Compute Library
 21.02
NEHarrisCorners.h
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2016-2021 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_NEHARRISCORNERS_H
25 #define ARM_COMPUTE_NEHARRISCORNERS_H
26 
29 #include "arm_compute/core/Types.h"
36 
37 #include <cstdint>
38 #include <memory>
39 
40 namespace arm_compute
41 {
42 class ITensor;
43 class NEFillBorderKernel;
44 class INEHarrisScoreKernel;
45 using IImage = ITensor;
46 
47 /** Basic function to execute harris corners detection. This function calls the following Neon kernels and functions:
48  *
49  * -# @ref NESobel3x3 (if gradient_size == 3) or<br/>
50  * @ref NESobel5x5 (if gradient_size == 5) or<br/>
51  * @ref NESobel7x7 (if gradient_size == 7)
52  * -# @ref NEFillBorderKernel
53  * -# NEHarrisScoreKernel<3> (if block_size == 3) or<br/>
54  * NEHarrisScoreKernel<5> (if block_size == 5) or<br/>
55  * NEHarrisScoreKernel<7> (if block_size == 7)
56  * -# @ref NENonMaximaSuppression3x3
57  * -# @ref CPPCornerCandidatesKernel
58  * -# @ref CPPSortEuclideanDistanceKernel
59  *
60  * @deprecated This function is deprecated and is intended to be removed in 21.05 release
61  *
62  */
63 class NEHarrisCorners : public IFunction
64 {
65 public:
66  /** Constructor
67  *
68  * Initialize _sobel, _harris_score and _corner_list to nullptr.
69  *
70  * @param[in] memory_manager (Optional) Memory manager.
71  */
72  NEHarrisCorners(std::shared_ptr<IMemoryManager> memory_manager = nullptr);
73  /** Prevent instances of this class from being copied (As this class contains pointers) */
74  NEHarrisCorners(const NEHarrisCorners &) = delete;
75  /** Prevent instances of this class from being copied (As this class contains pointers) */
76  NEHarrisCorners &operator=(const NEHarrisCorners &) = delete;
77  /** Prevent instances of this class from being moved (As this class contains non movable objects) */
78  NEHarrisCorners(NEHarrisCorners &&) = delete;
79  /** Prevent instances of this class from being moved (As this class contains non movable objects) */
81  /** Default destructor */
83  /** Initialize the function's source, destination, conv and border_mode.
84  *
85  * @param[in, out] input Source image. Data type supported: U8. (Written to only for @p border_mode != UNDEFINED)
86  * @param[in] threshold Minimum threshold with which to eliminate Harris Corner scores (computed using the normalized Sobel kernel).
87  * @param[in] min_dist Radial Euclidean distance for the euclidean diatance stage
88  * @param[in] sensitivity Sensitivity threshold k from the Harris-Stephens equation
89  * @param[in] gradient_size The gradient window size to use on the input. The implementation supports 3, 5, and 7
90  * @param[in] block_size The block window size used to compute the Harris Corner score. The implementation supports 3, 5, and 7.
91  * @param[out] corners Array of keypoints to store the results.
92  * @param[in] border_mode Border mode to use
93  * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT.
94  */
95  void configure(IImage *input, float threshold, float min_dist, float sensitivity,
96  int32_t gradient_size, int32_t block_size, KeyPointArray *corners,
97  BorderMode border_mode, uint8_t constant_border_value = 0);
98 
99  // Inherited methods overridden:
100  void run() override;
101 
102 private:
103  MemoryGroup _memory_group; /**< Function's memory group */
104  std::unique_ptr<IFunction> _sobel; /**< Sobel function */
105  std::unique_ptr<INEHarrisScoreKernel> _harris_score; /**< Harris score kernel */
106  NENonMaximaSuppression3x3 _non_max_suppr; /**< Non-maxima suppression function */
107  CPPCornerCandidatesKernel _candidates; /**< Sort kernel */
108  CPPSortEuclideanDistanceKernel _sort_euclidean; /**< Euclidean distance kernel */
109  std::unique_ptr<NEFillBorderKernel> _border_gx; /**< Border handler before running harris score */
110  std::unique_ptr<NEFillBorderKernel> _border_gy; /**< Border handler before running harris score */
111  Image _gx; /**< Source image - Gx component */
112  Image _gy; /**< Source image - Gy component */
113  Image _score; /**< Source image - Harris score */
114  Image _nonmax; /**< Source image - Non-Maxima suppressed image */
115  std::vector<InternalKeypoint> _corners_list; /**< Array of InternalKeypoint. It stores the potential corner candidates */
116  int32_t _num_corner_candidates; /**< Number of potential corner candidates */
117 };
118 }
119 #endif /*ARM_COMPUTE_NEHARRISCORNERS_H */
BorderMode
Methods available to handle borders.
Definition: Types.h:265
Basic function to execute non-maxima suppression over a 3x3 window.
Base class for all functions.
Definition: IFunction.h:30
NEHarrisCorners(std::shared_ptr< IMemoryManager > memory_manager=nullptr)
Constructor.
Interface for Neon tensor.
Definition: ITensor.h:36
Copyright (c) 2017-2021 Arm Limited.
Basic implementation of the IArray interface which allocates a static number of T values...
Definition: Array.h:36
CPP kernel to perform corner candidates.
~NEHarrisCorners()
Default destructor.
void run() override
Run the kernels contained in the function.
Basic implementation of the tensor interface.
Definition: Tensor.h:37
ITensor IImage
Interface for CPP Images.
NEHarrisCorners & operator=(const NEHarrisCorners &)=delete
Prevent instances of this class from being copied (As this class contains pointers) ...
CPP kernel to perform sorting and euclidean distance.
void configure(IImage *input, float threshold, float min_dist, float sensitivity, int32_t gradient_size, int32_t block_size, KeyPointArray *corners, BorderMode border_mode, uint8_t constant_border_value=0)
Initialize the function&#39;s source, destination, conv and border_mode.
SimpleTensor< T > threshold(const SimpleTensor< T > &src, T threshold, T false_value, T true_value, ThresholdType type, T upper)
Definition: Threshold.cpp:35
Basic function to execute harris corners detection.