/* * Copyright (c) 2016-2018 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 "arm_compute/core/NEON/INEKernel.h" #include #include 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 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__ */