| /* |
| * Copyright (c) 2017-2019 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_CLOPTICALFLOW_H__ |
| #define __ARM_COMPUTE_CLOPTICALFLOW_H__ |
| |
| #include "arm_compute/core/CL/kernels/CLLKTrackerKernel.h" |
| |
| #include "arm_compute/core/IArray.h" |
| #include "arm_compute/core/Types.h" |
| #include "arm_compute/runtime/CL/CLArray.h" |
| #include "arm_compute/runtime/CL/CLMemoryGroup.h" |
| #include "arm_compute/runtime/CL/CLTensor.h" |
| #include "arm_compute/runtime/CL/functions/CLScharr3x3.h" |
| #include "arm_compute/runtime/IFunction.h" |
| #include "arm_compute/runtime/IMemoryManager.h" |
| |
| #include <cstddef> |
| #include <cstdint> |
| #include <memory> |
| |
| namespace arm_compute |
| { |
| class CLPyramid; |
| |
| /** OpenCL Array of Internal Keypoints */ |
| using CLLKInternalKeypointArray = CLArray<CLLKInternalKeypoint>; |
| /** OpenCL Array of Coefficient Tables */ |
| using CLCoefficientTableArray = CLArray<CLCoefficientTable>; |
| /** OpenCL Array of Old Values */ |
| using CLOldValueArray = CLArray<CLOldValue>; |
| |
| /** Basic function to execute optical flow. This function calls the following OpenCL kernels and functions: |
| * |
| * -# @ref CLScharr3x3 |
| * -# @ref CLLKTrackerInitKernel |
| * -# @ref CLLKTrackerStage0Kernel |
| * -# @ref CLLKTrackerStage1Kernel |
| * -# @ref CLLKTrackerFinalizeKernel |
| */ |
| class CLOpticalFlow : public IFunction |
| { |
| public: |
| /** Default constructor */ |
| CLOpticalFlow(std::shared_ptr<IMemoryManager> memory_manager = nullptr); |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| CLOpticalFlow(const CLOpticalFlow &) = delete; |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| CLOpticalFlow &operator=(const CLOpticalFlow &) = delete; |
| /** Allow instances of this class to be moved */ |
| CLOpticalFlow(CLOpticalFlow &&) = default; |
| /** Allow instances of this class to be moved */ |
| CLOpticalFlow &operator=(CLOpticalFlow &&) = default; |
| /** Initialise the function input and output |
| * |
| * @param[in] old_pyramid Pointer to the pyramid for the old tensor. Data types supported U8 |
| * @param[in] new_pyramid Pointer to the pyramid for the new tensor. Data types supported U8 |
| * @param[in] old_points Pointer to the IKeyPointArray storing old key points |
| * @param[in] new_points_estimates Pointer to the IKeyPointArray storing new estimates key points |
| * @param[out] new_points Pointer to the IKeyPointArray storing new key points |
| * @param[in] termination The criteria to terminate the search of each keypoint. |
| * @param[in] epsilon The error for terminating the algorithm |
| * @param[in] num_iterations The maximum number of iterations before terminate the alogrithm |
| * @param[in] window_dimension The size of the window on which to perform the algorithm |
| * @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used |
| * @param[in] border_mode The border mode applied at scharr kernel stage |
| * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT |
| * |
| */ |
| void configure(const CLPyramid *old_pyramid, const CLPyramid *new_pyramid, |
| const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points, |
| Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate, |
| BorderMode border_mode, uint8_t constant_border_value = 0); |
| |
| // Inherited methods overridden: |
| void run() override; |
| |
| private: |
| CLMemoryGroup _memory_group; |
| std::vector<CLLKTrackerInitKernel> _tracker_init_kernel; |
| std::vector<CLLKTrackerStage0Kernel> _tracker_stage0_kernel; |
| std::vector<CLLKTrackerStage1Kernel> _tracker_stage1_kernel; |
| CLLKTrackerFinalizeKernel _tracker_finalize_kernel; |
| std::vector<CLScharr3x3> _func_scharr; |
| std::vector<CLTensor> _scharr_gx; |
| std::vector<CLTensor> _scharr_gy; |
| const ICLKeyPointArray *_old_points; |
| const ICLKeyPointArray *_new_points_estimates; |
| ICLKeyPointArray *_new_points; |
| std::unique_ptr<CLLKInternalKeypointArray> _old_points_internal; |
| std::unique_ptr<CLLKInternalKeypointArray> _new_points_internal; |
| std::unique_ptr<CLCoefficientTableArray> _coefficient_table; |
| std::unique_ptr<CLOldValueArray> _old_values; |
| size_t _num_levels; |
| }; |
| } |
| #endif /*__ARM_COMPUTE_CLOPTICALFLOW_H__ */ |