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_LKTRACKERKERNEL_H 25 #define ARM_COMPUTE_LKTRACKERKERNEL_H 26 27 #include "arm_compute/core/IArray.h" 28 #include "arm_compute/core/Types.h" 29 #include "src/core/NEON/INEKernel.h" 30 31 #include <cstddef> 32 #include <cstdint> 33 #include <tuple> 34 #include <utility> 35 36 namespace arm_compute 37 { 38 class ITensor; 39 40 /** Interface for NEON Array of Internal Key Points. */ 41 using INELKInternalKeypointArray = IArray<NELKInternalKeypoint>; 42 43 /** Interface for the Lucas-Kanade tracker kernel */ 44 class NELKTrackerKernel : public INEKernel 45 { 46 public: name()47 const char *name() const override 48 { 49 return "NELKTrackerKernel"; 50 } 51 /** Default constructor */ 52 NELKTrackerKernel(); 53 /** Prevent instances of this class from being copied (As this class contains pointers) */ 54 NELKTrackerKernel(const NELKTrackerKernel &) = delete; 55 /** Prevent instances of this class from being copied (As this class contains pointers) */ 56 NELKTrackerKernel &operator=(const NELKTrackerKernel &) = delete; 57 /** Allow instances of this class to be moved */ 58 NELKTrackerKernel(NELKTrackerKernel &&) = default; 59 /** Allow instances of this class to be moved */ 60 NELKTrackerKernel &operator=(NELKTrackerKernel &&) = default; 61 /** Default destructor */ 62 ~NELKTrackerKernel() = default; 63 64 /** Initialise the kernel input and output 65 * 66 * @param[in] input_old Pointer to the input old tensor. Data type supported: U8 67 * @param[in] input_new Pointer to the input new tensor. Data type supported. U8 68 * @param[in] old_scharr_gx Pointer to the input scharr X tensor. Data type supported: S16 69 * @param[in] old_scharr_gy Pointer to the input scharr Y tensor. Data type supported: S16 70 * @param[in] old_points Pointer to the IKeyPointArray storing old key points 71 * @param[in] new_points_estimates Pointer to the IKeyPointArray storing new estimates key points 72 * @param[out] new_points Pointer to the IKeyPointArray storing new key points 73 * @param[in, out] old_points_internal Pointer to the array of NELKInternalKeypoint for old points 74 * @param[out] new_points_internal Pointer to the array of NELKInternalKeypoint for new points 75 * @param[in] termination The criteria to terminate the search of each keypoint. 76 * @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used 77 * @param[in] epsilon The error for terminating the algorithm 78 * @param[in] num_iterations The maximum number of iterations before terminate the algorithm 79 * @param[in] window_dimension The size of the window on which to perform the algorithm 80 * @param[in] level The pyramid level 81 * @param[in] num_levels The number of pyramid levels 82 * @param[in] pyramid_scale Scale factor used for generating the pyramid 83 */ 84 void configure(const ITensor *input_old, const ITensor *input_new, const ITensor *old_scharr_gx, const ITensor *old_scharr_gy, 85 const IKeyPointArray *old_points, const IKeyPointArray *new_points_estimates, IKeyPointArray *new_points, 86 INELKInternalKeypointArray *old_points_internal, INELKInternalKeypointArray *new_points_internal, 87 Termination termination, bool use_initial_estimate, float epsilon, unsigned int num_iterations, size_t window_dimension, 88 size_t level, size_t num_levels, float pyramid_scale); 89 90 // Inherited methods overridden: 91 void run(const Window &window, const ThreadInfo &info) override; 92 BorderSize border_size() const override; 93 94 private: 95 /** Initialise the array of keypoints in the provide range 96 * 97 * @param[in] start Index of first element in the keypoints array to be initialised 98 * @param[in] end Index after last elelemnt in the keypoints array to be initialised 99 */ 100 void init_keypoints(int start, int end); 101 /** Compute the structure tensor A^T * A based on the scharr gradients I_x and I_y 102 * 103 * @param[in] keypoint Keypoint for which gradients are computed 104 * @param[out] bilinear_ix Intermediate interpolated data for X gradient 105 * @param[out] bilinear_iy Intermediate interpolated data for Y gradient 106 * 107 * @return Values A11, A12, A22 108 */ 109 std::tuple<int, int, int> compute_spatial_gradient_matrix(const NELKInternalKeypoint &keypoint, int32_t *bilinear_ix, int32_t *bilinear_iy); 110 /** Compute the vector A^T * b, i.e. -sum(I_d * I_t) for d in {x,y} 111 * 112 * @param[in] old_keypoint Old keypoint for which gradient is computed 113 * @param[in] new_keypoint New keypoint for which gradient is computed 114 * @param[in] bilinear_ix Intermediate interpolated data for X gradient 115 * @param[in] bilinear_iy Intermediate interpolated data for Y gradient 116 * 117 * @return Values b1, b2 118 */ 119 std::pair<int, int> compute_image_mismatch_vector(const NELKInternalKeypoint &old_keypoint, const NELKInternalKeypoint &new_keypoint, const int32_t *bilinear_ix, const int32_t *bilinear_iy); 120 121 const ITensor *_input_old; 122 const ITensor *_input_new; 123 const ITensor *_old_scharr_gx; 124 const ITensor *_old_scharr_gy; 125 IKeyPointArray *_new_points; 126 const IKeyPointArray *_new_points_estimates; 127 const IKeyPointArray *_old_points; 128 INELKInternalKeypointArray *_old_points_internal; 129 INELKInternalKeypointArray *_new_points_internal; 130 Termination _termination; 131 bool _use_initial_estimate; 132 float _pyramid_scale; 133 float _epsilon; 134 unsigned int _num_iterations; 135 int _window_dimension; 136 unsigned int _level; 137 unsigned int _num_levels; 138 ValidRegion _valid_region; 139 }; 140 } // namespace arm_compute 141 #endif /*ARM_COMPUTE_NELKTRACKERKERNEL_H */ 142