Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 1 | /* |
Abe Mbise | 25a340f | 2017-12-19 13:00:58 +0000 | [diff] [blame] | 2 | * Copyright (c) 2016-2018 ARM Limited. |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 3 | * |
| 4 | * SPDX-License-Identifier: MIT |
| 5 | * |
| 6 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| 7 | * of this software and associated documentation files (the "Software"), to |
| 8 | * deal in the Software without restriction, including without limitation the |
| 9 | * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or |
| 10 | * sell copies of the Software, and to permit persons to whom the Software is |
| 11 | * furnished to do so, subject to the following conditions: |
| 12 | * |
| 13 | * The above copyright notice and this permission notice shall be included in all |
| 14 | * copies or substantial portions of the Software. |
| 15 | * |
| 16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| 17 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| 18 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| 19 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| 20 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| 21 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
| 22 | * SOFTWARE. |
| 23 | */ |
| 24 | #ifndef __ARM_COMPUTE_CLFASTCORNERS_H__ |
| 25 | #define __ARM_COMPUTE_CLFASTCORNERS_H__ |
| 26 | |
| 27 | #include "arm_compute/core/CL/OpenCL.h" |
| 28 | #include "arm_compute/core/CL/kernels/CLFastCornersKernel.h" |
| 29 | #include "arm_compute/core/Types.h" |
| 30 | #include "arm_compute/core/Window.h" |
| 31 | #include "arm_compute/runtime/CL/CLArray.h" |
Georgios Pinitas | 5701e2a | 2017-09-18 17:43:33 +0100 | [diff] [blame] | 32 | #include "arm_compute/runtime/CL/CLMemoryGroup.h" |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 33 | #include "arm_compute/runtime/CL/CLTensor.h" |
| 34 | #include "arm_compute/runtime/CL/functions/CLNonMaximaSuppression3x3.h" |
| 35 | #include "arm_compute/runtime/IFunction.h" |
Georgios Pinitas | 5701e2a | 2017-09-18 17:43:33 +0100 | [diff] [blame] | 36 | #include "arm_compute/runtime/IMemoryManager.h" |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 37 | |
| 38 | #include <cstdint> |
Georgios Pinitas | 5701e2a | 2017-09-18 17:43:33 +0100 | [diff] [blame] | 39 | #include <memory> |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 40 | |
| 41 | namespace arm_compute |
| 42 | { |
| 43 | class ICLTensor; |
| 44 | using ICLImage = ICLTensor; |
| 45 | |
| 46 | /** Basic function to execute fast corners. This function calls the following CL kernels: |
| 47 | * |
| 48 | * -# @ref CLFastCornersKernel |
| 49 | * -# @ref CLNonMaximaSuppression3x3Kernel (executed if nonmax_suppression == true) |
| 50 | * -# @ref CLCopyToArrayKernel |
| 51 | * |
| 52 | */ |
| 53 | class CLFastCorners : public IFunction |
| 54 | { |
| 55 | public: |
| 56 | /** Constructor */ |
Georgios Pinitas | 5701e2a | 2017-09-18 17:43:33 +0100 | [diff] [blame] | 57 | CLFastCorners(std::shared_ptr<IMemoryManager> memory_manager = nullptr); |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 58 | /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| 59 | CLFastCorners(const CLFastCorners &) = delete; |
| 60 | /** Prevent instances of this class from being copied (As this class contains pointers) */ |
| 61 | const CLFastCorners &operator=(const CLFastCorners &) = delete; |
| 62 | /** Initialize the function's source, destination, conv and border_mode. |
| 63 | * |
| 64 | * @param[in] input Source image. Data types supported: U8. |
| 65 | * @param[in] threshold Threshold on difference between intensity of the central pixel and pixels on Bresenham's circle of radius 3. |
| 66 | * @param[in] nonmax_suppression If true, non-maximum suppression is applied to detected corners before being placed in the array. |
| 67 | * @param[out] corners Array of keypoints to store the results. |
| 68 | * @param[in,out] num_corners Record number of corners in the array |
| 69 | * @param[in] border_mode Strategy to use for borders. |
| 70 | * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT. |
| 71 | */ |
Abe Mbise | 25a340f | 2017-12-19 13:00:58 +0000 | [diff] [blame] | 72 | void configure(const ICLImage *input, float threshold, bool nonmax_suppression, ICLKeyPointArray *corners, unsigned int *num_corners, |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 73 | BorderMode border_mode, uint8_t constant_border_value = 0); |
| 74 | // Inherited methods overridden: |
| 75 | void run() override; |
| 76 | |
| 77 | private: |
Georgios Pinitas | 5701e2a | 2017-09-18 17:43:33 +0100 | [diff] [blame] | 78 | CLMemoryGroup _memory_group; |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 79 | CLFastCornersKernel _fast_corners_kernel; |
| 80 | CLNonMaximaSuppression3x3 _suppr_func; |
| 81 | CLCopyToArrayKernel _copy_array_kernel; |
| 82 | CLImage _output; |
| 83 | CLImage _suppr; |
| 84 | Window _win; |
| 85 | bool _non_max; |
| 86 | unsigned int *_num_corners; |
| 87 | cl::Buffer _num_buffer; |
Abe Mbise | 25a340f | 2017-12-19 13:00:58 +0000 | [diff] [blame] | 88 | ICLKeyPointArray *_corners; |
Anthony Barbier | 6ff3b19 | 2017-09-04 18:44:23 +0100 | [diff] [blame] | 89 | uint8_t _constant_border_value; |
| 90 | }; |
| 91 | } |
| 92 | #endif /*__ARM_COMPUTE_CLFASTCORNERS_H__ */ |