1 files changed, 105 insertions, 0 deletions
diff --git a/src/core/NEON/kernels/NEHarrisCornersKernel.h b/src/core/NEON/kernels/NEHarrisCornersKernel.h
new file mode 100644
index 0000000000..4b794107a2
--- /dev/null
+++ b/src/core/NEON/kernels/NEHarrisCornersKernel.h
@@ -0,0 +1,105 @@
+/*
+ * Copyright (c) 2016-2020 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_NEHARRISCORNERSKERNEL_H
+#define ARM_COMPUTE_NEHARRISCORNERSKERNEL_H
+
+#include "arm_compute/core/CPP/kernels/CPPCornerCandidatesKernel.h"
+#include "arm_compute/core/CPP/kernels/CPPSortEuclideanDistanceKernel.h"
+#include "arm_compute/core/IArray.h"
+#include "src/core/NEON/INEKernel.h"
+
+#include <cstdint>
+
+namespace arm_compute
+{
+class ITensor;
+using IImage = ITensor;
+
+/** Common interface for all Harris Score kernels */
+class INEHarrisScoreKernel : public INEKernel
+{
+public:
+    /** Default constructor */
+    INEHarrisScoreKernel();
+    /** Prevent instances of this class from being copied (As this class contains pointers) */
+    INEHarrisScoreKernel(const INEHarrisScoreKernel &) = delete;
+    /** Prevent instances of this class from being copied (As this class contains pointers) */
+    INEHarrisScoreKernel &operator=(const INEHarrisScoreKernel &) = delete;
+    /** Allow instances of this class to be moved */
+    INEHarrisScoreKernel(INEHarrisScoreKernel &&) = default;
+    /** Allow instances of this class to be moved */
+    INEHarrisScoreKernel &operator=(INEHarrisScoreKernel &&) = default;
+    /** Default destructor */
+    ~INEHarrisScoreKernel() = default;
+
+public:
+    /** Setup the kernel parameters
+     *
+     * @param[in]  input1           Source image (gradient X). Data types supported: S16/S32
+     * @param[in]  input2           Source image (gradient Y). Data types supported: same as @ input1
+     * @param[out] output           Destination image (harris score). Data types supported: F32
+     * @param[in]  norm_factor      Normalization factor to use accordingly with the gradient size (Must be different from 0)
+     * @param[in]  strength_thresh  Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel).
+     * @param[in]  sensitivity      Sensitivity threshold k from the Harris-Stephens equation
+     * @param[in]  border_undefined True if the border mode is undefined. False if it's replicate or constant.
+     */
+    virtual void configure(const IImage *input1, const IImage *input2, IImage *output, float norm_factor, float strength_thresh, float sensitivity, bool border_undefined) = 0;
+
+protected:
+    const IImage *_input1;          /**< Source image - Gx component */
+    const IImage *_input2;          /**< Source image - Gy component */
+    IImage       *_output;          /**< Source image - Harris score */
+    float         _sensitivity;     /**< Sensitivity value */
+    float         _strength_thresh; /**< Threshold value */
+    float         _norm_factor;     /**< Normalization factor */
+    BorderSize    _border_size;     /**< Border size */
+};
+
+/** Template NEON kernel to perform Harris Score.
+ *  The implementation supports 3, 5, and 7 for the block_size
+ */
+template <int32_t block_size>
+class NEHarrisScoreKernel : public INEHarrisScoreKernel
+{
+public:
+    const char *name() const override
+    {
+        return "NEHarrisScoreKernel";
+    }
+    /** Default constructor */
+    NEHarrisScoreKernel();
+    // Inherited methods overridden:
+    void configure(const IImage *input1, const IImage *input2, IImage *output, float norm_factor, float strength_thresh, float sensitivity, bool border_undefined) override;
+    BorderSize border_size() const override;
+    void run(const Window &window, const ThreadInfo &info) override;
+
+private:
+    /** Common signature for all the specialised harris score functions */
+    using HarrisScoreFunction = void(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride,
+                                     float norm_factor, float sensitivity, float strength_thresh);
+    /** Harris Score function to use for the particular image types passed to configure() */
+    HarrisScoreFunction *_func;
+};
+} // namespace arm_compute
+#endif /* ARM_COMPUTE_NEHARRISCORNERSKERNEL_H */