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Diffstat (limited to 'arm_compute/runtime/NEON/functions/NEHarrisCorners.h')
-rw-r--r-- | arm_compute/runtime/NEON/functions/NEHarrisCorners.h | 103 |
1 files changed, 103 insertions, 0 deletions
diff --git a/arm_compute/runtime/NEON/functions/NEHarrisCorners.h b/arm_compute/runtime/NEON/functions/NEHarrisCorners.h new file mode 100644 index 0000000000..a709871153 --- /dev/null +++ b/arm_compute/runtime/NEON/functions/NEHarrisCorners.h @@ -0,0 +1,103 @@ +/* + * 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_NEHARRISCORNERS_H__ +#define __ARM_COMPUTE_NEHARRISCORNERS_H__ + +#include "arm_compute/core/CPP/kernels/CPPCornerCandidatesKernel.h" +#include "arm_compute/core/CPP/kernels/CPPSortEuclideanDistanceKernel.h" +#include "arm_compute/core/NEON/kernels/NEFillBorderKernel.h" +#include "arm_compute/core/NEON/kernels/NEHarrisCornersKernel.h" +#include "arm_compute/core/Types.h" +#include "arm_compute/runtime/Array.h" +#include "arm_compute/runtime/IFunction.h" +#include "arm_compute/runtime/NEON/functions/NENonMaximaSuppression3x3.h" +#include "arm_compute/runtime/Tensor.h" + +#include <cstdint> +#include <memory> + +namespace arm_compute +{ +class ITensor; +using IImage = ITensor; + +/** Basic function to execute harris corners detection. This function calls the following NEON kernels and functions: + * + * -# @ref NESobel3x3 (if gradient_size == 3) or<br/> + * @ref NESobel5x5 (if gradient_size == 5) or<br/> + * @ref NESobel7x7 (if gradient_size == 7) + * -# @ref NEFillBorderKernel + * -# NEHarrisScoreKernel<3> (if block_size == 3) or<br/> + * NEHarrisScoreKernel<5> (if block_size == 5) or<br/> + * NEHarrisScoreKernel<7> (if block_size == 7) + * -# @ref NENonMaximaSuppression3x3 + * -# @ref CPPCornerCandidatesKernel + * -# @ref CPPSortEuclideanDistanceKernel + * + */ +class NEHarrisCorners : public IFunction +{ +public: + /** Constructor + * + * Initialize _sobel, _harris_score and _corner_list to nullptr. + */ + NEHarrisCorners(); + /** Initialize the function's source, destination, conv and border_mode. + * + * @param[in, out] input Source image. Data type supported: U8. (Written to only for @p border_mode != UNDEFINED) + * @param[in] threshold Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel). + * @param[in] min_dist Radial Euclidean distance for the euclidean diatance stage + * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation + * @param[in] gradient_size The gradient window size to use on the input. The implementation supports 3, 5, and 7 + * @param[in] block_size The block window size used to compute the Harris Corner score. The implementation supports 3, 5, and 7. + * @param[out] corners Array of keypoints to store the results. + * @param[in] border_mode Border mode to use + * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT. + * @param[in] use_fp16 (Optional) If true the FP16 kernels will be used. If false F32 kernels are used. + */ + void configure(IImage *input, float threshold, float min_dist, float sensitivity, + int32_t gradient_size, int32_t block_size, KeyPointArray *corners, + BorderMode border_mode, uint8_t constant_border_value = 0, bool use_fp16 = false); + + // Inherited methods overridden: + void run() override; + +private: + std::unique_ptr<IFunction> _sobel; /**< Sobel function */ + std::unique_ptr<INEHarrisScoreKernel> _harris_score; /**< Harris score kernel */ + NENonMaximaSuppression3x3 _non_max_suppr; /**< Non-maxima suppression function */ + CPPCornerCandidatesKernel _candidates; /**< Sort kernel */ + CPPSortEuclideanDistanceKernel _sort_euclidean; /**< Euclidean distance kernel */ + NEFillBorderKernel _border_gx; /**< Border handler before running harris score */ + NEFillBorderKernel _border_gy; /**< Border handler before running harris score */ + Image _gx; /**< Source image - Gx component */ + Image _gy; /**< Source image - Gy component */ + Image _score; /**< Source image - Harris score */ + Image _nonmax; /**< Source image - Non-Maxima suppressed image */ + std::unique_ptr<InternalKeypoint[]> _corners_list; /**< Array of InternalKeypoint. It stores the potential corner candidates */ + int32_t _num_corner_candidates; /**< Number of potential corner candidates */ +}; +} +#endif /*__ARM_COMPUTE_NEHARRISCORNERS_H__ */ |