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/*
* Copyright (c) 2016, 2017 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.
*/
#include "arm_compute/runtime/NEON/functions/NEOpticalFlow.h"
#include "arm_compute/core/Error.h"
#include "arm_compute/core/Helpers.h"
#include "arm_compute/core/ITensor.h"
#include "arm_compute/core/NEON/kernels/NELKTrackerKernel.h"
#include "arm_compute/core/TensorInfo.h"
#include "arm_compute/core/Window.h"
#include "arm_compute/runtime/NEON/NEScheduler.h"
#include "arm_compute/runtime/NEON/functions/NEScharr3x3.h"
#include "arm_compute/runtime/Pyramid.h"
#include "arm_compute/runtime/Tensor.h"
#include "arm_compute/runtime/TensorAllocator.h"
using namespace arm_compute;
NEOpticalFlow::NEOpticalFlow()
: _func_scharr(), _kernel_tracker(), _scharr_gx(), _scharr_gy(), _new_points(nullptr), _new_points_estimates(nullptr), _old_points(nullptr), _new_points_internal(), _old_points_internal(),
_num_levels(0)
{
}
void NEOpticalFlow::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)
{
ARM_COMPUTE_ERROR_ON(nullptr == old_pyramid);
ARM_COMPUTE_ERROR_ON(nullptr == new_pyramid);
ARM_COMPUTE_ERROR_ON(nullptr == old_points);
ARM_COMPUTE_ERROR_ON(nullptr == new_points_estimates);
ARM_COMPUTE_ERROR_ON(nullptr == new_points);
ARM_COMPUTE_ERROR_ON(old_pyramid->info()->num_levels() != new_pyramid->info()->num_levels());
ARM_COMPUTE_ERROR_ON(0 == old_pyramid->info()->num_levels());
ARM_COMPUTE_ERROR_ON(old_pyramid->info()->width() != new_pyramid->info()->width());
ARM_COMPUTE_ERROR_ON(old_pyramid->info()->height() != new_pyramid->info()->height());
ARM_COMPUTE_ERROR_ON(use_initial_estimate && old_points->num_values() != new_points_estimates->num_values());
_num_levels = old_pyramid->info()->num_levels();
_old_points = old_points;
_new_points = new_points;
_new_points_estimates = new_points_estimates;
const float pyr_scale = old_pyramid->info()->scale();
_func_scharr = arm_compute::cpp14::make_unique<NEScharr3x3[]>(_num_levels);
_kernel_tracker = arm_compute::cpp14::make_unique<NELKTrackerKernel[]>(_num_levels);
_scharr_gx = arm_compute::cpp14::make_unique<Tensor[]>(_num_levels);
_scharr_gy = arm_compute::cpp14::make_unique<Tensor[]>(_num_levels);
_old_points_internal = LKInternalKeypointArray(old_points->num_values());
_new_points_internal = LKInternalKeypointArray(old_points->num_values());
_new_points->resize(old_points->num_values());
for(unsigned int i = 0; i < _num_levels; ++i)
{
// Get images from the ith level of old and right pyramid
IImage *old_ith_input = old_pyramid->get_pyramid_level(i);
IImage *new_ith_input = new_pyramid->get_pyramid_level(i);
// Get width and height of images
const unsigned int width_ith = old_ith_input->info()->dimension(0);
const unsigned int height_ith = new_ith_input->info()->dimension(1);
TensorInfo tensor_info(TensorShape(width_ith, height_ith), Format::S16);
_scharr_gx[i].allocator()->init(tensor_info);
_scharr_gy[i].allocator()->init(tensor_info);
// Init Scharr kernel
_func_scharr[i].configure(old_ith_input, _scharr_gx.get() + i, _scharr_gy.get() + i, border_mode, constant_border_value);
// Init Lucas-Kanade kernel
_kernel_tracker[i].configure(old_ith_input, new_ith_input, _scharr_gx.get() + i, _scharr_gy.get() + i,
old_points, new_points_estimates, new_points,
&_old_points_internal, &_new_points_internal,
termination, use_initial_estimate, epsilon, num_iterations, window_dimension,
i, _num_levels, pyr_scale);
_scharr_gx[i].allocator()->allocate();
_scharr_gy[i].allocator()->allocate();
}
}
void NEOpticalFlow::run()
{
ARM_COMPUTE_ERROR_ON_MSG(_num_levels == 0, "Unconfigured function");
for(unsigned int level = _num_levels; level > 0; --level)
{
// Run Scharr kernel
_func_scharr[level - 1].run();
// Run Lucas-Kanade kernel
NEScheduler::get().schedule(_kernel_tracker.get() + level - 1, Window::DimX);
}
}
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