blob: d125cd4df6036c94051c286b22b206d59228db98 [file] [log] [blame]
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/*
* 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;
}
}
}
)"