COMPMID-344 Updated doxygen

Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae

1 files changed, 144 insertions, 0 deletions

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__ */