1 /* 2 * Copyright (c) 2016-2020 Arm Limited. 3 * 4 * SPDX-License-Identifier: MIT 5 * 6 * Permission is hereby granted, free of charge, to any person obtaining a copy 7 * of this software and associated documentation files (the "Software"), to 8 * deal in the Software without restriction, including without limitation the 9 * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or 10 * sell copies of the Software, and to permit persons to whom the Software is 11 * furnished to do so, subject to the following conditions: 12 * 13 * The above copyright notice and this permission notice shall be included in all 14 * copies or substantial portions of the Software. 15 * 16 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 17 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 18 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 19 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 20 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 21 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 22 * SOFTWARE. 23 */ 24 #ifndef ARM_COMPUTE_NEHARRISCORNERS_H 25 #define ARM_COMPUTE_NEHARRISCORNERS_H 26 27 #include "arm_compute/core/CPP/kernels/CPPCornerCandidatesKernel.h" 28 #include "arm_compute/core/CPP/kernels/CPPSortEuclideanDistanceKernel.h" 29 #include "arm_compute/core/Types.h" 30 #include "arm_compute/runtime/Array.h" 31 #include "arm_compute/runtime/IFunction.h" 32 #include "arm_compute/runtime/IMemoryManager.h" 33 #include "arm_compute/runtime/MemoryGroup.h" 34 #include "arm_compute/runtime/NEON/functions/NENonMaximaSuppression3x3.h" 35 #include "arm_compute/runtime/Tensor.h" 36 37 #include <cstdint> 38 #include <memory> 39 40 namespace arm_compute 41 { 42 class ITensor; 43 class NEFillBorderKernel; 44 class INEHarrisScoreKernel; 45 using IImage = ITensor; 46 47 /** Basic function to execute harris corners detection. This function calls the following NEON kernels and functions: 48 * 49 * -# @ref NESobel3x3 (if gradient_size == 3) or<br/> 50 * @ref NESobel5x5 (if gradient_size == 5) or<br/> 51 * @ref NESobel7x7 (if gradient_size == 7) 52 * -# @ref NEFillBorderKernel 53 * -# NEHarrisScoreKernel<3> (if block_size == 3) or<br/> 54 * NEHarrisScoreKernel<5> (if block_size == 5) or<br/> 55 * NEHarrisScoreKernel<7> (if block_size == 7) 56 * -# @ref NENonMaximaSuppression3x3 57 * -# @ref CPPCornerCandidatesKernel 58 * -# @ref CPPSortEuclideanDistanceKernel 59 * 60 * @deprecated This function is deprecated and is intended to be removed in 21.05 release 61 * 62 */ 63 class NEHarrisCorners : public IFunction 64 { 65 public: 66 /** Constructor 67 * 68 * Initialize _sobel, _harris_score and _corner_list to nullptr. 69 * 70 * @param[in] memory_manager (Optional) Memory manager. 71 */ 72 NEHarrisCorners(std::shared_ptr<IMemoryManager> memory_manager = nullptr); 73 /** Prevent instances of this class from being copied (As this class contains pointers) */ 74 NEHarrisCorners(const NEHarrisCorners &) = delete; 75 /** Prevent instances of this class from being copied (As this class contains pointers) */ 76 NEHarrisCorners &operator=(const NEHarrisCorners &) = delete; 77 /** Prevent instances of this class from being moved (As this class contains non movable objects) */ 78 NEHarrisCorners(NEHarrisCorners &&) = delete; 79 /** Prevent instances of this class from being moved (As this class contains non movable objects) */ 80 NEHarrisCorners &operator=(NEHarrisCorners &&) = delete; 81 /** Default destructor */ 82 ~NEHarrisCorners(); 83 /** Initialize the function's source, destination, conv and border_mode. 84 * 85 * @param[in, out] input Source image. Data type supported: U8. (Written to only for @p border_mode != UNDEFINED) 86 * @param[in] threshold Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel). 87 * @param[in] min_dist Radial Euclidean distance for the euclidean diatance stage 88 * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation 89 * @param[in] gradient_size The gradient window size to use on the input. The implementation supports 3, 5, and 7 90 * @param[in] block_size The block window size used to compute the Harris Corner score. The implementation supports 3, 5, and 7. 91 * @param[out] corners Array of keypoints to store the results. 92 * @param[in] border_mode Border mode to use 93 * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT. 94 */ 95 void configure(IImage *input, float threshold, float min_dist, float sensitivity, 96 int32_t gradient_size, int32_t block_size, KeyPointArray *corners, 97 BorderMode border_mode, uint8_t constant_border_value = 0); 98 99 // Inherited methods overridden: 100 void run() override; 101 102 private: 103 MemoryGroup _memory_group; /**< Function's memory group */ 104 std::unique_ptr<IFunction> _sobel; /**< Sobel function */ 105 std::unique_ptr<INEHarrisScoreKernel> _harris_score; /**< Harris score kernel */ 106 NENonMaximaSuppression3x3 _non_max_suppr; /**< Non-maxima suppression function */ 107 CPPCornerCandidatesKernel _candidates; /**< Sort kernel */ 108 CPPSortEuclideanDistanceKernel _sort_euclidean; /**< Euclidean distance kernel */ 109 std::unique_ptr<NEFillBorderKernel> _border_gx; /**< Border handler before running harris score */ 110 std::unique_ptr<NEFillBorderKernel> _border_gy; /**< Border handler before running harris score */ 111 Image _gx; /**< Source image - Gx component */ 112 Image _gy; /**< Source image - Gy component */ 113 Image _score; /**< Source image - Harris score */ 114 Image _nonmax; /**< Source image - Non-Maxima suppressed image */ 115 std::vector<InternalKeypoint> _corners_list; /**< Array of InternalKeypoint. It stores the potential corner candidates */ 116 int32_t _num_corner_candidates; /**< Number of potential corner candidates */ 117 }; 118 } 119 #endif /*ARM_COMPUTE_NEHARRISCORNERS_H */ 120