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_NEOPTICALFLOW_H 25 #define ARM_COMPUTE_NEOPTICALFLOW_H 26 27 #include "arm_compute/core/IArray.h" 28 #include "arm_compute/core/Types.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/NEScharr3x3.h" 35 #include "arm_compute/runtime/Tensor.h" 36 37 #include <cstddef> 38 #include <cstdint> 39 #include <memory> 40 41 namespace arm_compute 42 { 43 class Pyramid; 44 class NELKTrackerKernel; 45 46 /** Array of LK Internel Keypoints */ 47 using LKInternalKeypointArray = Array<NELKInternalKeypoint>; 48 /** Basic function to execute optical flow. This function calls the following NEON kernels and functions: 49 * 50 * -# @ref NEScharr3x3 51 * -# @ref NELKTrackerKernel 52 * 53 * 54 * @deprecated This function is deprecated and is intended to be removed in 21.05 release 55 * 56 */ 57 class NEOpticalFlow : public IFunction 58 { 59 public: 60 /** Constructor 61 * 62 * @param[in] memory_manager (Optional) Memory manager. 63 */ 64 NEOpticalFlow(std::shared_ptr<IMemoryManager> memory_manager = nullptr); 65 /** Prevent instances of this class from being copied (As this class contains pointers) */ 66 NEOpticalFlow(const NEOpticalFlow &) = delete; 67 /** Prevent instances of this class from being copied (As this class contains pointers) */ 68 NEOpticalFlow &operator=(const NEOpticalFlow &) = delete; 69 /** Default destructor */ 70 ~NEOpticalFlow(); 71 /** Initialise the function input and output 72 * 73 * @param[in] old_pyramid Pointer to the pyramid for the old tensor. Data type supported U8 74 * @param[in] new_pyramid Pointer to the pyramid for the new tensor. Data type supported U8 75 * @param[in] old_points Pointer to the IKeyPointArray storing old key points 76 * @param[in] new_points_estimates Pointer to the IKeyPointArray storing new estimates key points 77 * @param[out] new_points Pointer to the IKeyPointArray storing new key points 78 * @param[in] termination The criteria to terminate the search of each keypoint. 79 * @param[in] epsilon The error for terminating the algorithm 80 * @param[in] num_iterations The maximum number of iterations before terminate the alogrithm 81 * @param[in] window_dimension The size of the window on which to perform the algorithm 82 * @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used 83 * @param[in] border_mode The border mode applied at scharr kernel stage 84 * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT 85 * 86 */ 87 void configure(const Pyramid *old_pyramid, const Pyramid *new_pyramid, const IKeyPointArray *old_points, const IKeyPointArray *new_points_estimates, 88 IKeyPointArray *new_points, Termination termination, float epsilon, unsigned int num_iterations, size_t window_dimension, 89 bool use_initial_estimate, BorderMode border_mode, uint8_t constant_border_value = 0); 90 91 // Inherited methods overridden: 92 void run() override; 93 94 private: 95 MemoryGroup _memory_group; 96 std::vector<NEScharr3x3> _func_scharr; 97 std::vector<std::unique_ptr<NELKTrackerKernel>> _kernel_tracker; 98 std::vector<Tensor> _scharr_gx; 99 std::vector<Tensor> _scharr_gy; 100 IKeyPointArray *_new_points; 101 const IKeyPointArray *_new_points_estimates; 102 const IKeyPointArray *_old_points; 103 LKInternalKeypointArray _new_points_internal; 104 LKInternalKeypointArray _old_points_internal; 105 unsigned int _num_levels; 106 }; 107 } // namespace arm_compute 108 #endif /*ARM_COMPUTE_NEOPTICALFLOW_H */ 109