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24 #ifndef __ARM_COMPUTE_CLOPTICALFLOW_H__
25 #define __ARM_COMPUTE_CLOPTICALFLOW_H__
27 #include "arm_compute/core/CL/kernels/CLLKTrackerKernel.h"
29 #include "arm_compute/core/IArray.h"
30 #include "arm_compute/core/Types.h"
31 #include "arm_compute/runtime/CL/CLArray.h"
32 #include "arm_compute/runtime/CL/CLMemoryGroup.h"
33 #include "arm_compute/runtime/CL/CLTensor.h"
34 #include "arm_compute/runtime/CL/functions/CLScharr3x3.h"
35 #include "arm_compute/runtime/IFunction.h"
36 #include "arm_compute/runtime/IMemoryManager.h"
46 /** OpenCL Array of Internal Keypoints */
47 using CLLKInternalKeypointArray = CLArray<CLLKInternalKeypoint>;
48 /** OpenCL Array of Coefficient Tables */
49 using CLCoefficientTableArray = CLArray<CLCoefficientTable>;
50 /** OpenCL Array of Old Values */
51 using CLOldValueArray = CLArray<CLOldValue>;
53 /** Basic function to execute optical flow. This function calls the following OpenCL kernels and functions:
56 * -# @ref CLLKTrackerInitKernel
57 * -# @ref CLLKTrackerStage0Kernel
58 * -# @ref CLLKTrackerStage1Kernel
59 * -# @ref CLLKTrackerFinalizeKernel
61 class CLOpticalFlow : public IFunction
64 /** Default constructor */
65 CLOpticalFlow(std::shared_ptr<IMemoryManager> memory_manager = nullptr);
66 /** Prevent instances of this class from being copied (As this class contains pointers) */
67 CLOpticalFlow(const CLOpticalFlow &) = delete;
68 /** Prevent instances of this class from being copied (As this class contains pointers) */
69 CLOpticalFlow &operator=(const CLOpticalFlow &) = delete;
70 /** Allow instances of this class to be moved */
71 CLOpticalFlow(CLOpticalFlow &&) = default;
72 /** Allow instances of this class to be moved */
73 CLOpticalFlow &operator=(CLOpticalFlow &&) = default;
74 /** Initialise the function input and output
76 * @param[in] old_pyramid Pointer to the pyramid for the old tensor. Data types supported U8
77 * @param[in] new_pyramid Pointer to the pyramid for the new tensor. Data types supported U8
78 * @param[in] old_points Pointer to the IKeyPointArray storing old key points
79 * @param[in] new_points_estimates Pointer to the IKeyPointArray storing new estimates key points
80 * @param[out] new_points Pointer to the IKeyPointArray storing new key points
81 * @param[in] termination The criteria to terminate the search of each keypoint.
82 * @param[in] epsilon The error for terminating the algorithm
83 * @param[in] num_iterations The maximum number of iterations before terminate the alogrithm
84 * @param[in] window_dimension The size of the window on which to perform the algorithm
85 * @param[in] use_initial_estimate The flag to indicate whether the initial estimated position should be used
86 * @param[in] border_mode The border mode applied at scharr kernel stage
87 * @param[in] constant_border_value (Optional) Constant value to use for borders if border_mode is set to CONSTANT
90 void configure(const CLPyramid *old_pyramid, const CLPyramid *new_pyramid,
91 const ICLKeyPointArray *old_points, const ICLKeyPointArray *new_points_estimates, ICLKeyPointArray *new_points,
92 Termination termination, float epsilon, size_t num_iterations, size_t window_dimension, bool use_initial_estimate,
93 BorderMode border_mode, uint8_t constant_border_value = 0);
95 // Inherited methods overridden:
99 CLMemoryGroup _memory_group;
100 std::unique_ptr<CLLKTrackerInitKernel[]> _tracker_init_kernel;
101 std::unique_ptr<CLLKTrackerStage0Kernel[]> _tracker_stage0_kernel;
102 std::unique_ptr<CLLKTrackerStage1Kernel[]> _tracker_stage1_kernel;
103 CLLKTrackerFinalizeKernel _tracker_finalize_kernel;
104 std::unique_ptr<CLScharr3x3[]> _func_scharr;
105 std::unique_ptr<CLTensor[]> _scharr_gx;
106 std::unique_ptr<CLTensor[]> _scharr_gy;
107 const ICLKeyPointArray *_old_points;
108 const ICLKeyPointArray *_new_points_estimates;
109 ICLKeyPointArray *_new_points;
110 std::unique_ptr<CLLKInternalKeypointArray> _old_points_internal;
111 std::unique_ptr<CLLKInternalKeypointArray> _new_points_internal;
112 std::unique_ptr<CLCoefficientTableArray> _coefficient_table;
113 std::unique_ptr<CLOldValueArray> _old_values;
117 #endif /*__ARM_COMPUTE_CLOPTICALFLOW_H__ */