| /* |
| * Copyright (c) 2016-2019 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_CLHARRISCORNERS_H |
| #define ARM_COMPUTE_CLHARRISCORNERS_H |
| |
| #include "arm_compute/runtime/IFunction.h" |
| |
| #include "arm_compute/core/CL/ICLArray.h" |
| #include "arm_compute/core/CL/kernels/CLFillBorderKernel.h" |
| #include "arm_compute/core/CL/kernels/CLHarrisCornersKernel.h" |
| #include "arm_compute/core/NEON/kernels/NEHarrisCornersKernel.h" |
| #include "arm_compute/core/Types.h" |
| #include "arm_compute/runtime/CL/CLTensor.h" |
| #include "arm_compute/runtime/CL/functions/CLNonMaximaSuppression3x3.h" |
| #include "arm_compute/runtime/IMemoryManager.h" |
| #include "arm_compute/runtime/MemoryGroup.h" |
| |
| #include <cstdint> |
| #include <memory> |
| |
| namespace arm_compute |
| { |
| class ICLTensor; |
| using ICLImage = ICLTensor; |
| |
| /** Basic function to execute harris corners detection. This function calls the following CL and NEON kernels and functions: |
| * |
| * @note Requires CPU support for the kernels: CPPCornerCandidatesKernel and CPPSortEuclideanDistanceKernel. |
| * |
| * -# @ref CLSobel3x3 (if gradient_size == 3) or<br/> |
| * @ref CLSobel5x5 (if gradient_size == 5) or<br/> |
| * @ref CLSobel7x7 (if gradient_size == 7) |
| * -# @ref CLFillBorderKernel |
| * -# @ref CLHarrisScoreKernel |
| * -# @ref CLNonMaximaSuppression3x3 |
| * -# @ref CPPCornerCandidatesKernel |
| * -# @ref CPPSortEuclideanDistanceKernel |
| */ |
| class CLHarrisCorners : public IFunction |
| { |
| public: |
| /** Constructor */ |
| CLHarrisCorners(std::shared_ptr<IMemoryManager> memory_manager = nullptr); |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| CLHarrisCorners(const CLHarrisCorners &) = delete; |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| const CLHarrisCorners &operator=(const CLHarrisCorners &) = delete; |
| /** Initialize the function's source, destination, conv and border_mode. |
| * |
| * @param[in,out] input Source image. Data types supported: U8. (Written to only for @p border_mode != UNDEFINED) |
| * @param[in] threshold Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel). |
| * @param[in] min_dist Radial Euclidean distance for the euclidean distance stage. |
| * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation |
| * @param[in] gradient_size The gradient window size to use on the input. The implementation supports 3, 5, and 7 |
| * @param[in] block_size The block window size used to compute the Harris Corner score. The implementation supports 3, 5, and 7. |
| * @param[out] corners Array of keypoints to store the results. |
| * @param[in] border_mode Border mode to use |
| * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT. |
| * @param[in] use_fp16 (Optional) If true the FP16 kernels will be used. If false F32 kernels are used. |
| */ |
| void configure(ICLImage *input, float threshold, float min_dist, float sensitivity, |
| int32_t gradient_size, int32_t block_size, ICLKeyPointArray *corners, |
| BorderMode border_mode, uint8_t constant_border_value = 0, bool use_fp16 = false); |
| |
| // Inherited methods overridden: |
| void run() override; |
| |
| private: |
| MemoryGroup _memory_group; /**< Function's memory group */ |
| std::unique_ptr<IFunction> _sobel; /**< Sobel function */ |
| CLHarrisScoreKernel _harris_score; /**< Harris score kernel */ |
| CLNonMaximaSuppression3x3 _non_max_suppr; /**< Non-maxima suppression function */ |
| CPPCornerCandidatesKernel _candidates; /**< Sort kernel */ |
| CPPSortEuclideanDistanceKernel _sort_euclidean; /**< Euclidean distance kernel */ |
| CLFillBorderKernel _border_gx; /**< Border handler before running harris score */ |
| CLFillBorderKernel _border_gy; /**< Border handler before running harris score */ |
| CLImage _gx; /**< Source image - Gx component */ |
| CLImage _gy; /**< Source image - Gy component */ |
| CLImage _score; /**< Source image - Harris score */ |
| CLImage _nonmax; /**< Source image - Non-Maxima suppressed image */ |
| std::vector<InternalKeypoint> _corners_list; /**< Array of InternalKeypoint. It stores the potential corner candidates */ |
| int32_t _num_corner_candidates; /**< Number of potential corner candidates */ |
| ICLKeyPointArray *_corners; /**< Output corners array */ |
| }; |
| } |
| #endif /*ARM_COMPUTE_CLHARRISCORNERS_H */ |