| /* |
| * 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_LKTRACKERKERNEL_H__ |
| #define __ARM_COMPUTE_LKTRACKERKERNEL_H__ |
| |
| #include "arm_compute/core/IArray.h" |
| #include "arm_compute/core/NEON/INEKernel.h" |
| #include "arm_compute/core/Types.h" |
| |
| #include <cstddef> |
| #include <cstdint> |
| #include <tuple> |
| #include <utility> |
| |
| namespace arm_compute |
| { |
| class ITensor; |
| |
| /** Internal keypoint class for Lucas-Kanade Optical Flow */ |
| struct NELKInternalKeypoint |
| { |
| float x{ 0.f }; /**< x coordinate of the keypoint */ |
| float y{ 0.f }; /**< y coordinate of the keypoint */ |
| bool tracking_status{ false }; /**< the tracking status of the keypoint */ |
| }; |
| |
| /** Interface for NEON Array of Internal Key Points. */ |
| using INELKInternalKeypointArray = IArray<NELKInternalKeypoint>; |
| |
| /** Interface for the Lucas-Kanade tracker kernel */ |
| class NELKTrackerKernel : public INEKernel |
| { |
| public: |
| const char *name() const override |
| { |
| return "NELKTrackerKernel"; |
| } |
| /** Default constructor */ |
| NELKTrackerKernel(); |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| NELKTrackerKernel(const NELKTrackerKernel &) = delete; |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| NELKTrackerKernel &operator=(const NELKTrackerKernel &) = delete; |
| /** Allow instances of this class to be moved */ |
| NELKTrackerKernel(NELKTrackerKernel &&) = default; |
| /** Allow instances of this class to be moved */ |
| NELKTrackerKernel &operator=(NELKTrackerKernel &&) = default; |
| /** Default destructor */ |
| ~NELKTrackerKernel() = default; |
| |
| /** Initialise the kernel input and output |
| * |
| * @param[in] input_old Pointer to the input old tensor. Data type supported: U8 |
| * @param[in] input_new Pointer to the input new tensor. Data type supported. U8 |
| * @param[in] old_scharr_gx Pointer to the input scharr X tensor. Data type supported: S16 |
| * @param[in] old_scharr_gy Pointer to the input scharr Y tensor. Data type supported: S16 |
| * @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, out] old_points_internal Pointer to the array of NELKInternalKeypoint for old points |
| * @param[out] new_points_internal Pointer to the array of NELKInternalKeypoint for new points |
| * @param[in] termination The criteria to terminate the search of each keypoint. |
| * @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used |
| * @param[in] epsilon The error for terminating the algorithm |
| * @param[in] num_iterations The maximum number of iterations before terminate the algorithm |
| * @param[in] window_dimension The size of the window on which to perform the algorithm |
| * @param[in] level The pyramid level |
| * @param[in] num_levels The number of pyramid levels |
| * @param[in] pyramid_scale Scale factor used for generating the pyramid |
| */ |
| void configure(const ITensor *input_old, const ITensor *input_new, const ITensor *old_scharr_gx, const ITensor *old_scharr_gy, |
| const IKeyPointArray *old_points, const IKeyPointArray *new_points_estimates, IKeyPointArray *new_points, |
| INELKInternalKeypointArray *old_points_internal, INELKInternalKeypointArray *new_points_internal, |
| Termination termination, bool use_initial_estimate, float epsilon, unsigned int num_iterations, size_t window_dimension, |
| size_t level, size_t num_levels, float pyramid_scale); |
| |
| // Inherited methods overridden: |
| void run(const Window &window, const ThreadInfo &info) override; |
| BorderSize border_size() const override; |
| |
| private: |
| /** Initialise the array of keypoints in the provide range |
| * |
| * @param[in] start Index of first element in the keypoints array to be initialised |
| * @param[in] end Index after last elelemnt in the keypoints array to be initialised |
| */ |
| void init_keypoints(int start, int end); |
| /** Compute the structure tensor A^T * A based on the scharr gradients I_x and I_y |
| * |
| * @param[in] keypoint Keypoint for which gradients are computed |
| * @param[out] bilinear_ix Intermediate interpolated data for X gradient |
| * @param[out] bilinear_iy Intermediate interpolated data for Y gradient |
| * |
| * @return Values A11, A12, A22 |
| */ |
| std::tuple<int, int, int> compute_spatial_gradient_matrix(const NELKInternalKeypoint &keypoint, int32_t *bilinear_ix, int32_t *bilinear_iy); |
| /** Compute the vector A^T * b, i.e. -sum(I_d * I_t) for d in {x,y} |
| * |
| * @param[in] old_keypoint Old keypoint for which gradient is computed |
| * @param[in] new_keypoint New keypoint for which gradient is computed |
| * @param[in] bilinear_ix Intermediate interpolated data for X gradient |
| * @param[in] bilinear_iy Intermediate interpolated data for Y gradient |
| * |
| * @return Values b1, b2 |
| */ |
| std::pair<int, int> compute_image_mismatch_vector(const NELKInternalKeypoint &old_keypoint, const NELKInternalKeypoint &new_keypoint, const int32_t *bilinear_ix, const int32_t *bilinear_iy); |
| |
| const ITensor *_input_old; |
| const ITensor *_input_new; |
| const ITensor *_old_scharr_gx; |
| const ITensor *_old_scharr_gy; |
| IKeyPointArray *_new_points; |
| const IKeyPointArray *_new_points_estimates; |
| const IKeyPointArray *_old_points; |
| INELKInternalKeypointArray *_old_points_internal; |
| INELKInternalKeypointArray *_new_points_internal; |
| Termination _termination; |
| bool _use_initial_estimate; |
| float _pyramid_scale; |
| float _epsilon; |
| unsigned int _num_iterations; |
| int _window_dimension; |
| unsigned int _level; |
| unsigned int _num_levels; |
| ValidRegion _valid_region; |
| }; |
| } // namespace arm_compute |
| #endif /*__ARM_COMPUTE_NELKTRACKERKERNEL_H__ */ |