| R"( |
| |
| /* |
| * Copyright (c) 2016-2018 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. |
| */ |
| /* |
| * Copyright (c) 2016-2020 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. |
| */ |
| #ifndef ARM_COMPUTE_HELPER_H |
| #define ARM_COMPUTE_HELPER_H |
| |
| #if defined(ARM_COMPUTE_OPENCL_FP16_ENABLED) && defined(cl_khr_fp16) |
| #pragma OPENCL EXTENSION cl_khr_fp16 : enable |
| #endif // defined(ARM_COMPUTE_OPENCL_FP16_ENABLED) && defined(cl_khr_fp16) |
| |
| #if defined(ARM_COMPUTE_OPENCL_DOT8_ENABLED) && defined(cl_arm_integer_dot_product_int8) |
| #pragma OPENCL EXTENSION cl_arm_integer_dot_product_int8 : enable |
| #endif // defined(ARM_COMPUTE_OPENCL_DOT8_ENABLED) && defined(cl_arm_integer_dot_product_int8) |
| |
| #if defined(ARM_COMPUTE_OPENCL_DOT8_ACC_ENABLED) && defined(cl_arm_integer_dot_product_accumulate_int8) |
| #pragma OPENCL EXTENSION cl_arm_integer_dot_product_accumulate_int8 : enable |
| #endif // defined(ARM_COMPUTE_OPENCL_DOT8_ACC_ENABLED) && defined(cl_arm_integer_dot_product_accumulate_int8) |
| |
| #if defined(ARM_COMPUTE_DEBUG_ENABLED) && defined(cl_arm_printf) |
| #pragma OPENCL EXTENSION cl_arm_printf : enable |
| #endif // defined(ARM_COMPUTE_DEBUG_ENABLED) && defined(cl_arm_printf) |
| |
| #define GPU_ARCH_MIDGARD 0x100 |
| #define GPU_ARCH_BIFROST 0x200 |
| |
| /** Concatenate two inputs. |
| * |
| * @param[in] a The first input to be concatenated |
| * @param[in] b The second input to be concatenated |
| * |
| * @return The concatenated output |
| */ |
| #define CONCAT(a, b) a##b |
| |
| /** Expand the given vector |
| * |
| * @param[in] x The vector to be expanded |
| * |
| * @return The expanded output |
| */ |
| #define EXPAND(x) x |
| |
| /** Clamp the given value between an upper and lower bound. |
| * |
| * @param[in] x The value to be clamped |
| * @param[in] min_val The lower bound |
| * @param[in] max_val The upper bound |
| * |
| * @return The clamped value. |
| */ |
| #define CLAMP(x, min_val, max_val) min(max(x, min_val), max_val) |
| |
| /** REVn reverses the given vector whose size is n. |
| * @name REVn |
| * |
| * @param[in] x The vector to be reversed |
| * |
| * @return The reversed vector |
| * @{ |
| */ |
| #define REV1(x) ((x)) |
| #define REV2(x) ((x).s10) |
| #define REV3(x) ((x).s210) |
| #define REV4(x) ((x).s3210) |
| #define REV8(x) ((x).s76543210) |
| #define REV16(x) ((x).sFEDCBA9876543210) |
| /** @} */ // end of group REVn |
| |
| /** Reverse the given vector. |
| * @name REVERSE |
| * |
| * @param[in] x The vector to be reversed |
| * @param[in] s The size of the vector |
| * |
| * @return The reversed vector |
| * @{ |
| */ |
| #define REVERSE_STR(x, s) REV##s((x)) |
| #define REVERSE(x, s) REVERSE_STR(x, s) |
| /** @} */ // end of group REVERSE |
| |
| /** Circular-right-shift (rotate-right) the vector of size s by the amount of n. |
| * @name ROTs_n |
| * |
| * @param[in] x The vector to be shifted |
| * |
| * @return The shifted vector |
| * @{ |
| */ |
| #define ROT1_0(x) ((x)) |
| |
| #define ROT2_0(x) ((x)) |
| #define ROT2_1(x) ((x).s10) |
| |
| #define ROT3_0(x) ((x)) |
| #define ROT3_1(x) ((x).s201) |
| #define ROT3_2(x) ((x).s120) |
| |
| #define ROT4_0(x) ((x)) |
| #define ROT4_1(x) ((x).s3012) |
| #define ROT4_2(x) ((x).s2301) |
| #define ROT4_3(x) ((x).s1230) |
| |
| #define ROT8_0(x) ((x)) |
| #define ROT8_1(x) ((x).s70123456) |
| #define ROT8_2(x) ((x).s67012345) |
| #define ROT8_3(x) ((x).s56701234) |
| #define ROT8_4(x) ((x).s45670123) |
| #define ROT8_5(x) ((x).s34567012) |
| #define ROT8_6(x) ((x).s23456701) |
| #define ROT8_7(x) ((x).s12345670) |
| |
| #define ROT16_0(x) ((x)) |
| #define ROT16_1(x) ((x).sF0123456789ABCDE) |
| #define ROT16_2(x) ((x).sEF0123456789ABCD) |
| #define ROT16_3(x) ((x).sDEF0123456789ABC) |
| #define ROT16_4(x) ((x).sCDEF0123456789AB) |
| #define ROT16_5(x) ((x).sBCDEF0123456789A) |
| #define ROT16_6(x) ((x).sABCDEF0123456789) |
| #define ROT16_7(x) ((x).s9ABCDEF012345678) |
| #define ROT16_8(x) ((x).s89ABCDEF01234567) |
| #define ROT16_9(x) ((x).s789ABCDEF0123456) |
| #define ROT16_10(x) ((x).s6789ABCDEF012345) |
| #define ROT16_11(x) ((x).s56789ABCDEF01234) |
| #define ROT16_12(x) ((x).s456789ABCDEF0123) |
| #define ROT16_13(x) ((x).s3456789ABCDEF012) |
| #define ROT16_14(x) ((x).s23456789ABCDEF01) |
| #define ROT16_15(x) ((x).s123456789ABCDEF0) |
| /** @} */ // end of group ROTs_n |
| |
| /** Circular-right-shift (rotate-right) the given vector by the given amount. |
| * @name ROTATE |
| * |
| * @param[in] x The vector to be shifted |
| * @param[in] s The size of the vector |
| * @param[in] n The amount to be shifted |
| * |
| * @return The shifted vector |
| * @{ |
| */ |
| #define ROTATE_STR(x, s, n) ROT##s##_##n(x) |
| #define ROTATE(x, s, n) ROTATE_STR(x, s, n) |
| /** @} */ // end of group ROTATE |
| |
| /** Creates a vector of size n filled with offset values corresponding to the location of each element. |
| * @name V_OFFSn |
| * |
| * @param[in] dt The data type of the output vector |
| * |
| * @return The vector filled with offset values |
| * @{ |
| */ |
| #define V_OFFS1(dt) (dt)(0) |
| #define V_OFFS2(dt) (dt)(0, 1) |
| #define V_OFFS3(dt) (dt)(0, 1, 3) |
| #define V_OFFS4(dt) (dt)(0, 1, 2, 3) |
| #define V_OFFS8(dt) (dt)(0, 1, 2, 3, 4, 5, 6, 7) |
| #define V_OFFS16(dt) (dt)(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15) |
| /** @} */ // end of group V_OFFSn |
| |
| /** Create a vector filled with offset values corresponding to the location of each element. |
| * @name VEC_OFFS |
| * |
| * @param[in] dt The data type of the output vector |
| * @param[in] s The size of the output vector |
| * |
| * @return The vector filled with offset values |
| * @{ |
| */ |
| #define VEC_OFFS_STR(dt, s) V_OFFS##s(dt) |
| #define VEC_OFFS(dt, s) VEC_OFFS_STR(dt, s) |
| /** @} */ // end of group VEC_OFFS |
| |
| #define VLOAD_STR(size) vload##size |
| #define VLOAD(size) VLOAD_STR(size) |
| |
| #define VSTORE_STR(size) vstore##size |
| #define VSTORE(size) VSTORE_STR(size) |
| |
| #define float1 float |
| #define half1 half |
| #define char1 char |
| #define uchar1 uchar |
| #define short1 short |
| #define ushort1 ushort |
| #define int1 int |
| #define uint1 uint |
| #define long1 long |
| #define ulong1 ulong |
| #define double1 double |
| |
| #define vload1(OFFSET, PTR) *(OFFSET + PTR) |
| #define vstore1(DATA, OFFSET, PTR) *(OFFSET + PTR) = DATA |
| |
| // Convert built-in functions with _sat modifier are not supported in floating point so we create defines |
| // without _sat to overcome this issue |
| #define convert_float_sat convert_float |
| #define convert_float1_sat convert_float |
| #define convert_float2_sat convert_float2 |
| #define convert_float3_sat convert_float3 |
| #define convert_float4_sat convert_float4 |
| #define convert_float8_sat convert_float8 |
| #define convert_float16_sat convert_float16 |
| #define convert_half_sat convert_float |
| #define convert_half1_sat convert_half |
| #define convert_half2_sat convert_half2 |
| #define convert_half3_sat convert_half3 |
| #define convert_half4_sat convert_half4 |
| #define convert_half8_sat convert_half8 |
| #define convert_half16_sat convert_half16 |
| |
| #define convert_float1 convert_float |
| #define convert_half1 convert_half |
| #define convert_char1 convert_char |
| #define convert_uchar1 convert_uchar |
| #define convert_short1 convert_short |
| #define convert_ushort1 convert_ushort |
| #define convert_int1 convert_int |
| #define convert_uint1 convert_uint |
| #define convert_long1 convert_long |
| #define convert_ulong1 convert_ulong |
| #define convert_double1 convert_double |
| |
| #define convert_char1_sat convert_char_sat |
| #define convert_uchar1_sat convert_uchar_sat |
| #define convert_short1_sat convert_short_sat |
| #define convert_ushort1_sat convert_ushort_sat |
| #define convert_int1_sat convert_int_sat |
| #define convert_uint1_sat convert_uint_sat |
| #define convert_long1_sat convert_long_sat |
| #define convert_ulong1_sat convert_ulong_sat |
| #define convert_double1_sat convert_double_sat |
| |
| #define VEC_DATA_TYPE_STR(type, size) type##size |
| #define VEC_DATA_TYPE(type, size) VEC_DATA_TYPE_STR(type, size) |
| |
| #define CL_VEC_DATA_TYPE_STR(type, size) type##size |
| #define CL_VEC_DATA_TYPE(type, size) CL_VEC_DATA_TYPE_STR(type, size) |
| |
| #define CONVERT_STR(x, type) (convert_##type((x))) |
| #define CONVERT(x, type) CONVERT_STR(x, type) |
| |
| #define CONVERT_SAT_STR(x, type) (convert_##type##_sat((x))) |
| #define CONVERT_SAT(x, type) CONVERT_SAT_STR(x, type) |
| |
| #define CONVERT_SAT_ROUND_STR(x, type, round) (convert_##type##_sat_##round((x))) |
| #define CONVERT_SAT_ROUND(x, type, round) CONVERT_SAT_ROUND_STR(x, type, round) |
| |
| #define VECTOR_DECLARATION(name) \ |
| __global uchar *name##_ptr, \ |
| uint name##_stride_x, \ |
| uint name##_step_x, \ |
| uint name##_offset_first_element_in_bytes |
| |
| #define IMAGE_DECLARATION(name) \ |
| __global uchar *name##_ptr, \ |
| uint name##_stride_x, \ |
| uint name##_step_x, \ |
| uint name##_stride_y, \ |
| uint name##_step_y, \ |
| uint name##_offset_first_element_in_bytes |
| |
| #define TENSOR3D_DECLARATION(name) \ |
| __global uchar *name##_ptr, \ |
| uint name##_stride_x, \ |
| uint name##_step_x, \ |
| uint name##_stride_y, \ |
| uint name##_step_y, \ |
| uint name##_stride_z, \ |
| uint name##_step_z, \ |
| uint name##_offset_first_element_in_bytes |
| |
| #define TENSOR4D_DECLARATION(name) \ |
| __global uchar *name##_ptr, \ |
| uint name##_stride_x, \ |
| uint name##_step_x, \ |
| uint name##_stride_y, \ |
| uint name##_step_y, \ |
| uint name##_stride_z, \ |
| uint name##_step_z, \ |
| uint name##_stride_w, \ |
| uint name##_step_w, \ |
| uint name##_offset_first_element_in_bytes |
| |
| #define CONVERT_TO_VECTOR_STRUCT(name) \ |
| update_vector_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, name##_step_x) |
| |
| #define CONVERT_TO_VECTOR_STRUCT_NO_STEP(name) \ |
| update_vector_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, 0) |
| |
| #define CONVERT_TO_IMAGE_STRUCT(name) \ |
| update_image_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, name##_step_x, name##_stride_y, name##_step_y) |
| |
| #define CONVERT_TO_IMAGE_STRUCT_NO_STEP(name) \ |
| update_image_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, 0, name##_stride_y, 0) |
| |
| #define CONVERT_TENSOR3D_TO_IMAGE_STRUCT(name) \ |
| update_image_from_tensor3D_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, name##_step_x, name##_stride_y, name##_step_y, name##_stride_z, name##_step_z) |
| |
| #define CONVERT_TENSOR3D_TO_IMAGE_STRUCT_NO_STEP(name) \ |
| update_image_from_tensor3D_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, 0, name##_stride_y, 0, name##_stride_z, name##_step_z) |
| |
| #define CONVERT_TENSOR3D_TO_IMAGE_STRUCT(name) \ |
| update_image_from_tensor3D_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, name##_step_x, name##_stride_y, name##_step_y, name##_stride_z, name##_step_z) |
| |
| #define CONVERT_TO_TENSOR3D_STRUCT(name) \ |
| update_tensor3D_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, name##_step_x, name##_stride_y, name##_step_y, \ |
| name##_stride_z, name##_step_z) |
| |
| #define CONVERT_TO_TENSOR3D_STRUCT_NO_STEP(name) \ |
| update_tensor3D_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, 0, name##_stride_y, 0, name##_stride_z, 0) |
| |
| #define CONVERT_TO_TENSOR4D_STRUCT(name, mod_size) \ |
| update_tensor4D_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, name##_step_x, name##_stride_y, name##_step_y, \ |
| name##_stride_z, name##_step_z, name##_stride_w, name##_step_w, mod_size) |
| |
| #define CONVERT_TO_TENSOR4D_STRUCT_NO_STEP(name, mod_size) \ |
| update_tensor4D_workitem_ptr(name##_ptr, name##_offset_first_element_in_bytes, name##_stride_x, 0, name##_stride_y, 0, name##_stride_z, 0, name##_stride_w, 0, mod_size) |
| |
| /** Structure to hold Vector information */ |
| typedef struct Vector |
| { |
| __global uchar *ptr; /**< Pointer to the starting postion of the buffer */ |
| int offset_first_element_in_bytes; /**< The offset of the first element in the source image */ |
| int stride_x; /**< Stride of the image in X dimension (in bytes) */ |
| } Vector; |
| |
| /** Structure to hold Image information */ |
| typedef struct Image |
| { |
| __global uchar *ptr; /**< Pointer to the starting postion of the buffer */ |
| int offset_first_element_in_bytes; /**< The offset of the first element in the source image */ |
| int stride_x; /**< Stride of the image in X dimension (in bytes) */ |
| int stride_y; /**< Stride of the image in Y dimension (in bytes) */ |
| } Image; |
| |
| /** Structure to hold 3D tensor information */ |
| typedef struct Tensor3D |
| { |
| __global uchar *ptr; /**< Pointer to the starting postion of the buffer */ |
| int offset_first_element_in_bytes; /**< The offset of the first element in the source image */ |
| int stride_x; /**< Stride of the image in X dimension (in bytes) */ |
| int stride_y; /**< Stride of the image in Y dimension (in bytes) */ |
| int stride_z; /**< Stride of the image in Z dimension (in bytes) */ |
| } Tensor3D; |
| |
| /** Structure to hold 4D tensor information */ |
| typedef struct Tensor4D |
| { |
| __global uchar *ptr; /**< Pointer to the starting postion of the buffer */ |
| int offset_first_element_in_bytes; /**< The offset of the first element in the source image */ |
| int stride_x; /**< Stride of the image in X dimension (in bytes) */ |
| int stride_y; /**< Stride of the image in Y dimension (in bytes) */ |
| int stride_z; /**< Stride of the image in Z dimension (in bytes) */ |
| int stride_w; /**< Stride of the image in W dimension (in bytes) */ |
| } Tensor4D; |
| |
| /** Wrap vector information into an Vector structure, and make the pointer point at this workitem's data. |
| * |
| * @param[in] ptr Pointer to the starting postion of the buffer |
| * @param[in] offset_first_element_in_bytes The offset of the first element in the source vector |
| * @param[in] stride_x Stride of the vector in X dimension (in bytes) |
| * @param[in] step_x stride_x * number of elements along X processed per workitem(in bytes) |
| * |
| * @return An image object |
| */ |
| inline Vector update_vector_workitem_ptr(__global uchar *ptr, uint offset_first_element_in_bytes, uint stride_x, uint step_x) |
| { |
| Vector vector = |
| { |
| .ptr = ptr, |
| .offset_first_element_in_bytes = offset_first_element_in_bytes, |
| .stride_x = stride_x, |
| }; |
| vector.ptr += vector.offset_first_element_in_bytes + get_global_id(0) * step_x; |
| return vector; |
| } |
| |
| /** Wrap image information into an Image structure, and make the pointer point at this workitem's data. |
| * |
| * @param[in] ptr Pointer to the starting postion of the buffer |
| * @param[in] offset_first_element_in_bytes The offset of the first element in the source image |
| * @param[in] stride_x Stride of the image in X dimension (in bytes) |
| * @param[in] step_x stride_x * number of elements along X processed per workitem(in bytes) |
| * @param[in] stride_y Stride of the image in Y dimension (in bytes) |
| * @param[in] step_y stride_y * number of elements along Y processed per workitem(in bytes) |
| * |
| * @return An image object |
| */ |
| inline Image update_image_workitem_ptr(__global uchar *ptr, uint offset_first_element_in_bytes, uint stride_x, uint step_x, uint stride_y, uint step_y) |
| { |
| Image img = |
| { |
| .ptr = ptr, |
| .offset_first_element_in_bytes = offset_first_element_in_bytes, |
| .stride_x = stride_x, |
| .stride_y = stride_y |
| }; |
| img.ptr += img.offset_first_element_in_bytes + get_global_id(0) * step_x + get_global_id(1) * step_y; |
| return img; |
| } |
| |
| /** Wrap 3D tensor information into an image structure, and make the pointer point at this workitem's data. |
| * |
| * @param[in] ptr Pointer to the starting postion of the buffer |
| * @param[in] offset_first_element_in_bytes The offset of the first element in the source image |
| * @param[in] stride_x Stride of the image in X dimension (in bytes) |
| * @param[in] step_x stride_x * number of elements along X processed per workitem(in bytes) |
| * @param[in] stride_y Stride of the image in Y dimension (in bytes) |
| * @param[in] step_y stride_y * number of elements along Y processed per workitem(in bytes) |
| * @param[in] stride_z Stride of the image in Z dimension (in bytes) |
| * @param[in] step_z stride_z * number of elements along Z processed per workitem(in bytes) |
| * |
| * @return A 3D tensor object |
| */ |
| inline Image update_image_from_tensor3D_workitem_ptr(__global uchar *ptr, uint offset_first_element_in_bytes, uint stride_x, uint step_x, uint stride_y, uint step_y, uint stride_z, uint step_z) |
| { |
| Image img = |
| { |
| .ptr = ptr, |
| .offset_first_element_in_bytes = offset_first_element_in_bytes, |
| .stride_x = stride_x, |
| .stride_y = stride_y |
| }; |
| img.ptr += img.offset_first_element_in_bytes + get_global_id(0) * step_x + get_global_id(1) * step_y + get_global_id(2) * step_z; |
| return img; |
| } |
| |
| /** Wrap 3D tensor information into an tensor structure, and make the pointer point at this workitem's data. |
| * |
| * @param[in] ptr Pointer to the starting postion of the buffer |
| * @param[in] offset_first_element_in_bytes The offset of the first element in the source image |
| * @param[in] stride_x Stride of the image in X dimension (in bytes) |
| * @param[in] step_x stride_x * number of elements along X processed per workitem(in bytes) |
| * @param[in] stride_y Stride of the image in Y dimension (in bytes) |
| * @param[in] step_y stride_y * number of elements along Y processed per workitem(in bytes) |
| * @param[in] stride_z Stride of the image in Z dimension (in bytes) |
| * @param[in] step_z stride_z * number of elements along Z processed per workitem(in bytes) |
| * |
| * @return A 3D tensor object |
| */ |
| inline Tensor3D update_tensor3D_workitem_ptr(__global uchar *ptr, uint offset_first_element_in_bytes, uint stride_x, uint step_x, uint stride_y, uint step_y, uint stride_z, uint step_z) |
| { |
| Tensor3D tensor = |
| { |
| .ptr = ptr, |
| .offset_first_element_in_bytes = offset_first_element_in_bytes, |
| .stride_x = stride_x, |
| .stride_y = stride_y, |
| .stride_z = stride_z |
| }; |
| tensor.ptr += tensor.offset_first_element_in_bytes + get_global_id(0) * step_x + get_global_id(1) * step_y + get_global_id(2) * step_z; |
| return tensor; |
| } |
| |
| inline Tensor4D update_tensor4D_workitem_ptr(__global uchar *ptr, uint offset_first_element_in_bytes, uint stride_x, uint step_x, uint stride_y, uint step_y, uint stride_z, uint step_z, uint stride_w, |
| uint step_w, |
| uint mod_size) |
| { |
| Tensor4D tensor = |
| { |
| .ptr = ptr, |
| .offset_first_element_in_bytes = offset_first_element_in_bytes, |
| .stride_x = stride_x, |
| .stride_y = stride_y, |
| .stride_z = stride_z, |
| .stride_w = stride_w |
| }; |
| |
| tensor.ptr += tensor.offset_first_element_in_bytes + get_global_id(0) * step_x + get_global_id(1) * step_y + (get_global_id(2) % mod_size) * step_z + (get_global_id(2) / mod_size) * step_w; |
| return tensor; |
| } |
| |
| /** Get the pointer position of a Vector |
| * |
| * @param[in] vec Pointer to the starting position of the buffer |
| * @param[in] x Relative X position |
| */ |
| inline __global const uchar *vector_offset(const Vector *vec, int x) |
| { |
| return vec->ptr + x * vec->stride_x; |
| } |
| |
| /** Get the pointer position of a Image |
| * |
| * @param[in] img Pointer to the starting position of the buffer |
| * @param[in] x Relative X position |
| * @param[in] y Relative Y position |
| */ |
| inline __global uchar *offset(const Image *img, int x, int y) |
| { |
| return img->ptr + x * img->stride_x + y * img->stride_y; |
| } |
| |
| /** Get the pointer position of a Tensor3D |
| * |
| * @param[in] tensor Pointer to the starting position of the buffer |
| * @param[in] x Relative X position |
| * @param[in] y Relative Y position |
| * @param[in] z Relative Z position |
| */ |
| inline __global const uchar *tensor3D_offset(const Tensor3D *tensor, int x, int y, int z) |
| { |
| return tensor->ptr + x * tensor->stride_x + y * tensor->stride_y + z * tensor->stride_z; |
| } |
| |
| /** Get the pointer position of a Tensor4D |
| * |
| * @param[in] tensor Pointer to the starting position of the buffer |
| * @param[in] x Relative X position |
| * @param[in] y Relative Y position |
| * @param[in] z Relative Z position |
| * @param[in] w Relative W position |
| */ |
| inline __global const uchar *tensor4D_offset(const Tensor4D *tensor, int x, int y, int z, int w) |
| { |
| return tensor->ptr + x * tensor->stride_x + y * tensor->stride_y + z * tensor->stride_z + w * tensor->stride_w; |
| } |
| |
| #endif // _HELPER_H |
| /* |
| * Copyright (c) 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. |
| */ |
| #ifndef ARM_COMPUTE_TYPES_H |
| #define ARM_COMPUTE_TYPES_H |
| |
| /** 2D Coordinates structure */ |
| typedef struct Coordinates2D |
| { |
| int x; /**< The x coordinate. */ |
| int y; /**< The y coordinate. */ |
| } Coordinates2D; |
| |
| /* Keypoint struct */ |
| typedef struct Keypoint |
| { |
| int x; /**< The x coordinate. */ |
| int y; /**< The y coordinate. */ |
| float strength; /**< The strength of the keypoint. Its definition is specific to the corner detector. */ |
| float scale; /**< Initialized to 0 by corner detectors. */ |
| float orientation; /**< Initialized to 0 by corner detectors. */ |
| int tracking_status; /**< A zero indicates a lost point. Initialized to 1 by corner detectors. */ |
| float error; /**< A tracking method specific error. Initialized to 0 by corner detectors. */ |
| } Keypoint; |
| |
| /** Detection window struct */ |
| typedef struct DetectionWindow |
| { |
| ushort x; /**< Top-left x coordinate */ |
| ushort y; /**< Top-left y coordinate */ |
| ushort width; /**< Width of the detection window */ |
| ushort height; /**< Height of the detection window */ |
| ushort idx_class; /**< Index of the class */ |
| float score; /**< Confidence value for the detection window */ |
| } DetectionWindow; |
| #endif // ARM_COMPUTE_TYPES_H |
| |
| /* The map table to retrieve the 16 texels in the Bresenham circle of radius 3 with center in P. |
| * |
| * . . F 0 1 . . . |
| * . E . . . 2 . . |
| * D . . . . . 3 . |
| * C . . P . . 4 . |
| * B . . . . . 5 . |
| * . A . . . 6 . . |
| * . . 9 8 7 . . . |
| */ |
| constant int offsets_s[16][2] = |
| { |
| { 0, -3 }, // 0 |
| { 1, -3 }, // 1 |
| { 2, -2 }, // 2 |
| { 3, -1 }, // 3 |
| { 3, 0 }, // 4 |
| { 3, 1 }, // 5 |
| { 2, 2 }, // 6 |
| { 1, 3 }, // 7 |
| { 0, 3 }, // 8 |
| { -1, 3 }, // 9 |
| { -2, 2 }, // A |
| { -3, 1 }, // B |
| { -3, 0 }, // C |
| { -3, -1 }, // D |
| { -2, -2 }, // E |
| { -1, -3 }, // F |
| }; |
| |
| /** Load a pixel and set the mask values. |
| * |
| * @param[in] ptr The pointer to the starting address of source image |
| * @param[in] a Index to indicate the position in the Bresenham circle |
| * @param[in] stride Stride of source image in x dimension |
| * @param[in] dark The left end of the threshold range |
| * @param[in] bright The right end of the threshold range |
| * @param[out] dark_mask The bit-set mask records dark pixels. Its bit is set as 1 if the corresponding pixel is dark |
| * @param[out] bright_mask The bit-set mask records bright pixels. Its bit is set as 1 if the corresponding pixel is bright |
| * |
| */ |
| #define LOAD_AND_SET_MASK(ptr, a, stride, dark, bright, dark_mask, bright_mask) \ |
| { \ |
| unsigned char pixel; \ |
| pixel = *(ptr + (int)stride * offsets_s[a][1] + offsets_s[a][0]); \ |
| dark_mask |= (pixel < dark) << a; \ |
| bright_mask |= (pixel > bright) << a; \ |
| } |
| |
| /** Checks if a pixel is a corner. Pixel is considerred as a corner if the 9 continuous pixels in the Bresenham circle are bright or dark. |
| * |
| * @param[in] bright_mask The mask recording postions of bright pixels |
| * @param[in] dark_mask The mask recording postions of dark pixels |
| * @param[out] isCorner Indicate whether candidate pixel is corner |
| */ |
| #define CHECK_CORNER(bright_mask, dark_mask, isCorner) \ |
| { \ |
| for(int i = 0; i < 16; i++) \ |
| { \ |
| isCorner |= ((bright_mask & 0x1FF) == 0x1FF); \ |
| isCorner |= ((dark_mask & 0x1FF) == 0x1FF); \ |
| if(isCorner) \ |
| { \ |
| break; \ |
| } \ |
| bright_mask >>= 1; \ |
| dark_mask >>= 1; \ |
| } \ |
| } |
| |
| /* Calculate pixel's strength */ |
| uchar compute_strength(uchar candidate_pixel, __global unsigned char *ptr, unsigned int stride, unsigned char threshold) |
| { |
| short a = threshold; |
| short b = 255; |
| while(b - a > 1) |
| { |
| uchar c = convert_uchar_sat((a + b) / 2); |
| unsigned int bright_mask = 0; |
| unsigned int dark_mask = 0; |
| |
| unsigned char p_bright = add_sat(candidate_pixel, c); |
| unsigned char p_dark = sub_sat(candidate_pixel, c); |
| |
| bool isCorner = 0; |
| |
| for(uint i = 0; i < 16; i++) |
| { |
| LOAD_AND_SET_MASK(ptr, i, stride, p_dark, p_bright, dark_mask, bright_mask) |
| } |
| |
| bright_mask |= (bright_mask << 16); |
| dark_mask |= (dark_mask << 16); |
| CHECK_CORNER(bright_mask, dark_mask, isCorner); |
| |
| if(isCorner) |
| { |
| a = convert_short(c); |
| } |
| else |
| { |
| b = convert_short(c); |
| } |
| } |
| return a; |
| } |
| |
| /** Fast corners implementation. Calculates and returns the strength of each pixel. |
| * |
| * The algorithm loops through the 16 pixels in the Bresenham circle and set low 16 bit of masks if corresponding pixel is bright |
| * or dark. It then copy the low 16 bit to the high 16 bit of the masks. Right shift the bit to check whether the 9 continuous bits |
| * from the LSB are set. |
| * |
| * @param[in] input_ptr Pointer to the first source image. Supported data types: U8 |
| * @param[in] input_stride_x Stride of the first source image in X dimension (in bytes) |
| * @param[in] input_step_x input_stride_x * number of elements along X processed per workitem(in bytes) |
| * @param[in] input_stride_y Stride of the first source image in Y dimension (in bytes) |
| * @param[in] input_step_y input_stride_y * number of elements along Y processed per workitem(in bytes) |
| * @param[in] input_offset_first_element_in_bytes The offset of the first element in the first source image |
| * @param[out] output_ptr Pointer to the first source image. Supported data types: U8 |
| * @param[in] output_stride_x Stride of the first source image in X dimension (in bytes) |
| * @param[in] output_step_x output_stride_x * number of elements along X processed per workitem(in bytes) |
| * @param[in] output_stride_y Stride of the first source image in Y dimension (in bytes) |
| * @param[in] output_step_y output_stride_y * number of elements along Y processed per workitem(in bytes) |
| * @param[in] output_offset_first_element_in_bytes The offset of the first element in the first source image |
| * @param[in] threshold_value Threshold value. |
| * |
| */ |
| __kernel void fast_corners( |
| IMAGE_DECLARATION(input), |
| IMAGE_DECLARATION(output), |
| float threshold_value) |
| { |
| Image in = CONVERT_TO_IMAGE_STRUCT(input); |
| Image out = CONVERT_TO_IMAGE_STRUCT(output); |
| |
| const unsigned char threshold = (uchar)threshold_value; |
| |
| unsigned int bright_mask = 0; |
| unsigned int dark_mask = 0; |
| |
| unsigned char isCorner = 0; |
| |
| unsigned char p = *in.ptr; |
| unsigned char p_bright = add_sat(p, threshold); |
| unsigned char p_dark = sub_sat(p, threshold); |
| |
| LOAD_AND_SET_MASK(in.ptr, 0, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 4, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 8, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 12, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| |
| if(((bright_mask | dark_mask) & 0x1111) == 0) |
| { |
| *out.ptr = 0; |
| return; |
| } |
| |
| LOAD_AND_SET_MASK(in.ptr, 1, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 2, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 3, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 5, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 6, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 7, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 9, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 10, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 11, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 13, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 14, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| LOAD_AND_SET_MASK(in.ptr, 15, input_stride_y, p_dark, p_bright, dark_mask, bright_mask) |
| |
| bright_mask |= (bright_mask << 16); |
| dark_mask |= (dark_mask << 16); |
| |
| CHECK_CORNER(bright_mask, dark_mask, isCorner) |
| |
| if(!isCorner) |
| { |
| *out.ptr = 0; |
| return; |
| } |
| |
| #ifdef USE_MAXSUPPRESSION |
| *out.ptr = compute_strength(p, in.ptr, input_stride_y, threshold); |
| #else /* USE_MAXSUPPRESSION */ |
| *out.ptr = 1; |
| #endif /* USE_MAXSUPPRESSION */ |
| } |
| |
| /** Copy result to Keypoint buffer and count number of corners |
| * |
| * @param[in] input_ptr Pointer to the image with calculated strenghs. Supported data types: U8 |
| * @param[in] input_stride_x Stride of the first source image in X dimension (in bytes) |
| * @param[in] input_step_x input_stride_x * number of elements along X processed per workitem(in bytes) |
| * @param[in] input_stride_y Stride of the first source image in Y dimension (in bytes) |
| * @param[in] input_step_y input_stride_y * number of elements along Y processed per workitem(in bytes) |
| * @param[in] input_offset_first_element_in_bytes The offset of the first element in the first source image |
| * @param[in] max_num_points The maximum number of keypoints the array can hold |
| * @param[out] offset The number of skipped pixels in x dimension |
| * @param[out] num_of_points Number of points found |
| * @param[out] out The keypoints found |
| * |
| */ |
| __kernel void copy_to_keypoint( |
| IMAGE_DECLARATION(input), |
| uint max_num_points, |
| uint offset, |
| __global uint *num_of_points, |
| __global Keypoint *out) |
| { |
| #ifndef UPDATE_NUMBER |
| if(*num_of_points >= max_num_points) |
| { |
| return; |
| } |
| #endif /* UPDATE_NUMBER */ |
| |
| Image in = CONVERT_TO_IMAGE_STRUCT(input); |
| |
| uchar value = *in.ptr; |
| |
| if(value > 0) |
| { |
| int id = atomic_inc(num_of_points); |
| if(id < max_num_points) |
| { |
| out[id].strength = value; |
| out[id].x = get_global_id(0) + offset; |
| out[id].y = get_global_id(1) + offset; |
| out[id].tracking_status = 1; |
| out[id].scale = 0.f; |
| out[id].orientation = 0.f; |
| out[id].error = 0.f; |
| } |
| } |
| } |
| |
| )" |