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Diffstat (limited to 'arm_compute/core/CL/kernels/CLLKTrackerKernel.h')
| -rw-r--r-- | arm_compute/core/CL/kernels/CLLKTrackerKernel.h | 240 |
1 files changed, 0 insertions, 240 deletions
diff --git a/arm_compute/core/CL/kernels/CLLKTrackerKernel.h b/arm_compute/core/CL/kernels/CLLKTrackerKernel.h deleted file mode 100644 index f94602c381..0000000000 --- a/arm_compute/core/CL/kernels/CLLKTrackerKernel.h +++ /dev/null @@ -1,240 +0,0 @@ -/* - * 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/CL/ICLKernel.h" -#include "arm_compute/core/Types.h" - -#include <cstddef> -#include <cstdint> - -namespace arm_compute -{ -class ICLTensor; - -/** Internal keypoint structure for Lucas-Kanade Optical Flow */ -struct CLLKInternalKeypoint -{ - float x{ 0.f }; /**< x coordinate of the keypoint */ - float y{ 0.f }; /**< y coordinate of the keypoint */ - float tracking_status{ 0.f }; /**< the tracking status of the keypoint */ - float dummy{ 0.f }; /**< Dummy field, to make sure the data structure 128-bit align, so that GPU can use vload4 */ -}; - -/** Structure for storing Spatial Gradient Matrix and the minimum eigenvalue for each keypoint */ -struct CLCoefficientTable -{ - float A11; /**< iA11 * FLT_SCALE */ - float A12; /**< iA11 * FLT_SCALE */ - float A22; /**< iA11 * FLT_SCALE */ - float min_eig; /**< Minimum eigenvalue */ -}; - -/** Structure for storing ival, ixval and iyval for each point inside the window */ -struct CLOldValue -{ - int16_t ival; /**< ival extracts from old image */ - int16_t ixval; /**< ixval extracts from scharr Gx image */ - int16_t iyval; /**< iyval extracts from scharr Gy image */ - int16_t dummy; /**< Dummy field, to make sure the data structure 128-bit align, so that GPU can use vload4 */ -}; - -/** Interface for OpenCL Array of Internal Key Points. */ -using ICLLKInternalKeypointArray = ICLArray<CLLKInternalKeypoint>; -/** Interface for OpenCL Array of Coefficient Tables. */ -using ICLCoefficientTableArray = ICLArray<CLCoefficientTable>; -/** Interface for OpenCL Array of Old Values. */ -using ICLOldValArray = ICLArray<CLOldValue>; - -/** 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 */ |