diff options
Diffstat (limited to 'arm_compute/core/NEON/kernels/NELKTrackerKernel.h')
| -rw-r--r-- | arm_compute/core/NEON/kernels/NELKTrackerKernel.h | 149 |
1 files changed, 0 insertions, 149 deletions
diff --git a/arm_compute/core/NEON/kernels/NELKTrackerKernel.h b/arm_compute/core/NEON/kernels/NELKTrackerKernel.h deleted file mode 100644 index cf99bbe691..0000000000 --- a/arm_compute/core/NEON/kernels/NELKTrackerKernel.h +++ /dev/null @@ -1,149 +0,0 @@ -/* - * Copyright (c) 2016-2019 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 */ -}; - -/** Interface for NEON Array of Internal Key Points. */ -using INELKInternalKeypointArray = IArray<NELKInternalKeypoint>; - -/** Interface for the Lucas-Kanade tracker kernel */ -class NELKTrackerKernel : public INEKernel -{ -public: - const char *name() const override - { - return "NELKTrackerKernel"; - } - /** 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, const ThreadInfo &info) 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, int32_t *bilinear_ix, int32_t *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 int32_t *bilinear_ix, const int32_t *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; -}; -} // namespace arm_compute -#endif /*ARM_COMPUTE_NELKTRACKERKERNEL_H */ |