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_NEHARRISCORNERSKERNEL_H 25 #define ARM_COMPUTE_NEHARRISCORNERSKERNEL_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/IArray.h" 30 #include "src/core/NEON/INEKernel.h" 31 32 #include <cstdint> 33 34 namespace arm_compute 35 { 36 class ITensor; 37 using IImage = ITensor; 38 39 /** Common interface for all Harris Score kernels */ 40 class INEHarrisScoreKernel : public INEKernel 41 { 42 public: 43 /** Default constructor */ 44 INEHarrisScoreKernel(); 45 /** Prevent instances of this class from being copied (As this class contains pointers) */ 46 INEHarrisScoreKernel(const INEHarrisScoreKernel &) = delete; 47 /** Prevent instances of this class from being copied (As this class contains pointers) */ 48 INEHarrisScoreKernel &operator=(const INEHarrisScoreKernel &) = delete; 49 /** Allow instances of this class to be moved */ 50 INEHarrisScoreKernel(INEHarrisScoreKernel &&) = default; 51 /** Allow instances of this class to be moved */ 52 INEHarrisScoreKernel &operator=(INEHarrisScoreKernel &&) = default; 53 /** Default destructor */ 54 ~INEHarrisScoreKernel() = default; 55 56 public: 57 /** Setup the kernel parameters 58 * 59 * @param[in] input1 Source image (gradient X). Data types supported: S16/S32 60 * @param[in] input2 Source image (gradient Y). Data types supported: same as @ input1 61 * @param[out] output Destination image (harris score). Data types supported: F32 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 virtual void configure(const IImage *input1, const IImage *input2, IImage *output, float norm_factor, float strength_thresh, float sensitivity, bool border_undefined) = 0; 68 69 protected: 70 const IImage *_input1; /**< Source image - Gx component */ 71 const IImage *_input2; /**< Source image - Gy component */ 72 IImage *_output; /**< Source image - Harris score */ 73 float _sensitivity; /**< Sensitivity value */ 74 float _strength_thresh; /**< Threshold value */ 75 float _norm_factor; /**< Normalization factor */ 76 BorderSize _border_size; /**< Border size */ 77 }; 78 79 /** Template NEON kernel to perform Harris Score. 80 * The implementation supports 3, 5, and 7 for the block_size 81 */ 82 template <int32_t block_size> 83 class NEHarrisScoreKernel : public INEHarrisScoreKernel 84 { 85 public: name()86 const char *name() const override 87 { 88 return "NEHarrisScoreKernel"; 89 } 90 /** Default constructor */ 91 NEHarrisScoreKernel(); 92 // Inherited methods overridden: 93 void configure(const IImage *input1, const IImage *input2, IImage *output, float norm_factor, float strength_thresh, float sensitivity, bool border_undefined) override; 94 BorderSize border_size() const override; 95 void run(const Window &window, const ThreadInfo &info) override; 96 97 private: 98 /** Common signature for all the specialised harris score functions */ 99 using HarrisScoreFunction = void(const void *__restrict input1_ptr, const void *__restrict input2_ptr, void *__restrict output_ptr, int32_t input_stride, 100 float norm_factor, float sensitivity, float strength_thresh); 101 /** Harris Score function to use for the particular image types passed to configure() */ 102 HarrisScoreFunction *_func; 103 }; 104 } // namespace arm_compute 105 #endif /* ARM_COMPUTE_NEHARRISCORNERSKERNEL_H */ 106