phase_quantization(vcvtq_f16_s16(gx), vcvtq_f16_s16(gy)); |
| } |
| |
| /** Computes the gradient phase if gradient_size = 7. The output is quantized. |
| * 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return quantized phase for 8 pixels |
| */ |
| inline uint8x8_t phase_quantization_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) |
| { |
| // Convert to float |
| const float32x4x2_t gx_f32 = |
| { |
| vcvtq_f32_s32(gx.val[0]), |
| vcvtq_f32_s32(gx.val[1]) |
| }; |
| |
| const float32x4x2_t gy_f32 = |
| { |
| vcvtq_f32_s32(gy.val[0]), |
| vcvtq_f32_s32(gy.val[1]) |
| }; |
| |
| return phase_quantization(gx_f32, gy_f32); |
| } |
| |
| /** Computes the magnitude using the L1-norm type if gradient_size = 3 or 5 |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return magnitude for 8 pixels |
| */ |
| inline uint16x8_t mag_l1_S16_S16(int16x8_t gx, int16x8_t gy) |
| { |
| return vaddq_u16(vreinterpretq_u16_s16(vabsq_s16(gx)), |
| vreinterpretq_u16_s16(vabsq_s16(gy))); |
| } |
| |
| /** Computes the magnitude using the L1-norm type if gradient_size = 7 |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return magnitude for 8 pixels |
| */ |
| inline uint32x4x2_t mag_l1_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) |
| { |
| const uint32x4x2_t gx_abs = |
| { |
| vreinterpretq_u32_s32(vabsq_s32(gx.val[0])), |
| vreinterpretq_u32_s32(vabsq_s32(gx.val[1])) |
| }; |
| |
| const uint32x4x2_t gy_abs = |
| { |
| vreinterpretq_u32_s32(vabsq_s32(gy.val[0])), |
| vreinterpretq_u32_s32(vabsq_s32(gy.val[1])) |
| }; |
| |
| const uint32x4x2_t out = |
| { |
| vaddq_u32(gx_abs.val[0], gy_abs.val[0]), |
| vaddq_u32(gx_abs.val[1], gy_abs.val[1]) |
| }; |
| |
| return out; |
| } |
| |
| inline float32x4x2_t mag_l2(const float32x4x2_t &gx, const float32x4x2_t &gy) |
| { |
| // x^2 ... |
| float32x4x2_t mag = |
| { |
| vmulq_f32(gx.val[0], gx.val[0]), |
| vmulq_f32(gx.val[1], gx.val[1]) |
| }; |
| |
| // ... + y^2 |
| mag.val[0] = vmlaq_f32(mag.val[0], gy.val[0], gy.val[0]); |
| mag.val[1] = vmlaq_f32(mag.val[1], gy.val[1], gy.val[1]); |
| |
| // sqrt(...) |
| mag.val[0] = vmulq_f32(vrsqrteq_f32(mag.val[0]), mag.val[0]); |
| mag.val[1] = vmulq_f32(vrsqrteq_f32(mag.val[1]), mag.val[1]); |
| |
| return mag; |
| } |
| |
| inline float16x8_t mag_l2(float16x8_t gx, float16x8_t gy) |
| { |
| // x^2 ... |
| float16x8_t mag = vmulq_f16(gx, gx); |
| |
| // ... + y^2 |
| mag = vfmaq_f16(mag, gy, gy); |
| |
| // sqrt(...) |
| mag = vmulq_f16(vrsqrteq_f16(mag), mag); |
| |
| return mag; |
| } |
| |
| /** Computes the magnitude using L2-norm if gradient_size = 3 or 5 |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return magnitude for 8 pixels |
| */ |
| inline uint16x8_t mag_l2_S16_S16(int16x8_t gx, int16x8_t gy) |
| { |
| /* Compute magnitude using L2 normalization */ |
| const float16x8_t gx2 = vcvtq_f16_s16(gx); |
| const float16x8_t gy2 = vcvtq_f16_s16(gy); |
| const float16x8_t mag = mag_l2(gx2, gy2); |
| |
| /* Store magnitude - Convert to uint16x8 */ |
| return vcvtq_u16_f16(mag); |
| } |
| |
| /** Computes the magnitude using L2-norm if gradient_size = 7 |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return magnitude for 8 pixels |
| */ |
| inline uint32x4x2_t mag_l2_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) |
| { |
| // Compute magnitude using L2 normalization |
| float32x4x2_t gx2 = |
| { |
| vcvtq_f32_s32(gx.val[0]), |
| vcvtq_f32_s32(gx.val[1]) |
| }; |
| |
| float32x4x2_t gy2 = |
| { |
| vcvtq_f32_s32(gy.val[0]), |
| vcvtq_f32_s32(gy.val[1]) |
| }; |
| |
| const float32x4x2_t mag = mag_l2(gx2, gy2); |
| const uint32x4x2_t mag32 = |
| { |
| vcvtq_u32_f32(mag.val[0]), |
| vcvtq_u32_f32(mag.val[1]) |
| }; |
| |
| return mag32; |
| } |
| |
| /** Gradient function used when the gradient size = 3 or 5 and when the norm_type = L1-norm |
| * |
| * @param[in] in1_ptr Pointer to source image. Gx image. Data type supported S16 |
| * @param[in] in2_ptr Pointer to source image. Gy image. Data type supported S16 |
| * @param[out] out1_ptr Pointer to destination image. Magnitude. Data type supported U16 |
| * @param[out] out2_ptr Pointer to destination image. Quantized phase. Data type supported U8 |
| */ |
| void mag_phase_l1norm_S16_S16_U16_U8(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out1_ptr, void *__restrict out2_ptr) |
| { |
| const auto in1 = static_cast<const int16_t *__restrict>(in1_ptr); |
| const auto in2 = static_cast<const int16_t *__restrict>(in2_ptr); |
| const auto out1 = static_cast<uint16_t *__restrict>(out1_ptr); |
| const auto out2 = static_cast<uint8_t *__restrict>(out2_ptr); |
| |
| const int16x8x4_t gx = |
| { |
| vld1q_s16(in1), |
| vld1q_s16(in1 + 8), |
| vld1q_s16(in1 + 16), |
| vld1q_s16(in1 + 24) |
| }; |
| |
| const int16x8x4_t gy = |
| { |
| vld1q_s16(in2), |
| vld1q_s16(in2 + 8), |
| vld1q_s16(in2 + 16), |
| vld1q_s16(in2 + 24) |
| }; |
| |
| // Compute and store phase |
| vst1_u8(out2 + 0, phase_quantization_S16_S16(gx.val[0], gy.val[0])); |
| vst1_u8(out2 + 8, phase_quantization_S16_S16(gx.val[1], gy.val[1])); |
| vst1_u8(out2 + 16, phase_quantization_S16_S16(gx.val[2], gy.val[2])); |
| vst1_u8(out2 + 24, phase_quantization_S16_S16(gx.val[3], gy.val[3])); |
| |
| // Compute ans store magnitude using L1 normalization |
| vst1q_u16(out1 + 0, mag_l1_S16_S16(gx.val[0], gy.val[0])); |
| vst1q_u16(out1 + 8, mag_l1_S16_S16(gx.val[1], gy.val[1])); |
| vst1q_u16(out1 + 16, mag_l1_S16_S16(gx.val[2], gy.val[2])); |
| vst1q_u16(out1 + 24, mag_l1_S16_S16(gx.val[3], gy.val[3])); |
| } |
| |
| /** Gradient function used when the gradient size = 3 or 5 and when the norm_type = L2-norm |
| * |
| * @param[in] in1_ptr Pointer to source image. Gx image. Data type supported S16 |
| * @param[in] in2_ptr Pointer to source image. Gy image. Data type supported S16 |
| * @param[out] out1_ptr Pointer to destination image. Magnitude. Data type supported U16 |
| * @param[out] out2_ptr Pointer to destination image. Quantized phase. Data type supported U8 |
| */ |
| void mag_phase_l2norm_S16_S16_U16_U8(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out1_ptr, void *__restrict out2_ptr) |
| { |
| const auto in1 = static_cast<const int16_t *__restrict>(in1_ptr); |
| const auto in2 = static_cast<const int16_t *__restrict>(in2_ptr); |
| const auto out1 = static_cast<uint16_t *__restrict>(out1_ptr); |
| const auto out2 = static_cast<uint8_t *__restrict>(out2_ptr); |
| |
| const int16x8x4_t gx = |
| { |
| vld1q_s16(in1), |
| vld1q_s16(in1 + 8), |
| vld1q_s16(in1 + 16), |
| vld1q_s16(in1 + 24) |
| }; |
| |
| const int16x8x4_t gy = |
| { |
| vld1q_s16(in2), |
| vld1q_s16(in2 + 8), |
| vld1q_s16(in2 + 16), |
| vld1q_s16(in2 + 24) |
| }; |
| |
| // Compute and store phase |
| vst1_u8(out2 + 0, phase_quantization_S16_S16(gx.val[0], gy.val[0])); |
| vst1_u8(out2 + 8, phase_quantization_S16_S16(gx.val[1], gy.val[1])); |
| vst1_u8(out2 + 16, phase_quantization_S16_S16(gx.val[2], gy.val[2])); |
| vst1_u8(out2 + 24, phase_quantization_S16_S16(gx.val[3], gy.val[3])); |
| |
| // Compute and store magnitude using L2 normalization |
| vst1q_u16(out1 + 0, mag_l2_S16_S16(gx.val[0], gy.val[0])); |
| vst1q_u16(out1 + 8, mag_l2_S16_S16(gx.val[1], gy.val[1])); |
| vst1q_u16(out1 + 16, mag_l2_S16_S16(gx.val[2], gy.val[2])); |
| vst1q_u16(out1 + 24, mag_l2_S16_S16(gx.val[3], gy.val[3])); |
| } |
| |
| /** Gradient function used when the gradient size = 7 and when the norm_type = L1-norm |
| * |
| * @param[in] in1_ptr Pointer to source image. Gx image. Data type supported S32 |
| * @param[in] in2_ptr Pointer to source image. Gy image. Data type supported S32 |
| * @param[out] out1_ptr Pointer to destination image. Magnitude. Data type supported U32 |
| * @param[out] out2_ptr Pointer to destination image. Quantized phase. Data type supported U8 |
| */ |
| void mag_phase_l1norm_S32_S32_U32_U8(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out1_ptr, void *__restrict out2_ptr) |
| { |
| auto in1 = static_cast<const int32_t *__restrict>(in1_ptr); |
| auto in2 = static_cast<const int32_t *__restrict>(in2_ptr); |
| auto out1 = static_cast<uint32_t *__restrict>(out1_ptr); |
| auto out2 = static_cast<uint8_t *__restrict>(out2_ptr); |
| |
| // Process low and high part |
| for(size_t i = 0; i < 2; ++i, in1 += 16, in2 += 16, out1 += 16, out2 += 16) |
| { |
| const int32x4x2_t gx0 = |
| { |
| vld1q_s32(in1 + 0), |
| vld1q_s32(in1 + 4) |
| }; |
| |
| const int32x4x2_t gx1 = |
| { |
| vld1q_s32(in1 + 8), |
| vld1q_s32(in1 + 12) |
| }; |
| |
| const int32x4x2_t gy0 = |
| { |
| vld1q_s32(in2 + 0), |
| vld1q_s32(in2 + 4) |
| }; |
| |
| const int32x4x2_t gy1 = |
| { |
| vld1q_s32(in2 + 8), |
| vld1q_s32(in2 + 12) |
| }; |
| |
| // Compute and store phase |
| vst1_u8(out2 + 0, phase_quantization_S32_S32(gx0, gy0)); |
| vst1_u8(out2 + 8, phase_quantization_S32_S32(gx1, gy1)); |
| |
| // Compute magnitude using L1 normalization |
| const uint32x4x2_t mag0 = mag_l1_S32_S32(gx0, gy0); |
| const uint32x4x2_t mag1 = mag_l1_S32_S32(gx1, gy1); |
| |
| // Store magnitude |
| vst1q_u32(out1 + 0, mag0.val[0]); |
| vst1q_u32(out1 + 4, mag0.val[1]); |
| vst1q_u32(out1 + 8, mag1.val[0]); |
| vst1q_u32(out1 + 12, mag1.val[1]); |
| } |
| } |
| |
| /** Gradient function used when the gradient size = 7 and when the norm_type = L2-norm |
| * |
| * @param[in] in1_ptr Pointer to source image. Gx image. Data type supported S32 |
| * @param[in] in2_ptr Pointer to source image. Gy image. Data type supported S32 |
| * @param[out] out1_ptr Pointer to destination image. Magnitude. Data type supported U32 |
| * @param[out] out2_ptr Pointer to destination image. Quantized phase. Data type supported U8 |
| */ |
| void mag_phase_l2norm_S32_S32_U32_U8(const void *__restrict in1_ptr, const void *__restrict in2_ptr, void *__restrict out1_ptr, void *__restrict out2_ptr) |
| { |
| auto in1 = static_cast<const int32_t *__restrict>(in1_ptr); |
| auto in2 = static_cast<const int32_t *__restrict>(in2_ptr); |
| auto out1 = static_cast<uint32_t *__restrict>(out1_ptr); |
| auto out2 = static_cast<uint8_t *__restrict>(out2_ptr); |
| |
| // Process low and high part |
| for(size_t i = 0; i < 2; ++i, in1 += 16, in2 += 16, out1 += 16, out2 += 16) |
| { |
| const int32x4x2_t gx0 = |
| { |
| vld1q_s32(in1 + 0), |
| vld1q_s32(in1 + 4) |
| }; |
| |
| const int32x4x2_t gx1 = |
| { |
| vld1q_s32(in1 + 8), |
| vld1q_s32(in1 + 12) |
| }; |
| |
| const int32x4x2_t gy0 = |
| { |
| vld1q_s32(in2 + 0), |
| vld1q_s32(in2 + 4) |
| }; |
| |
| const int32x4x2_t gy1 = |
| { |
| vld1q_s32(in2 + 8), |
| vld1q_s32(in2 + 12) |
| }; |
| |
| // Compute and store phase |
| vst1_u8(out2 + 0, phase_quantization_S32_S32(gx0, gy0)); |
| vst1_u8(out2 + 8, phase_quantization_S32_S32(gx1, gy1)); |
| |
| // Compute magnitude using L2 normalization |
| const uint32x4x2_t mag0 = mag_l2_S32_S32(gx0, gy0); |
| const uint32x4x2_t mag1 = mag_l2_S32_S32(gx1, gy1); |
| |
| // Store magnitude |
| vst1q_u32(out1 + 0, mag0.val[0]); |
| vst1q_u32(out1 + 4, mag0.val[1]); |
| vst1q_u32(out1 + 8, mag1.val[0]); |
| vst1q_u32(out1 + 12, mag1.val[1]); |
| } |
| } |
| |
| inline uint16x4_t non_max_U32_helper(const uint32_t *in, const uint16x4_t pc, const uint32_t stride_mag, const int32_t lower_thr, const int32_t upper_thr) |
| { |
| // Phase for 4 pixel |
| const uint32x4_t pc32 = vmovl_u16(pc); |
| |
| // Get magnitude for 4 pixel |
| uint32x4_t mc = vld1q_u32(in); |
| |
| // Angle_quantized: 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° |
| // 0 degree |
| const uint32x4_t mk0_0 = vld1q_u32(in - 1); |
| const uint32x4_t mk0_1 = vld1q_u32(in + 1); |
| uint32x4_t mask0 = vceqq_u32(pc32, vdupq_n_u32(0)); |
| mask0 = vandq_u32(mask0, vcgeq_u32(mc, mk0_0)); |
| mask0 = vandq_u32(mask0, vcgeq_u32(mc, mk0_1)); |
| |
| // 45 degree |
| const uint32x4_t mk45_0 = vld1q_u32(in - stride_mag - 1); |
| const uint32x4_t mk45_1 = vld1q_u32(in + stride_mag + 1); |
| uint32x4_t mask1 = vceqq_u32(pc32, vdupq_n_u32(1)); |
| mask1 = vandq_u32(mask1, vcgeq_u32(mc, mk45_0)); |
| mask1 = vandq_u32(mask1, vcgeq_u32(mc, mk45_1)); |
| |
| // 90 degree |
| const uint32x4_t mk90_0 = vld1q_u32(in - stride_mag); |
| const uint32x4_t mk90_1 = vld1q_u32(in + stride_mag); |
| uint32x4_t mask2 = vceqq_u32(pc32, vdupq_n_u32(2)); |
| mask2 = vandq_u32(mask2, vcgeq_u32(mc, mk90_0)); |
| mask2 = vandq_u32(mask2, vcgeq_u32(mc, mk90_1)); |
| |
| // 135 degree |
| const uint32x4_t mk135_0 = vld1q_u32(in - stride_mag + 1); |
| const uint32x4_t mk135_1 = vld1q_u32(in + stride_mag - 1); |
| uint32x4_t mask3 = vceqq_u32(pc32, vdupq_n_u32(3)); |
| mask3 = vandq_u32(mask3, vcgeq_u32(mc, mk135_0)); |
| mask3 = vandq_u32(mask3, vcgeq_u32(mc, mk135_1)); |
| |
| // Merge masks |
| mask0 = vorrq_u32(mask0, mask1); |
| mask2 = vorrq_u32(mask2, mask3); |
| mask0 = vorrq_u32(mask0, mask2); |
| |
| mc = vbslq_u32(mask0, mc, vdupq_n_u32(0)); |
| |
| // mc > upper_thr |
| mask0 = vcgtq_u32(mc, vdupq_n_u32(upper_thr)); |
| |
| // mc <= lower_thr |
| mask1 = vcleq_u32(mc, vdupq_n_u32(lower_thr)); |
| |
| // mc <= upper_thr && mc > lower_thr |
| mask2 = vcleq_u32(mc, vdupq_n_u32(upper_thr)); |
| mask2 = vandq_u32(mask2, vcgtq_u32(mc, vdupq_n_u32(lower_thr))); |
| |
| mc = vbslq_u32(mask0, vdupq_n_u32(EDGE), mc); |
| mc = vbslq_u32(mask1, vdupq_n_u32(NO_EDGE), mc); |
| mc = vbslq_u32(mask2, vdupq_n_u32(MAYBE), mc); |
| |
| return vmovn_u32(mc); |
| } |
| |
| /** Computes edge tracing when is called by edge_trace_U8_U8 recursively |
| * |
| * @param[in] in Pointer to source image. Data type supported U8 |
| * @param[out] out Pointer to destination image. Data type supported U8 |
| * @param[in] in_stride Stride of the input image |
| * @param[in] out_stride Stride of the output image |
| */ |
| void edge_trace_recursive_U8_U8(uint8_t *__restrict in, uint8_t *__restrict out, const int32_t in_stride, const int32_t out_stride) |
| { |
| // Look for MAYBE pixels in 8 directions |
| *out = EDGE; |
| |
| // (-1, 0) |
| uint8_t pixel = *(in - 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(in - 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(in - 1, out - 1, in_stride, out_stride); |
| } |
| |
| // (+1, 0) |
| pixel = *(in + 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(in + 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(in + 1, out + 1, in_stride, out_stride); |
| } |
| |
| in -= in_stride; |
| out -= out_stride; |
| |
| // (-1, -1) |
| pixel = *(in - 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(in - 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(in - 1, out - 1, in_stride, out_stride); |
| } |
| |
| // (0, -1) |
| pixel = *in; |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *in = EDGE; |
| |
| edge_trace_recursive_U8_U8(in, out, in_stride, out_stride); |
| } |
| |
| // (+1, -1) |
| pixel = *(in + 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(in + 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(in + 1, out + 1, in_stride, out_stride); |
| } |
| |
| in += in_stride * 2; |
| out += out_stride * 2; |
| |
| // (-1, +1) |
| pixel = *(in - 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(in - 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(in - 1, out - 1, in_stride, out_stride); |
| } |
| |
| // (0, +1) |
| pixel = *in; |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *in = EDGE; |
| |
| edge_trace_recursive_U8_U8(in, out, in_stride, out_stride); |
| } |
| |
| // (+1, +1) |
| pixel = *(in + 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(in + 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(in + 1, out + 1, in_stride, out_stride); |
| } |
| } |
| } // namespace fp16 |
| |
| void NEGradientFP16Kernel::configure(const ITensor *gx, const ITensor *gy, ITensor *magnitude, ITensor *phase, int32_t norm_type) |
| { |
| ARM_COMPUTE_ERROR_ON_NULLPTR(gx, gy, magnitude, phase); |
| |
| set_shape_if_empty(*magnitude->info(), gx->info()->tensor_shape()); |
| set_shape_if_empty(*phase->info(), gx->info()->tensor_shape()); |
| |
| Format magnitude_format = gx->info()->data_type() == DataType::S16 ? Format::U16 : Format::U32; |
| set_format_if_unknown(*magnitude->info(), magnitude_format); |
| set_format_if_unknown(*phase->info(), Format::U8); |
| |
| ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(gx, gy, magnitude, phase); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(gx, 1, DataType::S16, DataType::S32); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(gy, 1, DataType::S16, DataType::S32); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(magnitude, 1, DataType::U16, DataType::U32); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(phase, 1, DataType::U8); |
| ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(gx, gy); |
| ARM_COMPUTE_ERROR_ON_MSG(element_size_from_data_type(gx->info()->data_type()) != element_size_from_data_type(magnitude->info()->data_type()), "Magnitude must have the same element size as Gx and Gy"); |
| |
| _gx = gx; |
| _gy = gy; |
| _magnitude = magnitude; |
| _phase = phase; |
| |
| if(_gx->info()->data_type() == DataType::S16) |
| { |
| if(norm_type == 1) |
| { |
| _func = &fp16::mag_phase_l1norm_S16_S16_U16_U8; |
| } |
| else |
| { |
| _func = &fp16::mag_phase_l2norm_S16_S16_U16_U8; |
| } |
| } |
| else |
| { |
| if(norm_type == 1) |
| { |
| _func = &fp16::mag_phase_l1norm_S32_S32_U32_U8; |
| } |
| else |
| { |
| _func = &fp16::mag_phase_l2norm_S32_S32_U32_U8; |
| } |
| } |
| |
| constexpr unsigned int num_elems_processed_per_iteration = 32; |
| |
| // Configure kernel window |
| Window win = calculate_max_window(*_gx->info(), Steps(num_elems_processed_per_iteration)); |
| |
| AccessWindowHorizontal gx_access(_gx->info(), 0, num_elems_processed_per_iteration); |
| AccessWindowHorizontal gy_access(_gy->info(), 0, num_elems_processed_per_iteration); |
| AccessWindowHorizontal mag_access(_magnitude->info(), 0, num_elems_processed_per_iteration); |
| AccessWindowHorizontal phase_access(_phase->info(), 0, num_elems_processed_per_iteration); |
| |
| update_window_and_padding(win, gx_access, gy_access, mag_access, phase_access); |
| |
| mag_access.set_valid_region(win, _gx->info()->valid_region()); |
| phase_access.set_valid_region(win, _gx->info()->valid_region()); |
| |
| INEKernel::configure(win); |
| } |
| #endif /* ARM_COMPUTE_ENABLE_FP16 */ |
| |
| namespace |
| { |
| inline uint8x8_t phase_quantization(const float32x4x2_t &gx, const float32x4x2_t &gy) |
| { |
| // Constant use for evaluating score1 and score3 |
| static const float32x4_t const45 = vdupq_n_f32(0.70710678118655f); |
| static const float32x4_t zero = vdupq_n_f32(0.0f); |
| static const float32x4_t one = vdupq_n_f32(1.0f); |
| static const float32x4_t two = vdupq_n_f32(2.0f); |
| static const float32x4_t three = vdupq_n_f32(3.0f); |
| |
| // Score0: (1, 0) |
| const float32x4x2_t score0 = |
| { |
| { |
| vabsq_f32(gx.val[0]), |
| vabsq_f32(gx.val[1]) |
| } |
| }; |
| |
| // Score2: ( 0, 1 ) |
| const float32x4x2_t score2 = |
| { |
| { |
| vabsq_f32(gy.val[0]), |
| vabsq_f32(gy.val[1]) |
| } |
| }; |
| |
| // Score1 and Score3: ( sqrt(2) / 2, sqrt(2) / 2 ) - ( -sqrt(2) / 2, sqrt(2) / 2 ) |
| float32x4x2_t score1 = |
| { |
| { |
| vmulq_f32(gy.val[0], const45), |
| vmulq_f32(gy.val[1], const45) |
| } |
| }; |
| |
| float32x4x2_t score3 = score1; |
| |
| score1.val[0] = vmlaq_f32(score1.val[0], gx.val[0], const45); |
| score1.val[1] = vmlaq_f32(score1.val[1], gx.val[1], const45); |
| score3.val[0] = vmlsq_f32(score3.val[0], gx.val[0], const45); |
| score3.val[1] = vmlsq_f32(score3.val[1], gx.val[1], const45); |
| |
| score1.val[0] = vabsq_f32(score1.val[0]); |
| score1.val[1] = vabsq_f32(score1.val[1]); |
| score3.val[0] = vabsq_f32(score3.val[0]); |
| score3.val[1] = vabsq_f32(score3.val[1]); |
| |
| float32x4x2_t phase = |
| { |
| { |
| zero, |
| zero |
| } |
| }; |
| |
| float32x4x2_t old_score = score0; |
| |
| // score1 > old_score? |
| uint32x4x2_t mask = |
| { |
| { |
| vcgtq_f32(score1.val[0], old_score.val[0]), |
| vcgtq_f32(score1.val[1], old_score.val[1]) |
| } |
| }; |
| |
| phase.val[0] = vbslq_f32(mask.val[0], one, phase.val[0]); |
| phase.val[1] = vbslq_f32(mask.val[1], one, phase.val[1]); |
| old_score.val[0] = vbslq_f32(mask.val[0], score1.val[0], old_score.val[0]); |
| old_score.val[1] = vbslq_f32(mask.val[1], score1.val[1], old_score.val[1]); |
| |
| // score2 > old_score? |
| mask.val[0] = vcgtq_f32(score2.val[0], old_score.val[0]); |
| mask.val[1] = vcgtq_f32(score2.val[1], old_score.val[1]); |
| |
| phase.val[0] = vbslq_f32(mask.val[0], two, phase.val[0]); |
| phase.val[1] = vbslq_f32(mask.val[1], two, phase.val[1]); |
| old_score.val[0] = vbslq_f32(mask.val[0], score2.val[0], old_score.val[0]); |
| old_score.val[1] = vbslq_f32(mask.val[1], score2.val[1], old_score.val[1]); |
| |
| // score3 > old_score? |
| mask.val[0] = vcgtq_f32(score3.val[0], old_score.val[0]); |
| mask.val[1] = vcgtq_f32(score3.val[1], old_score.val[1]); |
| |
| phase.val[0] = vbslq_f32(mask.val[0], three, phase.val[0]); |
| phase.val[1] = vbslq_f32(mask.val[1], three, phase.val[1]); |
| old_score.val[0] = vbslq_f32(mask.val[0], score3.val[0], old_score.val[0]); |
| old_score.val[1] = vbslq_f32(mask.val[1], score3.val[1], old_score.val[1]); |
| |
| // Convert from float32x4_t to uint8x8_t |
| return vmovn_u16(vcombine_u16(vmovn_u32(vcvtq_u32_f32(phase.val[0])), |
| vmovn_u32(vcvtq_u32_f32(phase.val[1])))); |
| } |
| |
| /* Computes the gradient phase if gradient_size = 3 or 5. The output is quantized. |
| * 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return quantized phase for 8 pixels |
| */ |
| inline uint8x8_t phase_quantization_S16_S16(int16x8_t gx, int16x8_t gy) |
| { |
| // Convert to float |
| const float32x4x2_t gx_f32 = |
| { |
| { |
| vcvtq_f32_s32(vmovl_s16(vget_low_s16(gx))), |
| vcvtq_f32_s32(vmovl_s16(vget_high_s16(gx))) |
| } |
| }; |
| |
| const float32x4x2_t gy_f32 = |
| { |
| { |
| vcvtq_f32_s32(vmovl_s16(vget_low_s16(gy))), |
| vcvtq_f32_s32(vmovl_s16(vget_high_s16(gy))) |
| } |
| }; |
| |
| return phase_quantization(gx_f32, gy_f32); |
| } |
| |
| /* Computes the gradient phase if gradient_size = 7. The output is quantized. |
| * 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return quantized phase for 8 pixels |
| */ |
| inline uint8x8_t phase_quantization_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) |
| { |
| // Convert to float |
| const float32x4x2_t gx_f32 = |
| { |
| { |
| vcvtq_f32_s32(gx.val[0]), |
| vcvtq_f32_s32(gx.val[1]) |
| } |
| }; |
| |
| const float32x4x2_t gy_f32 = |
| { |
| { |
| vcvtq_f32_s32(gy.val[0]), |
| vcvtq_f32_s32(gy.val[1]) |
| } |
| }; |
| |
| return phase_quantization(gx_f32, gy_f32); |
| } |
| |
| /* Computes the magnitude using the L1-norm type if gradient_size = 3 or 5 |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return magnitude for 8 pixels |
| */ |
| inline uint16x8_t mag_l1_S16_S16(int16x8_t gx, int16x8_t gy) |
| { |
| return vaddq_u16(vreinterpretq_u16_s16(vabsq_s16(gx)), |
| vreinterpretq_u16_s16(vabsq_s16(gy))); |
| } |
| |
| /* Computes the magnitude using the L1-norm type if gradient_size = 7 |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return magnitude for 8 pixels |
| */ |
| inline uint32x4x2_t mag_l1_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) |
| { |
| const uint32x4x2_t gx_abs = |
| { |
| { |
| vreinterpretq_u32_s32(vabsq_s32(gx.val[0])), |
| vreinterpretq_u32_s32(vabsq_s32(gx.val[1])) |
| } |
| }; |
| |
| const uint32x4x2_t gy_abs = |
| { |
| { |
| vreinterpretq_u32_s32(vabsq_s32(gy.val[0])), |
| vreinterpretq_u32_s32(vabsq_s32(gy.val[1])) |
| } |
| }; |
| |
| const uint32x4x2_t output = |
| { |
| { |
| vaddq_u32(gx_abs.val[0], gy_abs.val[0]), |
| vaddq_u32(gx_abs.val[1], gy_abs.val[1]) |
| } |
| }; |
| |
| return output; |
| } |
| |
| inline float32x4x2_t mag_l2(const float32x4x2_t &gx, const float32x4x2_t &gy) |
| { |
| // x^2 ... |
| float32x4x2_t magnitude = |
| { |
| { |
| vmulq_f32(gx.val[0], gx.val[0]), |
| vmulq_f32(gx.val[1], gx.val[1]) |
| } |
| }; |
| |
| // ... + y^2 |
| magnitude.val[0] = vmlaq_f32(magnitude.val[0], gy.val[0], gy.val[0]); |
| magnitude.val[1] = vmlaq_f32(magnitude.val[1], gy.val[1], gy.val[1]); |
| |
| // sqrt(...) |
| magnitude.val[0] = vmulq_f32(vrsqrteq_f32(magnitude.val[0]), magnitude.val[0]); |
| magnitude.val[1] = vmulq_f32(vrsqrteq_f32(magnitude.val[1]), magnitude.val[1]); |
| |
| return magnitude; |
| } |
| |
| /* Computes the magnitude using L2-norm if gradient_size = 3 or 5 |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return magnitude for 8 pixels |
| */ |
| inline uint16x8_t mag_l2_S16_S16(int16x8_t gx, int16x8_t gy) |
| { |
| // Compute magnitude using L2 normalization |
| const float32x4x2_t gx2 = |
| { |
| { |
| vcvtq_f32_s32(vmovl_s16(vget_low_s16(gx))), |
| vcvtq_f32_s32(vmovl_s16(vget_high_s16(gx))) |
| } |
| }; |
| |
| const float32x4x2_t gy2 = |
| { |
| { |
| vcvtq_f32_s32(vmovl_s16(vget_low_s16(gy))), |
| vcvtq_f32_s32(vmovl_s16(vget_high_s16(gy))) |
| } |
| }; |
| |
| const float32x4x2_t magnitude = mag_l2(gx2, gy2); |
| |
| // Store magnitude - Convert to uint16x8 |
| return vcombine_u16(vmovn_u32(vcvtq_u32_f32(magnitude.val[0])), |
| vmovn_u32(vcvtq_u32_f32(magnitude.val[1]))); |
| } |
| |
| /* Computes the magnitude using L2-norm if gradient_size = 7 |
| * |
| * @param[in] gx Gx component |
| * @param[in] gy Gy component |
| * |
| * @return magnitude for 8 pixels |
| */ |
| inline uint32x4x2_t mag_l2_S32_S32(const int32x4x2_t &gx, const int32x4x2_t &gy) |
| { |
| // Compute magnitude using L2 normalization |
| float32x4x2_t gx2 = |
| { |
| { |
| vcvtq_f32_s32(gx.val[0]), |
| vcvtq_f32_s32(gx.val[1]) |
| } |
| }; |
| |
| float32x4x2_t gy2 = |
| { |
| { |
| vcvtq_f32_s32(gy.val[0]), |
| vcvtq_f32_s32(gy.val[1]) |
| } |
| }; |
| |
| const float32x4x2_t magnitude = mag_l2(gx2, gy2); |
| const uint32x4x2_t mag32 = |
| { |
| { |
| vcvtq_u32_f32(magnitude.val[0]), |
| vcvtq_u32_f32(magnitude.val[1]) |
| } |
| }; |
| |
| return mag32; |
| } |
| |
| /* Gradient function used when the gradient size = 3 or 5 and when the norm_type = L1-norm |
| * |
| * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S16 |
| * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S16 |
| * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U16 |
| * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type supported U8 |
| */ |
| void mag_phase_l1norm_S16_S16_U16_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) |
| { |
| const auto gx = static_cast<const int16_t *__restrict>(gx_ptr); |
| const auto gy = static_cast<const int16_t *__restrict>(gy_ptr); |
| const auto magnitude = static_cast<uint16_t *__restrict>(magnitude_ptr); |
| const auto phase = static_cast<uint8_t *__restrict>(phase_ptr); |
| |
| const int16x8x4_t gx_val = |
| { |
| { |
| vld1q_s16(gx), |
| vld1q_s16(gx + 8), |
| vld1q_s16(gx + 16), |
| vld1q_s16(gx + 24) |
| } |
| }; |
| |
| const int16x8x4_t gy_val = |
| { |
| { |
| vld1q_s16(gy), |
| vld1q_s16(gy + 8), |
| vld1q_s16(gy + 16), |
| vld1q_s16(gy + 24) |
| } |
| }; |
| |
| // Compute and store phase |
| vst1_u8(phase + 0, phase_quantization_S16_S16(gx_val.val[0], gy_val.val[0])); |
| vst1_u8(phase + 8, phase_quantization_S16_S16(gx_val.val[1], gy_val.val[1])); |
| vst1_u8(phase + 16, phase_quantization_S16_S16(gx_val.val[2], gy_val.val[2])); |
| vst1_u8(phase + 24, phase_quantization_S16_S16(gx_val.val[3], gy_val.val[3])); |
| |
| // Compute ans store magnitude using L1 normalization |
| vst1q_u16(magnitude + 0, mag_l1_S16_S16(gx_val.val[0], gy_val.val[0])); |
| vst1q_u16(magnitude + 8, mag_l1_S16_S16(gx_val.val[1], gy_val.val[1])); |
| vst1q_u16(magnitude + 16, mag_l1_S16_S16(gx_val.val[2], gy_val.val[2])); |
| vst1q_u16(magnitude + 24, mag_l1_S16_S16(gx_val.val[3], gy_val.val[3])); |
| } |
| |
| /* Gradient function used when the gradient size = 3 or 5 and when the norm_type = L2-norm |
| * |
| * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S16 |
| * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S16 |
| * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U16 |
| * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type supported U8 |
| */ |
| void mag_phase_l2norm_S16_S16_U16_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) |
| { |
| const auto gx = static_cast<const int16_t *__restrict>(gx_ptr); |
| const auto gy = static_cast<const int16_t *__restrict>(gy_ptr); |
| const auto magnitude = static_cast<uint16_t *__restrict>(magnitude_ptr); |
| const auto phase = static_cast<uint8_t *__restrict>(phase_ptr); |
| |
| const int16x8x4_t gx_val = |
| { |
| { |
| vld1q_s16(gx), |
| vld1q_s16(gx + 8), |
| vld1q_s16(gx + 16), |
| vld1q_s16(gx + 24) |
| } |
| }; |
| |
| const int16x8x4_t gy_val = |
| { |
| { |
| vld1q_s16(gy), |
| vld1q_s16(gy + 8), |
| vld1q_s16(gy + 16), |
| vld1q_s16(gy + 24) |
| } |
| }; |
| |
| // Compute and store phase |
| vst1_u8(phase + 0, phase_quantization_S16_S16(gx_val.val[0], gy_val.val[0])); |
| vst1_u8(phase + 8, phase_quantization_S16_S16(gx_val.val[1], gy_val.val[1])); |
| vst1_u8(phase + 16, phase_quantization_S16_S16(gx_val.val[2], gy_val.val[2])); |
| vst1_u8(phase + 24, phase_quantization_S16_S16(gx_val.val[3], gy_val.val[3])); |
| |
| // Compute and store magnitude using L2 normalization |
| vst1q_u16(magnitude + 0, mag_l2_S16_S16(gx_val.val[0], gy_val.val[0])); |
| vst1q_u16(magnitude + 8, mag_l2_S16_S16(gx_val.val[1], gy_val.val[1])); |
| vst1q_u16(magnitude + 16, mag_l2_S16_S16(gx_val.val[2], gy_val.val[2])); |
| vst1q_u16(magnitude + 24, mag_l2_S16_S16(gx_val.val[3], gy_val.val[3])); |
| } |
| |
| /* Gradient function used when the gradient size = 7 and when the norm_type = L1-norm |
| * |
| * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S32 |
| * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S32 |
| * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U32 |
| * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type support U8 |
| */ |
| void mag_phase_l1norm_S32_S32_U32_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) |
| { |
| auto gx = static_cast<const int32_t *__restrict>(gx_ptr); |
| auto gy = static_cast<const int32_t *__restrict>(gy_ptr); |
| auto magnitude = static_cast<uint32_t *__restrict>(magnitude_ptr); |
| auto phase = static_cast<uint8_t *__restrict>(phase_ptr); |
| |
| // Process low and high part |
| for(size_t i = 0; i < 2; ++i, gx += 16, gy += 16, magnitude += 16, phase += 16) |
| { |
| const int32x4x2_t gx0 = |
| { |
| { |
| vld1q_s32(gx + 0), |
| vld1q_s32(gx + 4) |
| } |
| }; |
| |
| const int32x4x2_t gx1 = |
| { |
| { |
| vld1q_s32(gx + 8), |
| vld1q_s32(gx + 12) |
| } |
| }; |
| |
| const int32x4x2_t gy0 = |
| { |
| { |
| vld1q_s32(gy + 0), |
| vld1q_s32(gy + 4) |
| } |
| }; |
| |
| const int32x4x2_t gy1 = |
| { |
| { |
| vld1q_s32(gy + 8), |
| vld1q_s32(gy + 12) |
| } |
| }; |
| |
| // Compute and store phase |
| vst1_u8(phase + 0, phase_quantization_S32_S32(gx0, gy0)); |
| vst1_u8(phase + 8, phase_quantization_S32_S32(gx1, gy1)); |
| |
| // Compute magnitude using L1 normalization |
| const uint32x4x2_t mag0 = mag_l1_S32_S32(gx0, gy0); |
| const uint32x4x2_t mag1 = mag_l1_S32_S32(gx1, gy1); |
| |
| // Store magnitude |
| vst1q_u32(magnitude + 0, mag0.val[0]); |
| vst1q_u32(magnitude + 4, mag0.val[1]); |
| vst1q_u32(magnitude + 8, mag1.val[0]); |
| vst1q_u32(magnitude + 12, mag1.val[1]); |
| } |
| } |
| |
| /* Gradient function used when the gradient size = 7 and when the norm_type = L2-norm |
| * |
| * @param[in] gx_ptr Pointer to source image. Gx image. Data type supported S32 |
| * @param[in] gy_ptr Pointer to source image. Gy image. Data type supported S32 |
| * @param[out] magnitude_ptr Pointer to destination image. Magnitude. Data type supported U32 |
| * @param[out] phase_ptr Pointer to destination image. Quantized phase. Data type supported U8 |
| */ |
| void mag_phase_l2norm_S32_S32_U32_U8(const void *__restrict gx_ptr, const void *__restrict gy_ptr, void *__restrict magnitude_ptr, void *__restrict phase_ptr) |
| { |
| auto gx = static_cast<const int32_t *__restrict>(gx_ptr); |
| auto gy = static_cast<const int32_t *__restrict>(gy_ptr); |
| auto magnitude = static_cast<uint32_t *__restrict>(magnitude_ptr); |
| auto phase = static_cast<uint8_t *__restrict>(phase_ptr); |
| |
| // Process low and high part |
| for(size_t i = 0; i < 2; ++i, gx += 16, gy += 16, magnitude += 16, phase += 16) |
| { |
| const int32x4x2_t gx0 = |
| { |
| { |
| vld1q_s32(gx + 0), |
| vld1q_s32(gx + 4) |
| } |
| }; |
| |
| const int32x4x2_t gx1 = |
| { |
| { |
| vld1q_s32(gx + 8), |
| vld1q_s32(gx + 12) |
| } |
| }; |
| |
| const int32x4x2_t gy0 = |
| { |
| { |
| vld1q_s32(gy + 0), |
| vld1q_s32(gy + 4) |
| } |
| }; |
| |
| const int32x4x2_t gy1 = |
| { |
| { |
| vld1q_s32(gy + 8), |
| vld1q_s32(gy + 12) |
| } |
| }; |
| |
| // Compute and store phase |
| vst1_u8(phase + 0, phase_quantization_S32_S32(gx0, gy0)); |
| vst1_u8(phase + 8, phase_quantization_S32_S32(gx1, gy1)); |
| |
| // Compute magnitude using L2 normalization |
| const uint32x4x2_t mag0 = mag_l2_S32_S32(gx0, gy0); |
| const uint32x4x2_t mag1 = mag_l2_S32_S32(gx1, gy1); |
| |
| // Store magnitude |
| vst1q_u32(magnitude + 0, mag0.val[0]); |
| vst1q_u32(magnitude + 4, mag0.val[1]); |
| vst1q_u32(magnitude + 8, mag1.val[0]); |
| vst1q_u32(magnitude + 12, mag1.val[1]); |
| } |
| } |
| |
| /* Computes non-maxima suppression and hysteresis when the gradient size = 3 or 5 |
| * |
| * @param[in] magnitude_ptr Pointer to source image. Magnitude. Data type supported U16 |
| * @param[in] phase_ptr Pointer to source image. Quantized phase. Data type supported U8 |
| * @param[out] output_ptr Pointer to output image. Data type supported U8 |
| * @param[in] stride_mag Stride of magnitude image |
| * @param[in] lower_thr Lower threshold used for the hysteresis |
| * @param[in] upper_thr Upper threshold used for the hysteresis |
| */ |
| void non_max_suppression_U16_U8_U8(const void *__restrict magnitude_ptr, const void *__restrict phase_ptr, void *__restrict output_ptr, const uint32_t stride_mag, const int32_t lower_thr, |
| const int32_t upper_thr) |
| { |
| const auto magnitude = static_cast<const uint16_t *__restrict>(magnitude_ptr); |
| const auto phase = static_cast<const uint8_t *__restrict>(phase_ptr); |
| const auto output = static_cast<uint8_t *__restrict>(output_ptr); |
| |
| // Get magnitude and phase of the centre pixels |
| uint16x8_t mc = vld1q_u16(magnitude); |
| |
| // Angle_quantized: 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° |
| const uint16x8_t pc16 = vmovl_u8(vld1_u8(phase)); |
| |
| // 0 degree |
| const uint16x8_t mk0_0 = vld1q_u16(magnitude - 1); |
| const uint16x8_t mk0_1 = vld1q_u16(magnitude + 1); |
| uint16x8_t mask0 = vceqq_u16(pc16, vdupq_n_u16(0)); |
| mask0 = vandq_u16(mask0, vcgeq_u16(mc, mk0_0)); |
| mask0 = vandq_u16(mask0, vcgeq_u16(mc, mk0_1)); |
| |
| // 45 degree |
| const uint16x8_t mk45_0 = vld1q_u16(magnitude - stride_mag - 1); |
| const uint16x8_t mk45_1 = vld1q_u16(magnitude + stride_mag + 1); |
| uint16x8_t mask1 = vceqq_u16(pc16, vdupq_n_u16(1)); |
| mask1 = vandq_u16(mask1, vcgeq_u16(mc, mk45_0)); |
| mask1 = vandq_u16(mask1, vcgeq_u16(mc, mk45_1)); |
| |
| // 90 degree |
| const uint16x8_t mk90_0 = vld1q_u16(magnitude - stride_mag); |
| const uint16x8_t mk90_1 = vld1q_u16(magnitude + stride_mag); |
| uint16x8_t mask2 = vceqq_u16(pc16, vdupq_n_u16(2)); |
| mask2 = vandq_u16(mask2, vcgeq_u16(mc, mk90_0)); |
| mask2 = vandq_u16(mask2, vcgeq_u16(mc, mk90_1)); |
| |
| // 135 degree |
| const uint16x8_t mk135_0 = vld1q_u16(magnitude - stride_mag + 1); |
| const uint16x8_t mk135_1 = vld1q_u16(magnitude + stride_mag - 1); |
| uint16x8_t mask3 = vceqq_u16(pc16, vdupq_n_u16(3)); |
| mask3 = vandq_u16(mask3, vcgeq_u16(mc, mk135_0)); |
| mask3 = vandq_u16(mask3, vcgeq_u16(mc, mk135_1)); |
| |
| // Merge masks |
| mask0 = vorrq_u16(mask0, mask1); |
| mask2 = vorrq_u16(mask2, mask3); |
| mask0 = vorrq_u16(mask0, mask2); |
| |
| mc = vbslq_u16(mask0, mc, vdupq_n_u16(0)); |
| |
| // mc > upper_thr |
| mask0 = vcgtq_u16(mc, vdupq_n_u16(upper_thr)); |
| |
| // mc <= lower_thr |
| mask1 = vcleq_u16(mc, vdupq_n_u16(lower_thr)); |
| |
| // mc <= upper_thr && mc > lower_thr |
| mask2 = vcleq_u16(mc, vdupq_n_u16(upper_thr)); |
| mask2 = vandq_u16(mask2, vcgtq_u16(mc, vdupq_n_u16(lower_thr))); |
| |
| mc = vbslq_u16(mask0, vdupq_n_u16(EDGE), mc); |
| mc = vbslq_u16(mask1, vdupq_n_u16(NO_EDGE), mc); |
| mc = vbslq_u16(mask2, vdupq_n_u16(MAYBE), mc); |
| |
| vst1_u8(output, vmovn_u16(mc)); |
| } |
| |
| inline uint16x4_t non_max_U32_helper(const uint32_t *input, const uint16x4_t pc, const uint32_t stride_mag, const int32_t lower_thr, const int32_t upper_thr) |
| { |
| // Phase for 4 pixel |
| const uint32x4_t pc32 = vmovl_u16(pc); |
| |
| // Get magnitude for 4 pixel |
| uint32x4_t mc = vld1q_u32(input); |
| |
| // Angle_quantized: 0 = 0°, 1 = 45°, 2 = 90°, 3 = 135° |
| // 0 degree |
| const uint32x4_t mk0_0 = vld1q_u32(input - 1); |
| const uint32x4_t mk0_1 = vld1q_u32(input + 1); |
| uint32x4_t mask0 = vceqq_u32(pc32, vdupq_n_u32(0)); |
| mask0 = vandq_u32(mask0, vcgeq_u32(mc, mk0_0)); |
| mask0 = vandq_u32(mask0, vcgeq_u32(mc, mk0_1)); |
| |
| // 45 degree |
| const uint32x4_t mk45_0 = vld1q_u32(input - stride_mag - 1); |
| const uint32x4_t mk45_1 = vld1q_u32(input + stride_mag + 1); |
| uint32x4_t mask1 = vceqq_u32(pc32, vdupq_n_u32(1)); |
| mask1 = vandq_u32(mask1, vcgeq_u32(mc, mk45_0)); |
| mask1 = vandq_u32(mask1, vcgeq_u32(mc, mk45_1)); |
| |
| // 90 degree |
| const uint32x4_t mk90_0 = vld1q_u32(input - stride_mag); |
| const uint32x4_t mk90_1 = vld1q_u32(input + stride_mag); |
| uint32x4_t mask2 = vceqq_u32(pc32, vdupq_n_u32(2)); |
| mask2 = vandq_u32(mask2, vcgeq_u32(mc, mk90_0)); |
| mask2 = vandq_u32(mask2, vcgeq_u32(mc, mk90_1)); |
| |
| // 135 degree |
| const uint32x4_t mk135_0 = vld1q_u32(input - stride_mag + 1); |
| const uint32x4_t mk135_1 = vld1q_u32(input + stride_mag - 1); |
| uint32x4_t mask3 = vceqq_u32(pc32, vdupq_n_u32(3)); |
| mask3 = vandq_u32(mask3, vcgeq_u32(mc, mk135_0)); |
| mask3 = vandq_u32(mask3, vcgeq_u32(mc, mk135_1)); |
| |
| // Merge masks |
| mask0 = vorrq_u32(mask0, mask1); |
| mask2 = vorrq_u32(mask2, mask3); |
| mask0 = vorrq_u32(mask0, mask2); |
| |
| mc = vbslq_u32(mask0, mc, vdupq_n_u32(0)); |
| |
| // mc > upper_thr |
| mask0 = vcgtq_u32(mc, vdupq_n_u32(upper_thr)); |
| |
| // mc <= lower_thr |
| mask1 = vcleq_u32(mc, vdupq_n_u32(lower_thr)); |
| |
| // mc <= upper_thr && mc > lower_thr |
| mask2 = vcleq_u32(mc, vdupq_n_u32(upper_thr)); |
| mask2 = vandq_u32(mask2, vcgtq_u32(mc, vdupq_n_u32(lower_thr))); |
| |
| mc = vbslq_u32(mask0, vdupq_n_u32(EDGE), mc); |
| mc = vbslq_u32(mask1, vdupq_n_u32(NO_EDGE), mc); |
| mc = vbslq_u32(mask2, vdupq_n_u32(MAYBE), mc); |
| |
| return vmovn_u32(mc); |
| } |
| |
| /* Computes non-maxima suppression and hysteresis when the gradient_size = 7 |
| * |
| * @param[in] magnitude_ptr Pointer to source image. Magnitude. Data type supported U32 |
| * @param[in] phase_ptr Pointer to source image. Quantized phase. Data type supported U8 |
| * @param[out] output_ptr Pointer to destination image. Data type supported U8 |
| * @param[in] stride_mag Stride of magnitude image |
| * @param[in] lower_thr Lower threshold used for the hysteresis |
| * @param[in] upper_thr Upper threshold used for the hysteresis |
| */ |
| void non_max_suppression_U32_U8_U8(const void *__restrict magnitude_ptr, const void *__restrict phase_ptr, void *__restrict output_ptr, const uint32_t stride_mag, const int32_t lower_thr, |
| const int32_t upper_thr) |
| { |
| const auto magnitude = static_cast<const uint32_t *__restrict>(magnitude_ptr); |
| const auto phase = static_cast<const uint8_t *__restrict>(phase_ptr); |
| const auto output = static_cast<uint8_t *__restrict>(output_ptr); |
| |
| // Get phase for 8 pixel |
| const uint16x8_t pc16 = vmovl_u8(vld1_u8(phase)); |
| |
| // Compute non maxima suppression |
| const uint16x4x2_t res = |
| { |
| { |
| non_max_U32_helper(magnitude, vget_low_u16(pc16), stride_mag, lower_thr, upper_thr), |
| non_max_U32_helper(magnitude + 4, vget_high_u16(pc16), stride_mag, lower_thr, upper_thr) |
| } |
| }; |
| |
| // Store result |
| vst1_u8(output, vmovn_u16(vcombine_u16(res.val[0], res.val[1]))); |
| } |
| |
| /* Computes edge tracing when is called by edge_trace_U8_U8 recursively |
| * |
| * @param[in] input Pointer to source image. Data type supported U8 |
| * @param[out] output Pointer to destination image. Data type supported U8 |
| * @param[in] input_stride Stride of the input image |
| * @param[in] output_stride Stride of the output image |
| */ |
| void edge_trace_recursive_U8_U8(uint8_t *__restrict input, uint8_t *__restrict output, const int32_t input_stride, const int32_t output_stride) |
| { |
| // Look for MAYBE pixels in 8 directions |
| *output = EDGE; |
| |
| // (-1, 0) |
| uint8_t pixel = *(input - 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(input - 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(input - 1, output - 1, input_stride, output_stride); |
| } |
| |
| // (+1, 0) |
| pixel = *(input + 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(input + 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(input + 1, output + 1, input_stride, output_stride); |
| } |
| |
| input -= input_stride; |
| output -= output_stride; |
| |
| // (-1, -1) |
| pixel = *(input - 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(input - 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(input - 1, output - 1, input_stride, output_stride); |
| } |
| |
| // (0, -1) |
| pixel = *input; |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *input = EDGE; |
| |
| edge_trace_recursive_U8_U8(input, output, input_stride, output_stride); |
| } |
| |
| // (+1, -1) |
| pixel = *(input + 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(input + 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(input + 1, output + 1, input_stride, output_stride); |
| } |
| |
| input += input_stride * 2; |
| output += output_stride * 2; |
| |
| // (-1, +1) |
| pixel = *(input - 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(input - 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(input - 1, output - 1, input_stride, output_stride); |
| } |
| |
| // (0, +1) |
| pixel = *input; |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *input = EDGE; |
| |
| edge_trace_recursive_U8_U8(input, output, input_stride, output_stride); |
| } |
| |
| // (+1, +1) |
| pixel = *(input + 1); |
| |
| if(pixel == MAYBE) |
| { |
| // Touched a MAYBE point. MAYBE becomes EDGE |
| *(input + 1) = EDGE; |
| |
| edge_trace_recursive_U8_U8(input + 1, output + 1, input_stride, output_stride); |
| } |
| } |
| |
| /* Computes edge tracing |
| * |
| * @param[in] input Pointer to source image. Data type supported U8 |
| * @param[out] output Pointer to destination image. Data type supported U8 |
| * @param[in] input_stride Stride of the input image |
| * @param[in] output_stride Stride of the output image |
| */ |
| void edge_trace_U8_U8(uint8_t *__restrict input, uint8_t *__restrict output, const int32_t input_stride, const int32_t output_stride) |
| { |
| if(*input == NO_EDGE) |
| { |
| *output = NO_EDGE; |
| } |
| // Check if EDGE and not yet touched |
| else if((*input == EDGE) && (*output == NO_EDGE)) |
| { |
| edge_trace_recursive_U8_U8(input, output, input_stride, output_stride); |
| } |
| } |
| } // namespace |
| |
| NEGradientKernel::NEGradientKernel() |
| : _func(nullptr), _gx(nullptr), _gy(nullptr), _magnitude(nullptr), _phase(nullptr) |
| { |
| } |
| |
| void NEGradientKernel::configure(const ITensor *gx, const ITensor *gy, ITensor *magnitude, ITensor *phase, int32_t norm_type) |
| { |
| ARM_COMPUTE_ERROR_ON_NULLPTR(gx, gy, magnitude, phase); |
| |
| set_shape_if_empty(*magnitude->info(), gx->info()->tensor_shape()); |
| set_shape_if_empty(*phase->info(), gx->info()->tensor_shape()); |
| |
| Format magnitude_format = gx->info()->data_type() == DataType::S16 ? Format::U16 : Format::U32; |
| set_format_if_unknown(*magnitude->info(), magnitude_format); |
| set_format_if_unknown(*phase->info(), Format::U8); |
| |
| ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(gx, gy, magnitude, phase); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(gx, 1, DataType::S16, DataType::S32); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(gy, 1, DataType::S16, DataType::S32); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(magnitude, 1, DataType::U16, DataType::U32); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(phase, 1, DataType::U8); |
| ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(gx, gy); |
| ARM_COMPUTE_ERROR_ON_MSG(element_size_from_data_type(gx->info()->data_type()) != element_size_from_data_type(magnitude->info()->data_type()), "Magnitude must have the same element size as Gx and Gy"); |
| |
| _gx = gx; |
| _gy = gy; |
| _magnitude = magnitude; |
| _phase = phase; |
| |
| if(_gx->info()->data_type() == DataType::S16) |
| { |
| if(norm_type == 1) |
| { |
| _func = &mag_phase_l1norm_S16_S16_U16_U8; |
| } |
| else |
| { |
| _func = &mag_phase_l2norm_S16_S16_U16_U8; |
| } |
| } |
| else |
| { |
| if(norm_type == 1) |
| { |
| _func = &mag_phase_l1norm_S32_S32_U32_U8; |
| } |
| else |
| { |
| _func = &mag_phase_l2norm_S32_S32_U32_U8; |
| } |
| } |
| |
| constexpr unsigned int num_elems_processed_per_iteration = 32; |
| |
| // Configure kernel window |
| Window win = calculate_max_window(*_gx->info(), Steps(num_elems_processed_per_iteration)); |
| |
| AccessWindowHorizontal gx_access(_gx->info(), 0, num_elems_processed_per_iteration); |
| AccessWindowHorizontal gy_access(_gy->info(), 0, num_elems_processed_per_iteration); |
| AccessWindowHorizontal mag_access(_magnitude->info(), 0, num_elems_processed_per_iteration); |
| AccessWindowHorizontal phase_access(_phase->info(), 0, num_elems_processed_per_iteration); |
| |
| update_window_and_padding(win, gx_access, gy_access, mag_access, phase_access); |
| |
| mag_access.set_valid_region(win, _gx->info()->valid_region()); |
| phase_access.set_valid_region(win, _gx->info()->valid_region()); |
| |
| INEKernel::configure(win); |
| } |
| |
| void NEGradientKernel::run(const Window &window, const ThreadInfo &info) |
| { |
| ARM_COMPUTE_UNUSED(info); |
| ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); |
| ARM_COMPUTE_ERROR_ON(_func == nullptr); |
| Iterator gx(_gx, window); |
| Iterator gy(_gy, window); |
| Iterator magnitude(_magnitude, window); |
| Iterator phase(_phase, window); |
| |
| execute_window_loop(window, [&](const Coordinates & id) |
| { |
| (*_func)(gx.ptr(), gy.ptr(), magnitude.ptr(), phase.ptr()); |
| }, |
| gx, gy, magnitude, phase); |
| } |
| |
| NEEdgeNonMaxSuppressionKernel::NEEdgeNonMaxSuppressionKernel() |
| : _func(nullptr), _magnitude(nullptr), _phase(nullptr), _output(nullptr), _lower_thr(0), _upper_thr(0) |
| { |
| } |
| |
| BorderSize NEEdgeNonMaxSuppressionKernel::border_size() const |
| { |
| return BorderSize(1); |
| } |
| |
| void NEEdgeNonMaxSuppressionKernel::configure(const ITensor *magnitude, const ITensor *phase, ITensor *output, |
| int32_t upper_thr, int32_t lower_thr, bool border_undefined) |
| { |
| ARM_COMPUTE_ERROR_ON_NULLPTR(magnitude, phase, output); |
| |
| set_shape_if_empty(*output->info(), magnitude->info()->tensor_shape()); |
| |
| set_format_if_unknown(*phase->info(), Format::U8); |
| set_format_if_unknown(*output->info(), Format::U8); |
| |
| ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(magnitude, phase, output); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(magnitude, 1, DataType::U16, DataType::U32); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(phase, 1, DataType::U8); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::U8); |
| ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(phase, output); |
| |
| _magnitude = magnitude; |
| _phase = phase; |
| _output = output; |
| |
| switch(_magnitude->info()->data_type()) |
| { |
| case DataType::U16: |
| _func = &non_max_suppression_U16_U8_U8; |
| break; |
| case DataType::U32: |
| _func = &non_max_suppression_U32_U8_U8; |
| break; |
| default: |
| ARM_COMPUTE_ERROR("Unsupported data type!"); |
| } |
| |
| // Set thresholds |
| _lower_thr = lower_thr; |
| _upper_thr = upper_thr; |
| |
| constexpr unsigned int num_elems_processed_per_iteration = 8; |
| constexpr unsigned int num_elems_read_per_iteration = 10; |
| constexpr unsigned int num_rows_read_per_iteration = 3; |
| |
| // Configure kernel window |
| Window win = calculate_max_window(*_magnitude->info(), Steps(num_elems_processed_per_iteration), border_undefined, border_size()); |
| |
| AccessWindowRectangle mag_access(_magnitude->info(), -border_size().left, -border_size().top, num_elems_read_per_iteration, num_rows_read_per_iteration); |
| AccessWindowHorizontal phase_access(_phase->info(), 0, num_elems_processed_per_iteration); |
| AccessWindowHorizontal output_access(_output->info(), 0, num_elems_processed_per_iteration); |
| |
| update_window_and_padding(win, mag_access, phase_access, output_access); |
| |
| output_access.set_valid_region(win, _magnitude->info()->valid_region(), border_undefined, border_size()); |
| |
| INEKernel::configure(win); |
| } |
| |
| void NEEdgeNonMaxSuppressionKernel::run(const Window &window, const ThreadInfo &info) |
| { |
| ARM_COMPUTE_UNUSED(info); |
| ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); |
| ARM_COMPUTE_ERROR_ON(_func == nullptr); |
| Iterator magnitude(_magnitude, window); |
| Iterator phase(_phase, window); |
| Iterator output(_output, window); |
| |
| const size_t input1_stride = _magnitude->info()->strides_in_bytes()[1]; |
| const size_t input1_stride_ushort = input1_stride / data_size_from_type(_magnitude->info()->data_type()); |
| |
| execute_window_loop(window, [&](const Coordinates & id) |
| { |
| (*_func)(magnitude.ptr(), phase.ptr(), output.ptr(), input1_stride_ushort, _lower_thr, _upper_thr); |
| }, |
| magnitude, phase, output); |
| } |
| |
| NEEdgeTraceKernel::NEEdgeTraceKernel() |
| : _input(nullptr), _output(nullptr) |
| { |
| } |
| |
| BorderSize NEEdgeTraceKernel::border_size() const |
| { |
| return BorderSize(1); |
| } |
| |
| bool NEEdgeTraceKernel::is_parallelisable() const |
| { |
| return false; |
| } |
| |
| void NEEdgeTraceKernel::configure(ITensor *input, ITensor *output) |
| { |
| ARM_COMPUTE_ERROR_ON_NULLPTR(input, output); |
| |
| set_shape_if_empty(*output->info(), input->info()->tensor_shape()); |
| |
| set_format_if_unknown(*input->info(), Format::U8); |
| set_format_if_unknown(*output->info(), Format::U8); |
| |
| ARM_COMPUTE_ERROR_ON_MISMATCHING_SHAPES(input, output); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8); |
| ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(output, 1, DataType::U8); |
| ARM_COMPUTE_ERROR_ON_MISMATCHING_DATA_TYPES(input, output); |
| |
| _input = input; |
| _output = output; |
| |
| constexpr unsigned int num_elems_processed_per_iteration = 1; |
| |
| // Configure kernel window |
| Window win = calculate_max_window(*_input->info(), Steps(num_elems_processed_per_iteration)); |
| |
| const ValidRegion &input_valid_region = input->info()->valid_region(); |
| const ValidRegion &output_valid_region = output->info()->valid_region(); |
| |
| // Reads can occur within the valid region of the input + border |
| AccessWindowStatic input_access(input->info(), |
| input_valid_region.anchor[0] - border_size().left, |
| input_valid_region.anchor[1] - border_size().top, |
| input_valid_region.anchor[0] + input_valid_region.shape[0] + border_size().right, |
| input_valid_region.anchor[1] + input_valid_region.shape[1] + border_size().bottom); |
| |
| // Writes can occur within the valid region of the output + border |
| AccessWindowStatic output_access(output->info(), |
| output_valid_region.anchor[0] - border_size().left, |
| output_valid_region.anchor[1] - border_size().top, |
| output_valid_region.anchor[0] + output_valid_region.shape[0] + border_size().right, |
| output_valid_region.anchor[1] + output_valid_region.shape[1] + border_size().bottom); |
| |
| update_window_and_padding(win, input_access, output_access); |
| |
| output_access.set_valid_region(win, _input->info()->valid_region()); |
| |
| INEKernel::configure(win); |
| } |
| |
| void NEEdgeTraceKernel::run(const Window &window, const ThreadInfo &info) |
| { |
| ARM_COMPUTE_UNUSED(info); |
| ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this); |
| ARM_COMPUTE_ERROR_ON_INVALID_SUBWINDOW(INEKernel::window(), window); |
| Iterator input(_input, window); |
| Iterator output(_output, window); |
| |
| const size_t input_stride = _input->info()->strides_in_bytes()[1]; |
| const size_t output_stride = _output->info()->strides_in_bytes()[1]; |
| |
| execute_window_loop(window, [&](const Coordinates & id) |
| { |
| edge_trace_U8_U8(input.ptr(), output.ptr(), input_stride, output_stride); |
| }, |
| input, output); |
| } |
