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/*
* Copyright (c) 2017-2020 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_CLOPTICALFLOW_H
#define ARM_COMPUTE_CLOPTICALFLOW_H
#include "arm_compute/core/IArray.h"
#include "arm_compute/core/Types.h"
#include "arm_compute/runtime/CL/CLArray.h"
#include "arm_compute/runtime/CL/CLTensor.h"
#include "arm_compute/runtime/CL/functions/CLScharr3x3.h"
#include "arm_compute/runtime/IFunction.h"
#include "arm_compute/runtime/IMemoryManager.h"
#include "arm_compute/runtime/MemoryGroup.h"
#include <cstddef>
#include <cstdint>
#include <memory>
namespace arm_compute
{
class CLCompileContext;
class CLPyramid;
class CLLKTrackerInitKernel;
class CLLKTrackerStage0Kernel;
class CLLKTrackerStage1Kernel;
class CLLKTrackerFinalizeKernel;
/** OpenCL Array of Internal Keypoints */
using CLLKInternalKeypointArray = CLArray<CLLKInternalKeypoint>;
/** OpenCL Array of Coefficient Tables */
using CLCoefficientTableArray = CLArray<CLCoefficientTable>;
/** OpenCL Array of Old Values */
using CLOldValueArray = CLArray<CLOldValue>;
/** Basic function to execute optical flow. This function calls the following OpenCL kernels and functions:
*
* -# @ref CLScharr3x3
* -# @ref CLLKTrackerInitKernel
* -# @ref CLLKTrackerStage0Kernel
* -# @ref CLLKTrackerStage1Kernel
* -# @ref CLLKTrackerFinalizeKernel
*/
class CLOpticalFlow : public IFunction
{
public:
/** Default constructor */
CLOpticalFlow(std::shared_ptr<IMemoryManager> memory_manager = nullptr);
/** Prevent instances of this class from being copied (As this class contains pointers) */
CLOpticalFlow(const CLOpticalFlow &) = delete;
/** Prevent instances of this class from being copied (As this class contains pointers) */
CLOpticalFlow &operator=(const CLOpticalFlow &) = delete;
/** Allow instances of this class to be moved */
CLOpticalFlow(CLOpticalFlow &&) = default;
/** Allow instances of this class to be moved */
CLOpticalFlow &operator=(CLOpticalFlow &&) = default;
/** Default destructor */
~CLOpticalFlow();
/** Initialise the function input and output
*
* @param[in] old_pyramid Pointer to the pyramid for the old tensor. Data types supported U8
* @param[in] new_pyramid Pointer to the pyramid for the new tensor. Data types supported U8
* @param[in] old_points Pointer to the IKeyPointArray storing old key points
* @param[in] new_points_estimates Pointer to the IKeyPointArray storing new estimates key points
* @param[out] new_points Pointer to the IKeyPointArray storing new key points
* @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 terminate the alogrithm
* @param[in] window_dimension The size of the window on which to perform the algorithm
* @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used
* @param[in] border_mode The border mode applied at scharr kernel stage
* @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT
*
*/
void configure(const CLPyramid *old_pyramid, const CLPyramid *new_pyramid,
const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points,
Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate,
BorderMode border_mode, uint8_t constant_border_value = 0);
/** Initialise the function input and output
*
* @param[in] compile_context The compile context to be used.
* @param[in] old_pyramid Pointer to the pyramid for the old tensor. Data types supported U8
* @param[in] new_pyramid Pointer to the pyramid for the new tensor. Data types supported U8
* @param[in] old_points Pointer to the IKeyPointArray storing old key points
* @param[in] new_points_estimates Pointer to the IKeyPointArray storing new estimates key points
* @param[out] new_points Pointer to the IKeyPointArray storing new key points
* @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 terminate the alogrithm
* @param[in] window_dimension The size of the window on which to perform the algorithm
* @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used
* @param[in] border_mode The border mode applied at scharr kernel stage
* @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 CLPyramid *old_pyramid, const CLPyramid *new_pyramid,
const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points,
Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate,
BorderMode border_mode, uint8_t constant_border_value = 0);
// Inherited methods overridden:
void run() override;
private:
MemoryGroup _memory_group;
std::vector<std::unique_ptr<CLLKTrackerInitKernel>> _tracker_init_kernel;
std::vector<std::unique_ptr<CLLKTrackerStage0Kernel>> _tracker_stage0_kernel;
std::vector<std::unique_ptr<CLLKTrackerStage1Kernel>> _tracker_stage1_kernel;
std::unique_ptr<CLLKTrackerFinalizeKernel> _tracker_finalize_kernel;
std::vector<CLScharr3x3> _func_scharr;
std::vector<CLTensor> _scharr_gx;
std::vector<CLTensor> _scharr_gy;
const ICLKeyPointArray *_old_points;
const ICLKeyPointArray *_new_points_estimates;
ICLKeyPointArray *_new_points;
std::unique_ptr<CLLKInternalKeypointArray> _old_points_internal;
std::unique_ptr<CLLKInternalKeypointArray> _new_points_internal;
std::unique_ptr<CLCoefficientTableArray> _coefficient_table;
std::unique_ptr<CLOldValueArray> _old_values;
size_t _num_levels;
};
}
#endif /*ARM_COMPUTE_CLOPTICALFLOW_H */
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