147 lines
7.9 KiB
C
147 lines
7.9 KiB
C
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/*
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* Copyright (c) 2017-2020 Arm Limited.
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*
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* SPDX-License-Identifier: MIT
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to
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* deal in the Software without restriction, including without limitation the
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* rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
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* sell copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*/
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#ifndef ARM_COMPUTE_CLOPTICALFLOW_H
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#define ARM_COMPUTE_CLOPTICALFLOW_H
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#include "arm_compute/core/IArray.h"
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#include "arm_compute/core/Types.h"
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#include "arm_compute/runtime/CL/CLArray.h"
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#include "arm_compute/runtime/CL/CLTensor.h"
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#include "arm_compute/runtime/CL/functions/CLScharr3x3.h"
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#include "arm_compute/runtime/IFunction.h"
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#include "arm_compute/runtime/IMemoryManager.h"
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#include "arm_compute/runtime/MemoryGroup.h"
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#include <cstddef>
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#include <cstdint>
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#include <memory>
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namespace arm_compute
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{
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class CLCompileContext;
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class CLPyramid;
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class CLLKTrackerInitKernel;
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class CLLKTrackerStage0Kernel;
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class CLLKTrackerStage1Kernel;
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class CLLKTrackerFinalizeKernel;
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/** OpenCL Array of Internal Keypoints */
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using CLLKInternalKeypointArray = CLArray<CLLKInternalKeypoint>;
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/** OpenCL Array of Coefficient Tables */
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using CLCoefficientTableArray = CLArray<CLCoefficientTable>;
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/** OpenCL Array of Old Values */
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using CLOldValueArray = CLArray<CLOldValue>;
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/** Basic function to execute optical flow. This function calls the following OpenCL kernels and functions:
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*
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* -# @ref CLScharr3x3
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* -# @ref CLLKTrackerInitKernel
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* -# @ref CLLKTrackerStage0Kernel
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* -# @ref CLLKTrackerStage1Kernel
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* -# @ref CLLKTrackerFinalizeKernel
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*
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* @deprecated This function is deprecated and is intended to be removed in 21.05 release
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*
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*/
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class CLOpticalFlow : public IFunction
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{
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public:
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/** Default constructor */
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CLOpticalFlow(std::shared_ptr<IMemoryManager> memory_manager = nullptr);
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/** Prevent instances of this class from being copied (As this class contains pointers) */
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CLOpticalFlow(const CLOpticalFlow &) = delete;
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/** Prevent instances of this class from being copied (As this class contains pointers) */
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CLOpticalFlow &operator=(const CLOpticalFlow &) = delete;
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/** Allow instances of this class to be moved */
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CLOpticalFlow(CLOpticalFlow &&) = default;
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/** Allow instances of this class to be moved */
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CLOpticalFlow &operator=(CLOpticalFlow &&) = default;
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/** Default destructor */
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~CLOpticalFlow();
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/** Initialise the function input and output
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*
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* @param[in] old_pyramid Pointer to the pyramid for the old tensor. Data types supported U8
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* @param[in] new_pyramid Pointer to the pyramid for the new tensor. Data types supported U8
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* @param[in] old_points Pointer to the IKeyPointArray storing old key points
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* @param[in] new_points_estimates Pointer to the IKeyPointArray storing new estimates key points
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* @param[out] new_points Pointer to the IKeyPointArray storing new key points
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* @param[in] termination The criteria to terminate the search of each keypoint.
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* @param[in] epsilon The error for terminating the algorithm
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* @param[in] num_iterations The maximum number of iterations before terminate the alogrithm
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* @param[in] window_dimension The size of the window on which to perform the algorithm
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* @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used
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* @param[in] border_mode The border mode applied at scharr kernel stage
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* @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT
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*
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*/
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void configure(const CLPyramid *old_pyramid, const CLPyramid *new_pyramid,
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const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points,
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Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate,
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BorderMode border_mode, uint8_t constant_border_value = 0);
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/** Initialise the function input and output
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*
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* @param[in] compile_context The compile context to be used.
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* @param[in] old_pyramid Pointer to the pyramid for the old tensor. Data types supported U8
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* @param[in] new_pyramid Pointer to the pyramid for the new tensor. Data types supported U8
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* @param[in] old_points Pointer to the IKeyPointArray storing old key points
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* @param[in] new_points_estimates Pointer to the IKeyPointArray storing new estimates key points
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* @param[out] new_points Pointer to the IKeyPointArray storing new key points
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* @param[in] termination The criteria to terminate the search of each keypoint.
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* @param[in] epsilon The error for terminating the algorithm
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* @param[in] num_iterations The maximum number of iterations before terminate the alogrithm
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* @param[in] window_dimension The size of the window on which to perform the algorithm
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* @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used
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* @param[in] border_mode The border mode applied at scharr kernel stage
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* @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT
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*
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*/
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void configure(const CLCompileContext &compile_context, const CLPyramid *old_pyramid, const CLPyramid *new_pyramid,
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const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points,
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Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate,
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BorderMode border_mode, uint8_t constant_border_value = 0);
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// Inherited methods overridden:
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void run() override;
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private:
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MemoryGroup _memory_group;
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std::vector<std::unique_ptr<CLLKTrackerInitKernel>> _tracker_init_kernel;
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std::vector<std::unique_ptr<CLLKTrackerStage0Kernel>> _tracker_stage0_kernel;
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std::vector<std::unique_ptr<CLLKTrackerStage1Kernel>> _tracker_stage1_kernel;
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std::unique_ptr<CLLKTrackerFinalizeKernel> _tracker_finalize_kernel;
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std::vector<CLScharr3x3> _func_scharr;
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std::vector<CLTensor> _scharr_gx;
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std::vector<CLTensor> _scharr_gy;
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const ICLKeyPointArray *_old_points;
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const ICLKeyPointArray *_new_points_estimates;
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ICLKeyPointArray *_new_points;
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std::unique_ptr<CLLKInternalKeypointArray> _old_points_internal;
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std::unique_ptr<CLLKInternalKeypointArray> _new_points_internal;
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std::unique_ptr<CLCoefficientTableArray> _coefficient_table;
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std::unique_ptr<CLOldValueArray> _old_values;
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size_t _num_levels;
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};
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}
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#endif /*ARM_COMPUTE_CLOPTICALFLOW_H */
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