| /* |
| * Copyright (c) 2016-2020 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_CLFASTCORNERS_H |
| #define ARM_COMPUTE_CLFASTCORNERS_H |
| |
| #include "arm_compute/core/CL/OpenCL.h" |
| #include "arm_compute/core/CL/kernels/CLFastCornersKernel.h" |
| #include "arm_compute/core/Types.h" |
| #include "arm_compute/core/Window.h" |
| #include "arm_compute/runtime/CL/CLArray.h" |
| #include "arm_compute/runtime/CL/CLTensor.h" |
| #include "arm_compute/runtime/CL/functions/CLNonMaximaSuppression3x3.h" |
| #include "arm_compute/runtime/IFunction.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 fast corners. This function calls the following CL kernels: |
| * |
| * -# @ref CLFastCornersKernel |
| * -# @ref CLNonMaximaSuppression3x3Kernel (executed if nonmax_suppression == true) |
| * -# @ref CLCopyToArrayKernel |
| * |
| */ |
| class CLFastCorners : public IFunction |
| { |
| public: |
| /** Constructor */ |
| CLFastCorners(std::shared_ptr<IMemoryManager> memory_manager = nullptr); |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| CLFastCorners(const CLFastCorners &) = delete; |
| /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| const CLFastCorners &operator=(const CLFastCorners &) = delete; |
| /** Initialize the function's source, destination, conv and border_mode. |
| * |
| * @param[in] input Source image. Data types supported: U8. |
| * @param[in] threshold Threshold on difference between intensity of the central pixel and pixels on Bresenham's circle of radius 3. |
| * @param[in] nonmax_suppression If true, non-maximum suppression is applied to detected corners before being placed in the array. |
| * @param[out] corners Array of keypoints to store the results. |
| * @param[in,out] num_corners Record number of corners in the array |
| * @param[in] border_mode Strategy to use for borders. |
| * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT. |
| */ |
| void configure(const ICLImage *input, float threshold, bool nonmax_suppression, ICLKeyPointArray *corners, unsigned int *num_corners, |
| BorderMode border_mode, uint8_t constant_border_value = 0); |
| /** Initialize the function's source, destination, conv and border_mode. |
| * |
| * @param[in] compile_context The compile context to be used. |
| * @param[in] input Source image. Data types supported: U8. |
| * @param[in] threshold Threshold on difference between intensity of the central pixel and pixels on Bresenham's circle of radius 3. |
| * @param[in] nonmax_suppression If true, non-maximum suppression is applied to detected corners before being placed in the array. |
| * @param[out] corners Array of keypoints to store the results. |
| * @param[in,out] num_corners Record number of corners in the array |
| * @param[in] border_mode Strategy to use for borders. |
| * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT. |
| */ |
| void configure(const CLCompileContext &compile_context, const ICLImage *input, float threshold, bool nonmax_suppression, ICLKeyPointArray *corners, unsigned int *num_corners, |
| BorderMode border_mode, uint8_t constant_border_value = 0); |
| // Inherited methods overridden: |
| void run() override; |
| |
| private: |
| MemoryGroup _memory_group; |
| CLFastCornersKernel _fast_corners_kernel; |
| CLNonMaximaSuppression3x3 _suppr_func; |
| CLCopyToArrayKernel _copy_array_kernel; |
| CLImage _output; |
| CLImage _suppr; |
| Window _win; |
| bool _non_max; |
| unsigned int *_num_corners; |
| cl::Buffer _num_buffer; |
| ICLKeyPointArray *_corners; |
| uint8_t _constant_border_value; |
| }; |
| } |
| #endif /*ARM_COMPUTE_CLFASTCORNERS_H */ |