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|  <span id="projectnumber">17.10</span> |
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| <div class="title">fast_corners.cl</div> </div> |
| </div><!--header--> |
| <div class="contents"> |
| <a href="fast__corners_8cl.xhtml">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div> |
| <div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (c) 2016, 2017 ARM Limited.</span></div> |
| <div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * SPDX-License-Identifier: MIT</span></div> |
| <div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Permission is hereby granted, free of charge, to any person obtaining a copy</span></div> |
| <div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * of this software and associated documentation files (the "Software"), to</span></div> |
| <div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * deal in the Software without restriction, including without limitation the</span></div> |
| <div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or</span></div> |
| <div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * sell copies of the Software, and to permit persons to whom the Software is</span></div> |
| <div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * furnished to do so, subject to the following conditions:</span></div> |
| <div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * The above copyright notice and this permission notice shall be included in all</span></div> |
| <div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * copies or substantial portions of the Software.</span></div> |
| <div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span></div> |
| <div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span></div> |
| <div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE</span></div> |
| <div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span></div> |
| <div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,</span></div> |
| <div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE</span></div> |
| <div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * SOFTWARE.</span></div> |
| <div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> */</span></div> |
| <div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include "<a class="code" href="helpers_8h.xhtml">helpers.h</a>"</span></div> |
| <div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include "<a class="code" href="types_8h.xhtml">types.h</a>"</span></div> |
| <div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div> |
| <div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">/* The map table to retrieve the 16 texels in the Bresenham circle of radius 3 with center in P.</span></div> |
| <div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> *</span></div> |
| <div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * . . F 0 1 . . .</span></div> |
| <div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * . E . . . 2 . .</span></div> |
| <div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * D . . . . . 3 .</span></div> |
| <div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * C . . P . . 4 .</span></div> |
| <div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * B . . . . . 5 .</span></div> |
| <div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * . A . . . 6 . .</span></div> |
| <div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> * . . 9 8 7 . . .</span></div> |
| <div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> */</span></div> |
| <div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="fast__corners_8cl.xhtml#a8d09117e1c8a726efc8d9ec9d9d8ed8a"> 37</a></span> constant <span class="keywordtype">int</span> <a class="code" href="fast__corners_8cl.xhtml#a8d09117e1c8a726efc8d9ec9d9d8ed8a">offsets_s</a>[16][2] =</div> |
| <div class="line"><a name="l00038"></a><span class="lineno"> 38</span> {</div> |
| <div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  { 0, -3 }, <span class="comment">// 0</span></div> |
| <div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  { 1, -3 }, <span class="comment">// 1</span></div> |
| <div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  { 2, -2 }, <span class="comment">// 2</span></div> |
| <div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  { 3, -1 }, <span class="comment">// 3</span></div> |
| <div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  { 3, 0 }, <span class="comment">// 4</span></div> |
| <div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  { 3, 1 }, <span class="comment">// 5</span></div> |
| <div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  { 2, 2 }, <span class="comment">// 6</span></div> |
| <div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  { 1, 3 }, <span class="comment">// 7</span></div> |
| <div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  { 0, 3 }, <span class="comment">// 8</span></div> |
| <div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  { -1, 3 }, <span class="comment">// 9</span></div> |
| <div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  { -2, 2 }, <span class="comment">// A</span></div> |
| <div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  { -3, 1 }, <span class="comment">// B</span></div> |
| <div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  { -3, 0 }, <span class="comment">// C</span></div> |
| <div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  { -3, -1 }, <span class="comment">// D</span></div> |
| <div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  { -2, -2 }, <span class="comment">// E</span></div> |
| <div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  { -1, -3 }, <span class="comment">// F</span></div> |
| <div class="line"><a name="l00055"></a><span class="lineno"> 55</span> };</div> |
| <div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div> |
| <div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb"> 68</a></span> <span class="preprocessor">#define LOAD_AND_SET_MASK(ptr, a, stride, dark, bright, dark_mask, bright_mask) \</span></div> |
| <div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="preprocessor"> { \</span></div> |
| <div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="preprocessor"> unsigned char pixel; \</span></div> |
| <div class="line"><a name="l00071"></a><span class="lineno"> 71</span> <span class="preprocessor"> pixel = *(ptr + (int)stride * offsets_s[a][1] + offsets_s[a][0]); \</span></div> |
| <div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="preprocessor"> dark_mask |= (pixel < dark) << a; \</span></div> |
| <div class="line"><a name="l00073"></a><span class="lineno"> 73</span> <span class="preprocessor"> bright_mask |= (pixel > bright) << a; \</span></div> |
| <div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="preprocessor"> }</span></div> |
| <div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="preprocessor"></span></div> |
| <div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="fast__corners_8cl.xhtml#a2e2df45f46c673a1a5a1c8f4eb06aa09"> 82</a></span> <span class="preprocessor">#define CHECK_CORNER(bright_mask, dark_mask, isCorner) \</span></div> |
| <div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="preprocessor"> { \</span></div> |
| <div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="preprocessor"> for(int i = 0; i < 16; i++) \</span></div> |
| <div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="preprocessor"> { \</span></div> |
| <div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="preprocessor"> isCorner |= ((bright_mask & 0x1FF) == 0x1FF); \</span></div> |
| <div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="preprocessor"> isCorner |= ((dark_mask & 0x1FF) == 0x1FF); \</span></div> |
| <div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="preprocessor"> if(isCorner) \</span></div> |
| <div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="preprocessor"> { \</span></div> |
| <div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="preprocessor"> break; \</span></div> |
| <div class="line"><a name="l00091"></a><span class="lineno"> 91</span> <span class="preprocessor"> } \</span></div> |
| <div class="line"><a name="l00092"></a><span class="lineno"> 92</span> <span class="preprocessor"> bright_mask >>= 1; \</span></div> |
| <div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="preprocessor"> dark_mask >>= 1; \</span></div> |
| <div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="preprocessor"> } \</span></div> |
| <div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="preprocessor"> }</span></div> |
| <div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="preprocessor"></span></div> |
| <div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment">/* Calculate pixel's strength */</span></div> |
| <div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="fast__corners_8cl.xhtml#aea4e2a64dfdec6a9ecf62f8cd518fc17"> 98</a></span> uchar <a class="code" href="fast__corners_8cl.xhtml#aea4e2a64dfdec6a9ecf62f8cd518fc17">compute_strength</a>(uchar candidate_pixel, __global <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> *ptr, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> stride, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6cae310822a46019ba25a00ddb0f7e62">threshold</a>)</div> |
| <div class="line"><a name="l00099"></a><span class="lineno"> 99</span> {</div> |
| <div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordtype">short</span> a = <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6cae310822a46019ba25a00ddb0f7e62">threshold</a>;</div> |
| <div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordtype">short</span> b = 255;</div> |
| <div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">while</span>(b - a > 1)</div> |
| <div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  {</div> |
| <div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  uchar c = convert_uchar_sat((a + b) / 2);</div> |
| <div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bright_mask = 0;</div> |
| <div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dark_mask = 0;</div> |
| <div class="line"><a name="l00107"></a><span class="lineno"> 107</span> </div> |
| <div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> p_bright = add_sat(candidate_pixel, c);</div> |
| <div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> p_dark = sub_sat(candidate_pixel, c);</div> |
| <div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div> |
| <div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">bool</span> isCorner = 0;</div> |
| <div class="line"><a name="l00112"></a><span class="lineno"> 112</span> </div> |
| <div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordflow">for</span>(uint i = 0; i < 16; i++)</div> |
| <div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  {</div> |
| <div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(ptr, i, stride, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  }</div> |
| <div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div> |
| <div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  bright_mask |= (bright_mask << 16);</div> |
| <div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  dark_mask |= (dark_mask << 16);</div> |
| <div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <a class="code" href="fast__corners_8cl.xhtml#a2e2df45f46c673a1a5a1c8f4eb06aa09">CHECK_CORNER</a>(bright_mask, dark_mask, isCorner);</div> |
| <div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div> |
| <div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordflow">if</span>(isCorner)</div> |
| <div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  {</div> |
| <div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  a = convert_short(c);</div> |
| <div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  }</div> |
| <div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">else</span></div> |
| <div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  {</div> |
| <div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  b = convert_short(c);</div> |
| <div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  }</div> |
| <div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  }</div> |
| <div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordflow">return</span> a;</div> |
| <div class="line"><a name="l00132"></a><span class="lineno"> 132</span> }</div> |
| <div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div> |
| <div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="fast__corners_8cl.xhtml#a33152baf05787bd17259b692bfba24af"> 155</a></span> __kernel <span class="keywordtype">void</span> <a class="code" href="fast__corners_8cl.xhtml#a33152baf05787bd17259b692bfba24af">fast_corners</a>(</div> |
| <div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <a class="code" href="helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(input),</div> |
| <div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <a class="code" href="helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(output),</div> |
| <div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keywordtype">float</span> threshold_value)</div> |
| <div class="line"><a name="l00159"></a><span class="lineno"> 159</span> {</div> |
| <div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <a class="code" href="struct_image.xhtml">Image</a> in = <a class="code" href="helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(input);</div> |
| <div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <a class="code" href="struct_image.xhtml">Image</a> out = <a class="code" href="helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(output);</div> |
| <div class="line"><a name="l00162"></a><span class="lineno"> 162</span> </div> |
| <div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6cae310822a46019ba25a00ddb0f7e62">threshold</a> = (uchar)threshold_value;</div> |
| <div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div> |
| <div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bright_mask = 0;</div> |
| <div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dark_mask = 0;</div> |
| <div class="line"><a name="l00167"></a><span class="lineno"> 167</span> </div> |
| <div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> isCorner = 0;</div> |
| <div class="line"><a name="l00169"></a><span class="lineno"> 169</span> </div> |
| <div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> p = *in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>;</div> |
| <div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> p_bright = add_sat(p, threshold);</div> |
| <div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> p_dark = sub_sat(p, threshold);</div> |
| <div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div> |
| <div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 0, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 4, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 8, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 12, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00178"></a><span class="lineno"> 178</span> </div> |
| <div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="keywordflow">if</span>(((bright_mask | dark_mask) & 0x1111) == 0)</div> |
| <div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  {</div> |
| <div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  *out.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a> = 0;</div> |
| <div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordflow">return</span>;</div> |
| <div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  }</div> |
| <div class="line"><a name="l00184"></a><span class="lineno"> 184</span> </div> |
| <div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 1, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 2, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 3, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 5, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 6, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 7, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 9, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 10, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 11, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 13, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 14, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <a class="code" href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a>(in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, 15, input_stride_y, p_dark, p_bright, dark_mask, bright_mask)</div> |
| <div class="line"><a name="l00197"></a><span class="lineno"> 197</span> </div> |
| <div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  bright_mask |= (bright_mask << 16);</div> |
| <div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  dark_mask |= (dark_mask << 16);</div> |
| <div class="line"><a name="l00200"></a><span class="lineno"> 200</span> </div> |
| <div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <a class="code" href="fast__corners_8cl.xhtml#a2e2df45f46c673a1a5a1c8f4eb06aa09">CHECK_CORNER</a>(bright_mask, dark_mask, isCorner)</div> |
| <div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div> |
| <div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">if</span>(!isCorner)</div> |
| <div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  {</div> |
| <div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  *out.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a> = 0;</div> |
| <div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="keywordflow">return</span>;</div> |
| <div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  }</div> |
| <div class="line"><a name="l00208"></a><span class="lineno"> 208</span> </div> |
| <div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="preprocessor">#ifdef USE_MAXSUPPRESSION</span></div> |
| <div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="preprocessor"></span> *out.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a> = <a class="code" href="fast__corners_8cl.xhtml#aea4e2a64dfdec6a9ecf62f8cd518fc17">compute_strength</a>(p, in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>, input_stride_y, threshold);</div> |
| <div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="preprocessor">#else </span><span class="comment">/* USE_MAXSUPPRESSION */</span><span class="preprocessor"></span></div> |
| <div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="preprocessor"></span> *out.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a> = 1;</div> |
| <div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <span class="preprocessor">#endif </span><span class="comment">/* USE_MAXSUPPRESSION */</span><span class="preprocessor"></span></div> |
| <div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="preprocessor"></span>}</div> |
| <div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div> |
| <div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="fast__corners_8cl.xhtml#ad1e2ee5ba250337a4e1889423e11aa81"> 230</a></span> __kernel <span class="keywordtype">void</span> <a class="code" href="fast__corners_8cl.xhtml#ad1e2ee5ba250337a4e1889423e11aa81">copy_to_keypoint</a>(</div> |
| <div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <a class="code" href="helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a>(input),</div> |
| <div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  uint max_num_points,</div> |
| <div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  uint <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>,</div> |
| <div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  __global uint *num_of_points,</div> |
| <div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  __global <a class="code" href="struct_keypoint.xhtml">Keypoint</a> *out)</div> |
| <div class="line"><a name="l00236"></a><span class="lineno"> 236</span> {</div> |
| <div class="line"><a name="l00237"></a><span class="lineno"> 237</span> <span class="preprocessor">#ifndef UPDATE_NUMBER</span></div> |
| <div class="line"><a name="l00238"></a><span class="lineno"> 238</span> <span class="preprocessor"></span> <span class="keywordflow">if</span>(*num_of_points >= max_num_points)</div> |
| <div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  {</div> |
| <div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  <span class="keywordflow">return</span>;</div> |
| <div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  }</div> |
| <div class="line"><a name="l00242"></a><span class="lineno"> 242</span> <span class="preprocessor">#endif </span><span class="comment">/* UPDATE_NUMBER */</span><span class="preprocessor"></span></div> |
| <div class="line"><a name="l00243"></a><span class="lineno"> 243</span> <span class="preprocessor"></span></div> |
| <div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <a class="code" href="struct_image.xhtml">Image</a> in = <a class="code" href="helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a>(input);</div> |
| <div class="line"><a name="l00245"></a><span class="lineno"> 245</span> </div> |
| <div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  uchar <a class="code" href="hwc_8hpp.xhtml#a0f61d63b009d0880a89c843bd50d8d76">value</a> = *in.<a class="code" href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">ptr</a>;</div> |
| <div class="line"><a name="l00247"></a><span class="lineno"> 247</span> </div> |
| <div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keywordflow">if</span>(value > 0)</div> |
| <div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  {</div> |
| <div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="keywordtype">int</span> <span class="keywordtype">id</span> = atomic_inc(num_of_points);</div> |
| <div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keywordflow">if</span>(<span class="keywordtype">id</span> < max_num_points)</div> |
| <div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  {</div> |
| <div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  out[<a class="code" href="hwc_8hpp.xhtml#abaabdc509cdaba7df9f56c6c76f3ae19">id</a>].strength = <a class="code" href="hwc_8hpp.xhtml#a0f61d63b009d0880a89c843bd50d8d76">value</a>;</div> |
| <div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  out[<a class="code" href="hwc_8hpp.xhtml#abaabdc509cdaba7df9f56c6c76f3ae19">id</a>].x = get_global_id(0) + <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>;</div> |
| <div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  out[<a class="code" href="hwc_8hpp.xhtml#abaabdc509cdaba7df9f56c6c76f3ae19">id</a>].y = get_global_id(1) + <a class="code" href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a>;</div> |
| <div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  out[<a class="code" href="hwc_8hpp.xhtml#abaabdc509cdaba7df9f56c6c76f3ae19">id</a>].tracking_status = 1;</div> |
| <div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  }</div> |
| <div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  }</div> |
| <div class="line"><a name="l00259"></a><span class="lineno"> 259</span> }</div> |
| <div class="ttc" id="hwc_8hpp_xhtml_abaabdc509cdaba7df9f56c6c76f3ae19"><div class="ttname"><a href="hwc_8hpp.xhtml#abaabdc509cdaba7df9f56c6c76f3ae19">id</a></div><div class="ttdeci">uint32_t id</div><div class="ttdef"><b>Definition:</b> <a href="hwc_8hpp_source.xhtml#l00252">hwc.hpp:252</a></div></div> |
| <div class="ttc" id="fast__corners_8cl_xhtml_aea4e2a64dfdec6a9ecf62f8cd518fc17"><div class="ttname"><a href="fast__corners_8cl.xhtml#aea4e2a64dfdec6a9ecf62f8cd518fc17">compute_strength</a></div><div class="ttdeci">uchar compute_strength(uchar candidate_pixel, __global unsigned char *ptr, unsigned int stride, unsigned char threshold)</div><div class="ttdef"><b>Definition:</b> <a href="fast__corners_8cl_source.xhtml#l00098">fast_corners.cl:98</a></div></div> |
| <div class="ttc" id="fast__corners_8cl_xhtml_a8d09117e1c8a726efc8d9ec9d9d8ed8a"><div class="ttname"><a href="fast__corners_8cl.xhtml#a8d09117e1c8a726efc8d9ec9d9d8ed8a">offsets_s</a></div><div class="ttdeci">constant int offsets_s[16][2]</div><div class="ttdef"><b>Definition:</b> <a href="fast__corners_8cl_source.xhtml#l00037">fast_corners.cl:37</a></div></div> |
| <div class="ttc" id="struct_keypoint_xhtml"><div class="ttname"><a href="struct_keypoint.xhtml">Keypoint</a></div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.xhtml#l00035">types.h:35</a></div></div> |
| <div class="ttc" id="helpers_8h_xhtml_a22f42fcf2077d951271df83b55c1a71a"><div class="ttname"><a href="helpers_8h.xhtml#a22f42fcf2077d951271df83b55c1a71a">IMAGE_DECLARATION</a></div><div class="ttdeci">#define IMAGE_DECLARATION(name)</div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00060">helpers.h:60</a></div></div> |
| <div class="ttc" id="helpers_8h_xhtml_a009469e4d9b8fce3b6d5e97d2077827d"><div class="ttname"><a href="helpers_8h.xhtml#a009469e4d9b8fce3b6d5e97d2077827d">offset</a></div><div class="ttdeci">__global uchar * offset(const Image *img, int x, int y)</div><div class="ttdoc">Get the pointer position of a Image. </div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00295">helpers.h:295</a></div></div> |
| <div class="ttc" id="fast__corners_8cl_xhtml_a9da9e257c05fa101dacfaaedd305f5bb"><div class="ttname"><a href="fast__corners_8cl.xhtml#a9da9e257c05fa101dacfaaedd305f5bb">LOAD_AND_SET_MASK</a></div><div class="ttdeci">#define LOAD_AND_SET_MASK(ptr, a, stride, dark, bright, dark_mask, bright_mask)</div><div class="ttdoc">Load a pixel and set the mask values. </div><div class="ttdef"><b>Definition:</b> <a href="fast__corners_8cl_source.xhtml#l00068">fast_corners.cl:68</a></div></div> |
| <div class="ttc" id="helpers_8h_xhtml"><div class="ttname"><a href="helpers_8h.xhtml">helpers.h</a></div></div> |
| <div class="ttc" id="helpers_8h_xhtml_aebe814363556c244be043b13e7969197"><div class="ttname"><a href="helpers_8h.xhtml#aebe814363556c244be043b13e7969197">CONVERT_TO_IMAGE_STRUCT</a></div><div class="ttdeci">#define CONVERT_TO_IMAGE_STRUCT(name)</div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00096">helpers.h:96</a></div></div> |
| <div class="ttc" id="fast__corners_8cl_xhtml_a2e2df45f46c673a1a5a1c8f4eb06aa09"><div class="ttname"><a href="fast__corners_8cl.xhtml#a2e2df45f46c673a1a5a1c8f4eb06aa09">CHECK_CORNER</a></div><div class="ttdeci">#define CHECK_CORNER(bright_mask, dark_mask, isCorner)</div><div class="ttdoc">Checks if a pixel is a corner. </div><div class="ttdef"><b>Definition:</b> <a href="fast__corners_8cl_source.xhtml#l00082">fast_corners.cl:82</a></div></div> |
| <div class="ttc" id="struct_image_xhtml"><div class="ttname"><a href="struct_image.xhtml">Image</a></div><div class="ttdoc">Structure to hold Image information. </div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00134">helpers.h:134</a></div></div> |
| <div class="ttc" id="types_8h_xhtml"><div class="ttname"><a href="types_8h.xhtml">types.h</a></div></div> |
| <div class="ttc" id="hwc_8hpp_xhtml_a0f61d63b009d0880a89c843bd50d8d76"><div class="ttname"><a href="hwc_8hpp.xhtml#a0f61d63b009d0880a89c843bd50d8d76">value</a></div><div class="ttdeci">void * value</div><div class="ttdef"><b>Definition:</b> <a href="hwc_8hpp_source.xhtml#l00269">hwc.hpp:269</a></div></div> |
| <div class="ttc" id="struct_image_xhtml_acf52c23cbd7424606c10a606524e3e32"><div class="ttname"><a href="struct_image.xhtml#acf52c23cbd7424606c10a606524e3e32">Image::ptr</a></div><div class="ttdeci">__global uchar * ptr</div><div class="ttdoc">Pointer to the starting postion of the buffer. </div><div class="ttdef"><b>Definition:</b> <a href="helpers_8h_source.xhtml#l00136">helpers.h:136</a></div></div> |
| <div class="ttc" id="fast__corners_8cl_xhtml_a33152baf05787bd17259b692bfba24af"><div class="ttname"><a href="fast__corners_8cl.xhtml#a33152baf05787bd17259b692bfba24af">fast_corners</a></div><div class="ttdeci">__kernel void fast_corners(__global uchar *input_ptr, uint input_stride_x, uint input_step_x, uint input_stride_y, uint input_step_y, uint input_offset_first_element_in_bytes, __global uchar *output_ptr, uint output_stride_x, uint output_step_x, uint output_stride_y, uint output_step_y, uint output_offset_first_element_in_bytes, float threshold_value)</div><div class="ttdoc">Fast corners implementation. </div><div class="ttdef"><b>Definition:</b> <a href="fast__corners_8cl_source.xhtml#l00155">fast_corners.cl:155</a></div></div> |
| <div class="ttc" id="fast__corners_8cl_xhtml_ad1e2ee5ba250337a4e1889423e11aa81"><div class="ttname"><a href="fast__corners_8cl.xhtml#ad1e2ee5ba250337a4e1889423e11aa81">copy_to_keypoint</a></div><div class="ttdeci">__kernel void copy_to_keypoint(__global uchar *input_ptr, uint input_stride_x, uint input_step_x, uint input_stride_y, uint input_step_y, uint input_offset_first_element_in_bytes, uint max_num_points, uint offset, __global uint *num_of_points, __global Keypoint *out)</div><div class="ttdoc">Copy result to Keypoint buffer and count number of corners. </div><div class="ttdef"><b>Definition:</b> <a href="fast__corners_8cl_source.xhtml#l00230">fast_corners.cl:230</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1test_1_1validation_1_1reference_xhtml_a6cae310822a46019ba25a00ddb0f7e62"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6cae310822a46019ba25a00ddb0f7e62">arm_compute::test::validation::reference::threshold</a></div><div class="ttdeci">SimpleTensor< T > threshold(const SimpleTensor< T > &src, T threshold, T false_value, T true_value, ThresholdType type, T upper)</div><div class="ttdef"><b>Definition:</b> <a href="_c_p_p_2_threshold_8cpp_source.xhtml#l00035">Threshold.cpp:35</a></div></div> |
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