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/*
* 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_CLFASTCORNERS_H
#define ARM_COMPUTE_CLFASTCORNERS_H
#include "arm_compute/core/CL/OpenCL.h"
#include "arm_compute/core/Types.h"
#include "arm_compute/core/Window.h"
#include "arm_compute/runtime/CL/CLArray.h"
#include "arm_compute/runtime/CL/CLTensor.h"
#include "arm_compute/runtime/CL/functions/CLNonMaximaSuppression3x3.h"
#include "arm_compute/runtime/IFunction.h"
#include "arm_compute/runtime/IMemoryManager.h"
#include "arm_compute/runtime/MemoryGroup.h"
#include <cstdint>
#include <memory>
namespace arm_compute
{
class CLFastCornersKernel;
class CLCopyToArrayKernel;
class ICLTensor;
using ICLImage = ICLTensor;
/** Basic function to execute fast corners. This function calls the following CL kernels:
*
* -# @ref CLFastCornersKernel
* -# @ref CLNonMaximaSuppression3x3Kernel (executed if nonmax_suppression == true)
* -# @ref CLCopyToArrayKernel
*
* @deprecated This function is deprecated and is intended to be removed in 21.05 release
*
*/
class CLFastCorners : public IFunction
{
public:
/** Constructor */
CLFastCorners(std::shared_ptr<IMemoryManager> memory_manager = nullptr);
/** Prevent instances of this class from being copied (As this class contains pointers) */
CLFastCorners(const CLFastCorners &) = delete;
/** Prevent instances of this class from being copied (As this class contains pointers) */
const CLFastCorners &operator=(const CLFastCorners &) = delete;
/** Default destructor */
~CLFastCorners();
/** Initialize the function's source, destination, conv and border_mode.
*
* @param[in] input Source image. Data types supported: U8.
* @param[in] threshold Threshold on difference between intensity of the central pixel and pixels on Bresenham's circle of radius 3.
* @param[in] nonmax_suppression If true, non-maximum suppression is applied to detected corners before being placed in the array.
* @param[out] corners Array of keypoints to store the results.
* @param[in,out] num_corners Record number of corners in the array
* @param[in] border_mode Strategy to use for borders.
* @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT.
*/
void configure(const ICLImage *input, float threshold, bool nonmax_suppression, ICLKeyPointArray *corners, unsigned int *num_corners,
BorderMode border_mode, uint8_t constant_border_value = 0);
/** Initialize the function's source, destination, conv and border_mode.
*
* @param[in] compile_context The compile context to be used.
* @param[in] input Source image. Data types supported: U8.
* @param[in] threshold Threshold on difference between intensity of the central pixel and pixels on Bresenham's circle of radius 3.
* @param[in] nonmax_suppression If true, non-maximum suppression is applied to detected corners before being placed in the array.
* @param[out] corners Array of keypoints to store the results.
* @param[in,out] num_corners Record number of corners in the array
* @param[in] border_mode Strategy to use for borders.
* @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT.
*/
void configure(const CLCompileContext &compile_context, const ICLImage *input, float threshold, bool nonmax_suppression, ICLKeyPointArray *corners, unsigned int *num_corners,
BorderMode border_mode, uint8_t constant_border_value = 0);
// Inherited methods overridden:
void run() override;
private:
MemoryGroup _memory_group;
std::unique_ptr<CLFastCornersKernel> _fast_corners_kernel;
CLNonMaximaSuppression3x3 _suppr_func;
std::unique_ptr<CLCopyToArrayKernel> _copy_array_kernel;
CLImage _output;
CLImage _suppr;
Window _win;
bool _non_max;
unsigned int *_num_corners;
cl::Buffer _num_buffer;
ICLKeyPointArray *_corners;
uint8_t _constant_border_value;
};
}
#endif /*ARM_COMPUTE_CLFASTCORNERS_H */
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