COMPMID-344 Updated doxygen

Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae

1 files changed, 115 insertions, 0 deletions

diff --git a/src/core/CPP/kernels/CPPSortEuclideanDistanceKernel.cpp b/src/core/CPP/kernels/CPPSortEuclideanDistanceKernel.cpp
new file mode 100644
index 0000000000..09d3ccffa4
--- /dev/null
+++ b/src/core/CPP/kernels/CPPSortEuclideanDistanceKernel.cpp
@@ -0,0 +1,115 @@
+/*
+ * Copyright (c) 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.
+ */
+#include "arm_compute/core/CPP/kernels/CPPSortEuclideanDistanceKernel.h"
+
+#include "arm_compute/core/Coordinates.h"
+#include "arm_compute/core/Error.h"
+#include "arm_compute/core/Helpers.h"
+#include "arm_compute/core/TensorInfo.h"
+#include "arm_compute/core/Types.h"
+#include "arm_compute/core/Utils.h"
+#include "arm_compute/core/Validate.h"
+#include "arm_compute/core/Window.h"
+
+#include <cmath>
+
+using namespace arm_compute;
+
+namespace
+{
+bool keypoint_compare(const InternalKeypoint &lhs, const InternalKeypoint &rhs)
+{
+    return std::get<2>(lhs) > std::get<2>(rhs);
+}
+} // namespace
+
+CPPSortEuclideanDistanceKernel::CPPSortEuclideanDistanceKernel()
+    : _num_corner_candidates(), _min_distance(0.0f), _in_out(nullptr), _output(nullptr)
+{
+}
+
+void CPPSortEuclideanDistanceKernel::configure(InternalKeypoint *in_out, IKeyPointArray *output, const int32_t *num_corner_candidates, float min_distance)
+{
+    ARM_COMPUTE_ERROR_ON(nullptr == in_out);
+    ARM_COMPUTE_ERROR_ON(nullptr == output);
+    ARM_COMPUTE_ERROR_ON(nullptr == num_corner_candidates);
+    ARM_COMPUTE_ERROR_ON(!((min_distance > 0) && (min_distance <= 30)));
+
+    _in_out                = in_out;
+    _output                = output;
+    _min_distance          = min_distance * min_distance; // We compare squares of distances
+    _num_corner_candidates = num_corner_candidates;
+    ICPPKernel::configure(Window()); // Default 1 iteration window
+}
+
+bool CPPSortEuclideanDistanceKernel::is_parallelisable() const
+{
+    return false;
+}
+
+void CPPSortEuclideanDistanceKernel::run(const Window &window)
+{
+    ARM_COMPUTE_ERROR_ON_UNCONFIGURED_KERNEL(this);
+    ARM_COMPUTE_ERROR_ON_MISMATCHING_WINDOWS(ICPPKernel::window(), window);
+
+    const int32_t num_corner_candidates = *_num_corner_candidates;
+
+    /* Sort list of corner candidates */
+    std::sort(_in_out, _in_out + num_corner_candidates, keypoint_compare);
+
+    /* Euclidean distance */
+    for(int32_t i = 0; i < num_corner_candidates; ++i)
+    {
+        if(std::get<2>(_in_out[i]) != 0.0f)
+        {
+            KeyPoint   keypt;
+            const auto xc = std::get<0>(_in_out[i]);
+            const auto yc = std::get<1>(_in_out[i]);
+
+            keypt.x               = xc;
+            keypt.y               = yc;
+            keypt.strength        = std::get<2>(_in_out[i]);
+            keypt.tracking_status = 1;
+
+            /* Store corner */
+            _output->push_back(keypt);
+            for(int32_t k = i + 1; k < num_corner_candidates; ++k)
+            {
+                const float dx = std::fabs(std::get<0>(_in_out[k]) - xc);
+                const float dy = std::fabs(std::get<1>(_in_out[k]) - yc);
+
+                if((dx < _min_distance) && (dy < _min_distance))
+                {
+                    const float d = (dx * dx + dy * dy);
+
+                    if(d < _min_distance)
+                    {
+                        /* Invalidate keypoint */
+                        std::get<2>(_in_out[k]) = 0.0f;
+                    }
+                }
+            }
+        }
+    }
+}