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_CLHARRISCORNERS_H 25 #define ARM_COMPUTE_CLHARRISCORNERS_H 26 27 #include "arm_compute/core/CL/ICLArray.h" 28 #include "arm_compute/core/CPP/kernels/CPPCornerCandidatesKernel.h" 29 #include "arm_compute/core/CPP/kernels/CPPSortEuclideanDistanceKernel.h" 30 #include "arm_compute/core/Types.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 #include <cstdint> 37 #include <memory> 38 39 namespace arm_compute 40 { 41 class CLCompileContext; 42 class CLHarrisScoreKernel; 43 class CLFillBorderKernel; 44 class ICLTensor; 45 using ICLImage = ICLTensor; 46 47 /** Basic function to execute harris corners detection. This function calls the following CL and NEON kernels and functions: 48 * 49 * @note Requires CPU support for the kernels: CPPCornerCandidatesKernel and CPPSortEuclideanDistanceKernel. 50 * 51 * -# @ref CLSobel3x3 (if gradient_size == 3) or<br/> 52 * @ref CLSobel5x5 (if gradient_size == 5) or<br/> 53 * @ref CLSobel7x7 (if gradient_size == 7) 54 * -# @ref CLFillBorderKernel 55 * -# @ref CLHarrisScoreKernel 56 * -# @ref CLNonMaximaSuppression3x3 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 CLHarrisCorners : public IFunction 64 { 65 public: 66 /** Constructor */ 67 CLHarrisCorners(std::shared_ptr<IMemoryManager> memory_manager = nullptr); 68 /** Prevent instances of this class from being copied (As this class contains pointers) */ 69 CLHarrisCorners(const CLHarrisCorners &) = delete; 70 /** Prevent instances of this class from being copied (As this class contains pointers) */ 71 const CLHarrisCorners &operator=(const CLHarrisCorners &) = delete; 72 /** Default destructor */ 73 ~CLHarrisCorners(); 74 /** Initialize the function's source, destination, conv and border_mode. 75 * 76 * @param[in,out] input Source image. Data types supported: U8. (Written to only for @p border_mode != UNDEFINED) 77 * @param[in] threshold Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel). 78 * @param[in] min_dist Radial Euclidean distance for the euclidean distance stage. 79 * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation 80 * @param[in] gradient_size The gradient window size to use on the input. The implementation supports 3, 5, and 7 81 * @param[in] block_size The block window size used to compute the Harris Corner score. The implementation supports 3, 5, and 7. 82 * @param[out] corners Array of keypoints to store the results. 83 * @param[in] border_mode Border mode to use 84 * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT. 85 * @param[in] use_fp16 (Optional) If true the FP16 kernels will be used. If false F32 kernels are used. 86 */ 87 void configure(ICLImage *input, float threshold, float min_dist, float sensitivity, 88 int32_t gradient_size, int32_t block_size, ICLKeyPointArray *corners, 89 BorderMode border_mode, uint8_t constant_border_value = 0, bool use_fp16 = false); 90 /** Initialize the function's source, destination, conv and border_mode. 91 * 92 * @param[in] compile_context The compile context to be used. 93 * @param[in,out] input Source image. Data types supported: U8. (Written to only for @p border_mode != UNDEFINED) 94 * @param[in] threshold Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel). 95 * @param[in] min_dist Radial Euclidean distance for the euclidean distance stage. 96 * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation 97 * @param[in] gradient_size The gradient window size to use on the input. The implementation supports 3, 5, and 7 98 * @param[in] block_size The block window size used to compute the Harris Corner score. The implementation supports 3, 5, and 7. 99 * @param[out] corners Array of keypoints to store the results. 100 * @param[in] border_mode Border mode to use 101 * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT. 102 * @param[in] use_fp16 (Optional) If true the FP16 kernels will be used. If false F32 kernels are used. 103 */ 104 void configure(const CLCompileContext &compile_context, ICLImage *input, float threshold, float min_dist, float sensitivity, 105 int32_t gradient_size, int32_t block_size, ICLKeyPointArray *corners, 106 BorderMode border_mode, uint8_t constant_border_value = 0, bool use_fp16 = false); 107 108 // Inherited methods overridden: 109 void run() override; 110 111 private: 112 MemoryGroup _memory_group; /**< Function's memory group */ 113 std::unique_ptr<IFunction> _sobel; /**< Sobel function */ 114 std::unique_ptr<CLHarrisScoreKernel> _harris_score; /**< Harris score kernel */ 115 CLNonMaximaSuppression3x3 _non_max_suppr; /**< Non-maxima suppression function */ 116 CPPCornerCandidatesKernel _candidates; /**< Sort kernel */ 117 CPPSortEuclideanDistanceKernel _sort_euclidean; /**< Euclidean distance kernel */ 118 std::unique_ptr<CLFillBorderKernel> _border_gx; /**< Border handler before running harris score */ 119 std::unique_ptr<CLFillBorderKernel> _border_gy; /**< Border handler before running harris score */ 120 CLImage _gx; /**< Source image - Gx component */ 121 CLImage _gy; /**< Source image - Gy component */ 122 CLImage _score; /**< Source image - Harris score */ 123 CLImage _nonmax; /**< Source image - Non-Maxima suppressed image */ 124 std::vector<InternalKeypoint> _corners_list; /**< Array of InternalKeypoint. It stores the potential corner candidates */ 125 int32_t _num_corner_candidates; /**< Number of potential corner candidates */ 126 ICLKeyPointArray *_corners; /**< Output corners array */ 127 }; 128 } 129 #endif /*ARM_COMPUTE_CLHARRISCORNERS_H */ 130