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/*
* Copyright (c) 2016-2019 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_NEOPTICALFLOW_H__
#define __ARM_COMPUTE_NEOPTICALFLOW_H__
#include "arm_compute/core/IArray.h"
#include "arm_compute/core/NEON/kernels/NELKTrackerKernel.h"
#include "arm_compute/core/Types.h"
#include "arm_compute/runtime/Array.h"
#include "arm_compute/runtime/IFunction.h"
#include "arm_compute/runtime/IMemoryManager.h"
#include "arm_compute/runtime/MemoryGroup.h"
#include "arm_compute/runtime/NEON/functions/NEScharr3x3.h"
#include "arm_compute/runtime/Tensor.h"
#include <cstddef>
#include <cstdint>
#include <memory>
namespace arm_compute
{
class Pyramid;
/** Array of LK Internel Keypoints */
using LKInternalKeypointArray = Array<NELKInternalKeypoint>;
/** Basic function to execute optical flow. This function calls the following NEON kernels and functions:
*
* -# @ref NEScharr3x3
* -# @ref NELKTrackerKernel
*
*/
class NEOpticalFlow : public IFunction
{
public:
/** Constructor
*
* @param[in] memory_manager (Optional) Memory manager.
*/
NEOpticalFlow(std::shared_ptr<IMemoryManager> memory_manager = nullptr);
/** Prevent instances of this class from being copied (As this class contains pointers) */
NEOpticalFlow(const NEOpticalFlow &) = delete;
/** Prevent instances of this class from being copied (As this class contains pointers) */
NEOpticalFlow &operator=(const NEOpticalFlow &) = delete;
/** Initialise the function input and output
*
* @param[in] old_pyramid Pointer to the pyramid for the old tensor. Data type supported U8
* @param[in] new_pyramid Pointer to the pyramid for the new tensor. Data type 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 Pyramid *old_pyramid, const Pyramid *new_pyramid, const IKeyPointArray *old_points, const IKeyPointArray *new_points_estimates,
IKeyPointArray *new_points, Termination termination, float epsilon, unsigned int 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<NEScharr3x3> _func_scharr;
std::vector<NELKTrackerKernel> _kernel_tracker;
std::vector<Tensor> _scharr_gx;
std::vector<Tensor> _scharr_gy;
IKeyPointArray *_new_points;
const IKeyPointArray *_new_points_estimates;
const IKeyPointArray *_old_points;
LKInternalKeypointArray _new_points_internal;
LKInternalKeypointArray _old_points_internal;
unsigned int _num_levels;
};
} // namespace arm_compute
#endif /*__ARM_COMPUTE_NEOPTICALFLOW_H__ */
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