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/*
* 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 <cstdint>
#include <mutex>
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;
};
#ifdef __ARM_FEATURE_FP16_VECTOR_ARITHMETIC
/** Interface for the accumulate Weighted kernel using F16 */
template <int32_t block_size>
class NEHarrisScoreFP16Kernel : public INEHarrisScoreKernel
{
public:
const char *name() const override
{
return "NEHarrisScoreFP16Kernel";
}
/** Default constructor */
NEHarrisScoreFP16Kernel();
// 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:
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;
};
#else /* __ARM_FEATURE_FP16_VECTOR_ARITHMETIC */
/** Interface for the accumulate Weighted kernel using FP16 */
template <int32_t block_size>
using NEHarrisScoreFP16Kernel = NEHarrisScoreKernel<block_size>;
#endif /* __ARM_FEATURE_FP16_VECTOR_ARITHMETIC */
} // namespace arm_compute
#endif /* __ARM_COMPUTE_NEHARRISCORNERSKERNEL_H__ */
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