COMPMID-344 Updated doxygen
Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae
diff --git a/arm_compute/core/NEON/kernels/NELKTrackerKernel.h b/arm_compute/core/NEON/kernels/NELKTrackerKernel.h
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+/*
+ * Copyright (c) 2016, 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_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 */
+};
+
+using INELKInternalKeypointArray = IArray<NELKInternalKeypoint>;
+
+/** Interface for the Lucas-Kanade tracker kernel */
+class NELKTrackerKernel : public INEKernel
+{
+public:
+ /** 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) 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, int *bilinear_ix, int *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 int *bilinear_ix, const int *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;
+};
+}
+#endif /*__ARM_COMPUTE_NELKTRACKERKERNEL_H__ */