| /* |
| * Copyright (c) 2017-2020 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_CLLKTRACKERKERNEL_H |
| #define ARM_COMPUTE_CLLKTRACKERKERNEL_H |
| |
| #include "arm_compute/core/CL/ICLArray.h" |
| #include "arm_compute/core/Types.h" |
| #include "src/core/CL/ICLKernel.h" |
| |
| #include <cstddef> |
| #include <cstdint> |
| |
| namespace arm_compute |
| { |
| class ICLTensor; |
| |
| /** Interface to run the initialization step of LKTracker */ |
| class CLLKTrackerInitKernel : public ICLKernel |
| { |
| public: |
| /** Initialise the kernel input and output |
| * |
| * @param[in] old_points Pointer to the @ref ICLKeyPointArray storing old key points |
| * @param[in] new_points_estimates Pointer to the @ref ICLKeyPointArray storing new estimates key points |
| * @param[out] old_points_internal Pointer to the array of internal @ref CLLKInternalKeypoint old points |
| * @param[out] new_points_internal Pointer to the array of internal @ref CLLKInternalKeypoint new points |
| * @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used |
| * @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 ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, |
| ICLLKInternalKeypointArray *old_points_internal, ICLLKInternalKeypointArray *new_points_internal, |
| bool use_initial_estimate, size_t level, size_t num_levels, float pyramid_scale); |
| /** Initialise the kernel input and output |
| * |
| * @param[in] compile_context The compile context to be used. |
| * @param[in] old_points Pointer to the @ref ICLKeyPointArray storing old key points |
| * @param[in] new_points_estimates Pointer to the @ref ICLKeyPointArray storing new estimates key points |
| * @param[out] old_points_internal Pointer to the array of internal @ref CLLKInternalKeypoint old points |
| * @param[out] new_points_internal Pointer to the array of internal @ref CLLKInternalKeypoint new points |
| * @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used |
| * @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 CLCompileContext &compile_context, const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, |
| ICLLKInternalKeypointArray *old_points_internal, ICLLKInternalKeypointArray *new_points_internal, |
| bool use_initial_estimate, size_t level, size_t num_levels, float pyramid_scale); |
| |
| // Inherited methods overridden: |
| void run(const Window &window, cl::CommandQueue &queue) override; |
| }; |
| |
| /** Interface to run the finalize step of LKTracker, where it truncates the coordinates stored in new_points array */ |
| class CLLKTrackerFinalizeKernel : public ICLKernel |
| { |
| public: |
| /** Initialise the kernel input and output |
| * |
| * @param[in] new_points_internal Pointer to the array of internal @ref CLLKInternalKeypoint new points |
| * @param[out] new_points Pointer to the @ref ICLKeyPointArray storing new key points |
| */ |
| void configure(ICLLKInternalKeypointArray *new_points_internal, ICLKeyPointArray *new_points); |
| /** Initialise the kernel input and output |
| * |
| * @param[in] compile_context The compile context to be used. |
| * @param[in] new_points_internal Pointer to the array of internal @ref CLLKInternalKeypoint new points |
| * @param[out] new_points Pointer to the @ref ICLKeyPointArray storing new key points |
| */ |
| void configure(const CLCompileContext &compile_context, ICLLKInternalKeypointArray *new_points_internal, ICLKeyPointArray *new_points); |
| |
| // Inherited methods overridden: |
| void run(const Window &window, cl::CommandQueue &queue) override; |
| }; |
| |
| /** Interface to run the first stage of LKTracker, where A11, A12, A22, min_eig, ival, ixval and iyval are computed */ |
| class CLLKTrackerStage0Kernel : public ICLKernel |
| { |
| public: |
| /** Default constructor */ |
| CLLKTrackerStage0Kernel(); |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| CLLKTrackerStage0Kernel(const CLLKTrackerStage0Kernel &) = delete; |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| CLLKTrackerStage0Kernel &operator=(const CLLKTrackerStage0Kernel &) = delete; |
| /** Allow instances of this class to be moved */ |
| CLLKTrackerStage0Kernel(CLLKTrackerStage0Kernel &&) = default; |
| /** Allow instances of this class to be moved */ |
| CLLKTrackerStage0Kernel &operator=(CLLKTrackerStage0Kernel &&) = default; |
| /** Initialise the kernel input and output |
| * |
| * @param[in] old_input Pointer to the input old tensor. Data types supported: U8 |
| * @param[in] old_scharr_gx Pointer to the input scharr X tensor. Data types supported: S16 |
| * @param[in] old_scharr_gy Pointer to the input scharr Y tensor. Data types supported: S16 |
| * @param[in] old_points_internal Pointer to the array of CLLKInternalKeypoint old points |
| * @param[in, out] new_points_internal Pointer to the array of CLLKInternalKeypoint new points |
| * @param[out] coeff_table Pointer to the array holding the Spatial Gradient coefficients |
| * @param[out] old_ival Pointer to the array holding internal values |
| * @param[in] window_dimension The size of the window on which to perform the algorithm |
| * @param[in] level The pyramid level |
| */ |
| void configure(const ICLTensor *old_input, const ICLTensor *old_scharr_gx, const ICLTensor *old_scharr_gy, |
| ICLLKInternalKeypointArray *old_points_internal, ICLLKInternalKeypointArray *new_points_internal, |
| ICLCoefficientTableArray *coeff_table, ICLOldValArray *old_ival, |
| size_t window_dimension, size_t level); |
| /** Initialise the kernel input and output |
| * |
| * @param[in] compile_context The compile context to be used. |
| * @param[in] old_input Pointer to the input old tensor. Data types supported: U8 |
| * @param[in] old_scharr_gx Pointer to the input scharr X tensor. Data types supported: S16 |
| * @param[in] old_scharr_gy Pointer to the input scharr Y tensor. Data types supported: S16 |
| * @param[in] old_points_internal Pointer to the array of CLLKInternalKeypoint old points |
| * @param[in, out] new_points_internal Pointer to the array of CLLKInternalKeypoint new points |
| * @param[out] coeff_table Pointer to the array holding the Spatial Gradient coefficients |
| * @param[out] old_ival Pointer to the array holding internal values |
| * @param[in] window_dimension The size of the window on which to perform the algorithm |
| * @param[in] level The pyramid level |
| */ |
| void configure(const CLCompileContext &compile_context, const ICLTensor *old_input, const ICLTensor *old_scharr_gx, const ICLTensor *old_scharr_gy, |
| ICLLKInternalKeypointArray *old_points_internal, ICLLKInternalKeypointArray *new_points_internal, |
| ICLCoefficientTableArray *coeff_table, ICLOldValArray *old_ival, |
| size_t window_dimension, size_t level); |
| |
| // Inherited methods overridden: |
| void run(const Window &window, cl::CommandQueue &queue) override; |
| |
| private: |
| const ICLTensor *_old_input; |
| const ICLTensor *_old_scharr_gx; |
| const ICLTensor *_old_scharr_gy; |
| }; |
| |
| /** Interface to run the second stage of LKTracker, where the motion vectors of the given points are computed */ |
| class CLLKTrackerStage1Kernel : public ICLKernel |
| { |
| public: |
| /** Default constructor */ |
| CLLKTrackerStage1Kernel(); |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| CLLKTrackerStage1Kernel(const CLLKTrackerStage1Kernel &) = delete; |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| CLLKTrackerStage1Kernel &operator=(const CLLKTrackerStage1Kernel &) = delete; |
| /** Allow instances of this class to be moved */ |
| CLLKTrackerStage1Kernel(CLLKTrackerStage1Kernel &&) = default; |
| /** Allow instances of this class to be moved */ |
| CLLKTrackerStage1Kernel &operator=(CLLKTrackerStage1Kernel &&) = default; |
| /** Initialise the kernel input and output |
| * |
| * @param[in] new_input Pointer to the input new tensor. Data types supported: U8 |
| * @param[in, out] new_points_internal Pointer to the array of CLLKInternalKeypoint for new points |
| * @param[in] coeff_table Pointer to the array holding the Spatial Gradient coefficients |
| * @param[in] old_ival Pointer to the array holding internal values |
| * @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 terminating the algorithm |
| * @param[in] window_dimension The size of the window on which to perform the algorithm |
| * @param[in] level The pyramid level |
| */ |
| void configure(const ICLTensor *new_input, ICLLKInternalKeypointArray *new_points_internal, ICLCoefficientTableArray *coeff_table, ICLOldValArray *old_ival, |
| Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, size_t level); |
| /** Initialise the kernel input and output |
| * |
| * @param[in] compile_context The compile context to be used. |
| * @param[in] new_input Pointer to the input new tensor. Data types supported: U8 |
| * @param[in, out] new_points_internal Pointer to the array of CLLKInternalKeypoint for new points |
| * @param[in] coeff_table Pointer to the array holding the Spatial Gradient coefficients |
| * @param[in] old_ival Pointer to the array holding internal values |
| * @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 terminating the algorithm |
| * @param[in] window_dimension The size of the window on which to perform the algorithm |
| * @param[in] level The pyramid level |
| */ |
| void configure(const CLCompileContext &compile_context, const ICLTensor *new_input, ICLLKInternalKeypointArray *new_points_internal, ICLCoefficientTableArray *coeff_table, ICLOldValArray *old_ival, |
| Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, size_t level); |
| |
| // Inherited methods overridden: |
| void run(const Window &window, cl::CommandQueue &queue) override; |
| |
| private: |
| const ICLTensor *_new_input; |
| }; |
| } // namespace arm_compute |
| #endif /*ARM_COMPUTE_CLLKTRACKERKERNEL_H */ |