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_CLHARRISCORNERSKERNEL_H 25 #define ARM_COMPUTE_CLHARRISCORNERSKERNEL_H 26 27 #include "src/core/CL/ICLKernel.h" 28 29 #include <cstdint> 30 31 namespace arm_compute 32 { 33 class ICLTensor; 34 using ICLImage = ICLTensor; 35 36 /** Interface for the harris score kernel. 37 * 38 * @note The implementation supports 3, 5, and 7 for the block_size. 39 */ 40 class CLHarrisScoreKernel : public ICLKernel 41 { 42 public: 43 /** Default constructor */ 44 CLHarrisScoreKernel(); 45 /** Prevent instances of this class from being copied (As this class contains pointers) */ 46 CLHarrisScoreKernel(const CLHarrisScoreKernel &) = delete; 47 /** Prevent instances of this class from being copied (As this class contains pointers) */ 48 CLHarrisScoreKernel &operator=(const CLHarrisScoreKernel &) = delete; 49 /** Allow instances of this class to be moved */ 50 CLHarrisScoreKernel(CLHarrisScoreKernel &&) = default; 51 /** Allow instances of this class to be moved */ 52 CLHarrisScoreKernel &operator=(CLHarrisScoreKernel &&) = default; 53 /** Default destructor */ 54 ~CLHarrisScoreKernel() = default; 55 56 /** Setup the kernel parameters 57 * 58 * @param[in] input1 Source image (gradient X). Data types supported S16, S32. (Must be the same as input2) 59 * @param[in] input2 Source image (gradient Y). Data types supported S16, S32. (Must be the same as input1) 60 * @param[out] output Destination image (harris score). Data types supported F32 61 * @param[in] block_size The block window size used to compute the Harris Corner score. Supports: 3, 5 and 7 62 * @param[in] norm_factor Normalization factor to use accordingly with the gradient size (Must be different from 0) 63 * @param[in] strength_thresh Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel). 64 * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation. 65 * @param[in] border_undefined True if the border mode is undefined. False if it's replicate or constant. 66 */ 67 void configure(const ICLImage *input1, const ICLImage *input2, ICLImage *output, 68 int32_t block_size, float norm_factor, float strength_thresh, float sensitivity, 69 bool border_undefined); 70 /** Setup the kernel parameters 71 * 72 * @param[in] compile_context The compile context to be used. 73 * @param[in] input1 Source image (gradient X). Data types supported S16, S32. (Must be the same as input2) 74 * @param[in] input2 Source image (gradient Y). Data types supported S16, S32. (Must be the same as input1) 75 * @param[out] output Destination image (harris score). Data types supported F32 76 * @param[in] block_size The block window size used to compute the Harris Corner score. Supports: 3, 5 and 7 77 * @param[in] norm_factor Normalization factor to use accordingly with the gradient size (Must be different from 0) 78 * @param[in] strength_thresh Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel). 79 * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation. 80 * @param[in] border_undefined True if the border mode is undefined. False if it's replicate or constant. 81 */ 82 void configure(const CLCompileContext &compile_context, const ICLImage *input1, const ICLImage *input2, ICLImage *output, 83 int32_t block_size, float norm_factor, float strength_thresh, float sensitivity, 84 bool border_undefined); 85 86 // Inherited methods overridden: 87 void run(const Window &window, cl::CommandQueue &queue) override; 88 BorderSize border_size() const override; 89 90 protected: 91 const ICLImage *_input1; /**< Source image - Gx component */ 92 const ICLImage *_input2; /**< Source image - Gy component */ 93 ICLImage *_output; /**< Source image - Harris score */ 94 float _sensitivity; /**< Sensitivity value */ 95 float _strength_thresh; /**< Threshold value */ 96 float _norm_factor; /**< Normalization factor */ 97 BorderSize _border_size; /**< Border size */ 98 }; 99 } // namespace arm_compute 100 #endif /* ARM_COMPUTE_CLHARRISCORNERSKERNEL_H */ 101