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24 #include "arm_compute/runtime/NEON/functions/NEFastCorners.h"
26 #include "arm_compute/core/Error.h"
27 #include "arm_compute/core/ITensor.h"
28 #include "arm_compute/core/NEON/kernels/NEFillBorderKernel.h"
29 #include "arm_compute/core/PixelValue.h"
30 #include "arm_compute/core/TensorInfo.h"
31 #include "arm_compute/core/Validate.h"
32 #include "arm_compute/runtime/Array.h"
33 #include "arm_compute/runtime/NEON/NEScheduler.h"
34 #include "arm_compute/runtime/TensorAllocator.h"
36 using namespace arm_compute;
38 NEFastCorners::NEFastCorners()
39 : _fast_corners_kernel(),
43 _out_border_handler_kernel(),
50 void NEFastCorners::configure(IImage *input, float threshold, bool nonmax_suppression, KeyPointArray *const corners,
51 BorderMode border_mode, uint8_t constant_border_value)
53 ARM_COMPUTE_ERROR_ON_TENSOR_NOT_2D(input);
54 ARM_COMPUTE_ERROR_ON(BorderMode::UNDEFINED != border_mode);
55 ARM_COMPUTE_ERROR_ON_DATA_TYPE_CHANNEL_NOT_IN(input, 1, DataType::U8);
56 ARM_COMPUTE_ERROR_ON(nullptr == corners);
57 ARM_COMPUTE_ERROR_ON(threshold < 1 && threshold > 255);
59 TensorInfo tensor_info(input->info()->tensor_shape(), Format::U8);
60 _output.allocator()->init(tensor_info);
61 _border_handler.configure(input, _fast_corners_kernel.border_size(), border_mode, constant_border_value);
63 If border is UNDEFINED _fast_corners_kernel will operate in xwindow (3, width - 3) and ywindow (3, height -3) so
64 the output image will leave the pixels on the borders unchanged. This can cause problems if Non Max Suppression is performed afterwards.
66 If non max sup is true && border == UNDEFINED we must set the border texels to 0 before executing the non max sup kernel
68 _fast_corners_kernel.configure(input, &_output, threshold, nonmax_suppression, BorderMode::UNDEFINED == border_mode);
70 _output.allocator()->allocate();
71 _non_max = nonmax_suppression;
75 _fill_kernel.configure(&_output, 1 /* we keep all texels >0 */, corners);
79 if(border_mode == BorderMode::UNDEFINED)
81 // We use this kernel to set the borders to 0 before performing non max sup
82 _out_border_handler_kernel.configure(&_output, _fast_corners_kernel.border_size(), PixelValue(static_cast<uint8_t>(0)));
85 _suppressed.allocator()->init(tensor_info);
86 _suppressed.allocator()->allocate();
87 _nonmax_kernel.configure(&_output, &_suppressed, BorderMode::UNDEFINED == border_mode);
88 _fill_kernel.configure(&_suppressed, 1 /* we keep all texels >0 */, corners);
92 void NEFastCorners::run()
94 NEScheduler::get().multithread(&_fast_corners_kernel);
98 NEScheduler::get().multithread(&_out_border_handler_kernel); // make sure inner borders are set to 0 before running non max sup kernel
99 NEScheduler::get().multithread(&_nonmax_kernel);
102 NEScheduler::get().multithread(&_fill_kernel);