| /* |
| * 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. |
| */ |
| #ifndef __ARM_COMPUTE_NEHARRISCORNERSKERNEL_H__ |
| #define __ARM_COMPUTE_NEHARRISCORNERSKERNEL_H__ |
| |
| #include "arm_compute/core/CPP/kernels/CPPCornerCandidatesKernel.h" |
| #include "arm_compute/core/CPP/kernels/CPPSortEuclideanDistanceKernel.h" |
| #include "arm_compute/core/IArray.h" |
| #include "arm_compute/core/NEON/INEKernel.h" |
| |
| #include <cstdint> |
| #include <mutex> |
| |
| namespace arm_compute |
| { |
| class ITensor; |
| using IImage = ITensor; |
| |
| /** Common interface for all Harris Score kernels */ |
| class INEHarrisScoreKernel : public INEKernel |
| { |
| public: |
| /** Default constructor */ |
| INEHarrisScoreKernel(); |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| INEHarrisScoreKernel(const INEHarrisScoreKernel &) = delete; |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| INEHarrisScoreKernel &operator=(const INEHarrisScoreKernel &) = delete; |
| /** Allow instances of this class to be moved */ |
| INEHarrisScoreKernel(INEHarrisScoreKernel &&) = default; |
| /** Allow instances of this class to be moved */ |
| INEHarrisScoreKernel &operator=(INEHarrisScoreKernel &&) = default; |
| /** Default destructor */ |
| ~INEHarrisScoreKernel() = default; |
| |
| public: |
| /** Setup the kernel parameters |
| * |
| * @param[in] input1 Source image (gradient X). Data types supported: S16/S32 |
| * @param[in] input2 Source image (gradient Y). Data types supported: same as @ input1 |
| * @param[out] output Destination image (harris score). Data types supported: F32 |
| * @param[in] norm_factor Normalization factor to use accordingly with the gradient size (Must be different from 0) |
| * @param[in] strength_thresh Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel). |
| * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation |
| * @param[in] border_undefined True if the border mode is undefined. False if it's replicate or constant. |
| */ |
| virtual void configure(const IImage *input1, const IImage *input2, IImage *output, float norm_factor, float strength_thresh, float sensitivity, bool border_undefined) = 0; |
| |
| protected: |
| const IImage *_input1; /**< Source image - Gx component */ |
| const IImage *_input2; /**< Source image - Gy component */ |
| IImage *_output; /**< Source image - Harris score */ |
| float _sensitivity; /**< Sensitivity value */ |
| float _strength_thresh; /**< Threshold value */ |
| float _norm_factor; /**< Normalization factor */ |
| BorderSize _border_size; /**< Border size */ |
| }; |
| |
| /** Template NEON kernel to perform Harris Score. |
| * The implementation supports 3, 5, and 7 for the block_size |
| */ |
| template <int32_t block_size> |
| class NEHarrisScoreKernel : public INEHarrisScoreKernel |
| { |
| public: |
| const char *name() const override |
| { |
| return "NEHarrisScoreKernel"; |
| } |
| /** Default constructor */ |
| NEHarrisScoreKernel(); |
| // Inherited methods overridden: |
| void configure(const IImage *input1, const IImage *input2, IImage *output, float norm_factor, float strength_thresh, float sensitivity, bool border_undefined) override; |
| BorderSize border_size() const override; |
| void run(const Window &window, const ThreadInfo &info) override; |
| |
| private: |
| /** Common signature for all the specialised harris score functions */ |
| using HarrisScoreFunction = void(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, |
| float norm_factor, float sensitivity, float strength_thresh); |
| /** Harris Score function to use for the particular image types passed to configure() */ |
| HarrisScoreFunction *_func; |
| }; |
| } // namespace arm_compute |
| #endif /* __ARM_COMPUTE_NEHARRISCORNERSKERNEL_H__ */ |