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_CLFASTCORNERS_H 25 #define ARM_COMPUTE_CLFASTCORNERS_H 26 27 #include "arm_compute/core/CL/OpenCL.h" 28 #include "arm_compute/core/Types.h" 29 #include "arm_compute/core/Window.h" 30 #include "arm_compute/runtime/CL/CLArray.h" 31 #include "arm_compute/runtime/CL/CLTensor.h" 32 #include "arm_compute/runtime/CL/functions/CLNonMaximaSuppression3x3.h" 33 #include "arm_compute/runtime/IFunction.h" 34 #include "arm_compute/runtime/IMemoryManager.h" 35 #include "arm_compute/runtime/MemoryGroup.h" 36 37 #include <cstdint> 38 #include <memory> 39 40 namespace arm_compute 41 { 42 class CLFastCornersKernel; 43 class CLCopyToArrayKernel; 44 class ICLTensor; 45 using ICLImage = ICLTensor; 46 47 /** Basic function to execute fast corners. This function calls the following CL kernels: 48 * 49 * -# @ref CLFastCornersKernel 50 * -# @ref CLNonMaximaSuppression3x3Kernel (executed if nonmax_suppression == true) 51 * -# @ref CLCopyToArrayKernel 52 * 53 * @deprecated This function is deprecated and is intended to be removed in 21.05 release 54 * 55 */ 56 class CLFastCorners : public IFunction 57 { 58 public: 59 /** Constructor */ 60 CLFastCorners(std::shared_ptr<IMemoryManager> memory_manager = nullptr); 61 /** Prevent instances of this class from being copied (As this class contains pointers) */ 62 CLFastCorners(const CLFastCorners &) = delete; 63 /** Prevent instances of this class from being copied (As this class contains pointers) */ 64 const CLFastCorners &operator=(const CLFastCorners &) = delete; 65 /** Default destructor */ 66 ~CLFastCorners(); 67 /** Initialize the function's source, destination, conv and border_mode. 68 * 69 * @param[in] input Source image. Data types supported: U8. 70 * @param[in] threshold Threshold on difference between intensity of the central pixel and pixels on Bresenham's circle of radius 3. 71 * @param[in] nonmax_suppression If true, non-maximum suppression is applied to detected corners before being placed in the array. 72 * @param[out] corners Array of keypoints to store the results. 73 * @param[in,out] num_corners Record number of corners in the array 74 * @param[in] border_mode Strategy to use for borders. 75 * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT. 76 */ 77 void configure(const ICLImage *input, float threshold, bool nonmax_suppression, ICLKeyPointArray *corners, unsigned int *num_corners, 78 BorderMode border_mode, uint8_t constant_border_value = 0); 79 /** Initialize the function's source, destination, conv and border_mode. 80 * 81 * @param[in] compile_context The compile context to be used. 82 * @param[in] input Source image. Data types supported: U8. 83 * @param[in] threshold Threshold on difference between intensity of the central pixel and pixels on Bresenham's circle of radius 3. 84 * @param[in] nonmax_suppression If true, non-maximum suppression is applied to detected corners before being placed in the array. 85 * @param[out] corners Array of keypoints to store the results. 86 * @param[in,out] num_corners Record number of corners in the array 87 * @param[in] border_mode Strategy to use for borders. 88 * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT. 89 */ 90 void configure(const CLCompileContext &compile_context, const ICLImage *input, float threshold, bool nonmax_suppression, ICLKeyPointArray *corners, unsigned int *num_corners, 91 BorderMode border_mode, uint8_t constant_border_value = 0); 92 // Inherited methods overridden: 93 void run() override; 94 95 private: 96 MemoryGroup _memory_group; 97 std::unique_ptr<CLFastCornersKernel> _fast_corners_kernel; 98 CLNonMaximaSuppression3x3 _suppr_func; 99 std::unique_ptr<CLCopyToArrayKernel> _copy_array_kernel; 100 CLImage _output; 101 CLImage _suppr; 102 Window _win; 103 bool _non_max; 104 unsigned int *_num_corners; 105 cl::Buffer _num_buffer; 106 ICLKeyPointArray *_corners; 107 uint8_t _constant_border_value; 108 }; 109 } 110 #endif /*ARM_COMPUTE_CLFASTCORNERS_H */ 111