From 6ff3b19ee6120edf015fad8caab2991faa3070af Mon Sep 17 00:00:00 2001 From: Anthony Barbier Date: Mon, 4 Sep 2017 18:44:23 +0100 Subject: COMPMID-344 Updated doxygen Change-Id: I32f7b84daa560e460b77216add529c8fa8b327ae --- arm_compute/core/CL/kernels/CLLKTrackerKernel.h | 183 ++++++++++++++++++++++++ 1 file changed, 183 insertions(+) create mode 100644 arm_compute/core/CL/kernels/CLLKTrackerKernel.h (limited to 'arm_compute/core/CL/kernels/CLLKTrackerKernel.h') diff --git a/arm_compute/core/CL/kernels/CLLKTrackerKernel.h b/arm_compute/core/CL/kernels/CLLKTrackerKernel.h new file mode 100644 index 0000000000..4d0dbed55d --- /dev/null +++ b/arm_compute/core/CL/kernels/CLLKTrackerKernel.h @@ -0,0 +1,183 @@ +/* + * 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. + */ +#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 +#include + +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 */ +}; + +using ICLLKInternalKeypointArray = ICLArray; +using ICLCoefficientTableArray = ICLArray; +using ICLOldValArray = ICLArray; + +/** 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); + + // 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); + + // 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); + + // 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); + + // Inherited methods overridden: + void run(const Window &window, cl::CommandQueue &queue) override; + +private: + const ICLTensor *_new_input; +}; +} +#endif /*__ARM_COMPUTE_CLLKTRACKERKERNEL_H__ */ -- cgit v1.2.1