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<div class="title">HarrisCornerDetector.cpp</div> </div>
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<a href="_harris_corner_detector_8cpp.xhtml">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment"> * Copyright (c) 2017 ARM Limited.</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment"> * SPDX-License-Identifier: MIT</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment"> * Permission is hereby granted, free of charge, to any person obtaining a copy</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment"> * of this software and associated documentation files (the &quot;Software&quot;), to</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment"> * deal in the Software without restriction, including without limitation the</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment"> * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment"> * sell copies of the Software, and to permit persons to whom the Software is</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment"> * furnished to do so, subject to the following conditions:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment"> * The above copyright notice and this permission notice shall be included in all</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment"> * copies or substantial portions of the Software.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="comment"> * THE SOFTWARE IS PROVIDED &quot;AS IS&quot;, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="comment"> * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="comment"> * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment"> * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment"> * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="comment"> * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="comment"> * SOFTWARE.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_harris_corner_detector_8h.xhtml">HarrisCornerDetector.h</a>&quot;</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="tests_2validation_2_c_p_p_2_utils_8h.xhtml">Utils.h</a>&quot;</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_non_maxima_suppression_8h.xhtml">tests/validation/CPP/NonMaximaSuppression.h</a>&quot;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_sobel_8h.xhtml">tests/validation/CPP/Sobel.h</a>&quot;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="tests_2validation_2_helpers_8h.xhtml">tests/validation/Helpers.h</a>&quot;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="keyword">namespace </span>arm_compute</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;{</div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;<span class="keyword">namespace </span>test</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160;{</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>&#160;<span class="keyword">namespace </span>validation</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160;{</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="keyword">namespace </span>reference</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;{</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;<span class="keyword">namespace</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;{</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;std::tuple&lt;SimpleTensor&lt;T&gt;, SimpleTensor&lt;T&gt;, <span class="keywordtype">float</span>&gt; compute_sobel(<span class="keyword">const</span> SimpleTensor&lt;uint8_t&gt; &amp;src, <span class="keywordtype">int</span> gradient_size, <span class="keywordtype">int</span> block_size, <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327">BorderMode</a> border_mode, uint8_t constant_border_value)</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;{</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160; SimpleTensor&lt;T&gt; grad_x;</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160; SimpleTensor&lt;T&gt; grad_y;</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>&#160; <span class="keywordtype">float</span> norm_factor = 0.f;</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>&#160;</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>&#160; std::tie(grad_x, grad_y) = sobel&lt;T&gt;(src, gradient_size, border_mode, constant_border_value);</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>&#160;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>&#160; <span class="keywordflow">switch</span>(gradient_size)</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>&#160; {</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>&#160; <span class="keywordflow">case</span> 3:</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160; norm_factor = 1.f / (4 * 255 * block_size);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>&#160; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; <span class="keywordflow">case</span> 5:</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160; norm_factor = 1.f / (16 * 255 * block_size);</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <span class="keywordflow">case</span> 7:</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; norm_factor = 1.f / (64 * 255 * block_size);</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160; <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>&#160; <a class="code" href="_error_8h.xhtml#a05b19c75afe9c24200a62b9724734bbd">ARM_COMPUTE_ERROR</a>(<span class="stringliteral">&quot;Gradient size not supported.&quot;</span>);</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; }</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>&#160;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; <span class="keywordflow">return</span> std::make_tuple(grad_x, grad_y, norm_factor);</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160;}</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160;</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T, <span class="keyword">typename</span> U&gt;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160;std::vector&lt;KeyPoint&gt; harris_corner_detector_impl(<span class="keyword">const</span> SimpleTensor&lt;U&gt; &amp;src, <span class="keywordtype">float</span> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6cae310822a46019ba25a00ddb0f7e62">threshold</a>, <span class="keywordtype">float</span> min_dist, <span class="keywordtype">float</span> sensitivity, <span class="keywordtype">int</span> gradient_size, <span class="keywordtype">int</span> block_size, <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327">BorderMode</a> border_mode,</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; U constant_border_value)</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160;{</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <a class="code" href="_error_8h.xhtml#a54a6080c9f4df1f908e57a9bbb46f5da">ARM_COMPUTE_ERROR_ON</a>(block_size != 3 &amp;&amp; block_size != 5 &amp;&amp; block_size != 7);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; SimpleTensor&lt;T&gt; grad_x;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; SimpleTensor&lt;T&gt; grad_y;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <span class="keywordtype">float</span> norm_factor = 0.f;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; <span class="comment">// Sobel</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160; std::tie(grad_x, grad_y, norm_factor) = compute_sobel&lt;T&gt;(src, gradient_size, block_size, border_mode, constant_border_value);</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160;</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160; SimpleTensor&lt;float&gt; scores(src.shape(), <a class="code" href="namespacearm__compute.xhtml#ab4e88c89b3b7ea1735996cc4def22d58a44ad4ef5a76e6aa6fb3e3fa079a54fda">DataType::F32</a>);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160; ValidRegion scores_region = <a class="code" href="namespacearm__compute_1_1test.xhtml#a4c9ad143c34306817986409ffb1dbd40">shape_to_valid_region</a>(scores.shape(), border_mode == <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327a0db45d2a4141101bdfe48e3314cfbca3">BorderMode::UNDEFINED</a>, BorderSize(gradient_size / 2 + block_size / 2));</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>&#160;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>&#160; <span class="comment">// Calculate scores</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>&#160; <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; scores.num_elements(); ++i)</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>&#160; {</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>&#160; Coordinates src_coord = <a class="code" href="namespacearm__compute_1_1test.xhtml#a24d8c0391cfa38e78969b6ad97c0ff09">index2coord</a>(src.shape(), i);</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>&#160; Coordinates block_top_left{ src_coord.<a class="code" href="classarm__compute_1_1_dimensions.xhtml#afb5cd37bb08f1029691590372e6330f0">x</a>() - block_size / 2, src_coord.y() - block_size / 2 };</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>&#160; Coordinates block_bottom_right{ src_coord.x() + block_size / 2, src_coord.y() + block_size / 2 };</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>&#160; <span class="keywordflow">if</span>(!<a class="code" href="namespacearm__compute_1_1test.xhtml#a856b55fc20ddcbdbeb84c35ae27bedac">is_in_valid_region</a>(scores_region, src_coord))</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>&#160; {</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>&#160; scores[i] = 0.f;</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>&#160; <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>&#160; }</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>&#160;</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>&#160; <span class="keywordtype">float</span> Gx2 = 0.f;</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>&#160; <span class="keywordtype">float</span> Gy2 = 0.f;</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>&#160; <span class="keywordtype">float</span> Gxy = 0.f;</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>&#160;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>&#160; <span class="comment">// Calculate Gx^2, Gy^2 and Gxy within the given window</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160; <span class="keywordflow">for</span>(<span class="keywordtype">int</span> y = src_coord.y() - block_size / 2; y &lt;= src_coord.y() + block_size / 2; ++y)</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>&#160; {</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>&#160; <span class="keywordflow">for</span>(<span class="keywordtype">int</span> x = src_coord.x() - block_size / 2; x &lt;= src_coord.x() + block_size / 2; ++x)</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>&#160; {</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>&#160; Coordinates block_coord(x, y);</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>&#160;</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> norm_x = <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a4f489943d8618d47b1ad4611f0b9b7ff">tensor_elem_at</a>(grad_x, block_coord, border_mode, static_cast&lt;T&gt;(constant_border_value)) * norm_factor;</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> norm_y = <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a4f489943d8618d47b1ad4611f0b9b7ff">tensor_elem_at</a>(grad_y, block_coord, border_mode, static_cast&lt;T&gt;(constant_border_value)) * norm_factor;</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>&#160;</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>&#160; Gx2 += <a class="code" href="namespacearm__compute_1_1test_1_1fixed__point__arithmetic_1_1detail.xhtml#af782da2c5016738c96c16fee5e17670f">std::pow</a>(norm_x, 2);</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>&#160; Gy2 += <a class="code" href="namespacearm__compute_1_1test_1_1fixed__point__arithmetic_1_1detail.xhtml#af782da2c5016738c96c16fee5e17670f">std::pow</a>(norm_y, 2);</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160; Gxy += norm_x * norm_y;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>&#160; }</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>&#160; }</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>&#160;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> trace2 = <a class="code" href="namespacearm__compute_1_1test_1_1fixed__point__arithmetic_1_1detail.xhtml#af782da2c5016738c96c16fee5e17670f">std::pow</a>(Gx2 + Gy2, 2);</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> det = Gx2 * Gy2 - <a class="code" href="namespacearm__compute_1_1test_1_1fixed__point__arithmetic_1_1detail.xhtml#af782da2c5016738c96c16fee5e17670f">std::pow</a>(Gxy, 2);</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>&#160; <span class="keyword">const</span> <span class="keywordtype">float</span> response = det - sensitivity * trace2;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>&#160;</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>&#160; <span class="keywordflow">if</span>(response &gt; threshold)</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>&#160; {</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>&#160; scores[i] = response;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>&#160; }</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160; <span class="keywordflow">else</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>&#160; {</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>&#160; scores[i] = 0.f;</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>&#160; }</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>&#160; }</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160;</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>&#160; <span class="comment">// Suppress non-maxima candidates</span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>&#160; SimpleTensor&lt;float&gt; suppressed_scores = <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a60e89e48713565425943913adec65294">non_maxima_suppression</a>(scores, border_mode != <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327a0db45d2a4141101bdfe48e3314cfbca3">BorderMode::UNDEFINED</a> ? <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327a8d6b5cada83510220f59e00ce86d4d92">BorderMode::CONSTANT</a> : <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327a0db45d2a4141101bdfe48e3314cfbca3">BorderMode::UNDEFINED</a>, 0.f);</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>&#160; ValidRegion suppressed_scores_region = <a class="code" href="namespacearm__compute_1_1test.xhtml#a4c9ad143c34306817986409ffb1dbd40">shape_to_valid_region</a>(suppressed_scores.shape(), border_mode == <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327a0db45d2a4141101bdfe48e3314cfbca3">BorderMode::UNDEFINED</a>, BorderSize(gradient_size / 2 + block_size / 2 + 1));</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>&#160;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160; <span class="comment">// Create vector of candidate corners</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>&#160; std::vector&lt;KeyPoint&gt; corner_candidates;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>&#160;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>&#160; <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; suppressed_scores.num_elements(); ++i)</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>&#160; {</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160; Coordinates coord = <a class="code" href="namespacearm__compute_1_1test.xhtml#a24d8c0391cfa38e78969b6ad97c0ff09">index2coord</a>(suppressed_scores.shape(), i);</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>&#160;</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>&#160; <span class="keywordflow">if</span>(<a class="code" href="namespacearm__compute_1_1test.xhtml#a856b55fc20ddcbdbeb84c35ae27bedac">is_in_valid_region</a>(suppressed_scores_region, coord) &amp;&amp; suppressed_scores[i] &gt; 0.f)</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>&#160; {</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>&#160; KeyPoint corner;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>&#160; corner.<a class="code" href="classarm__compute_1_1_dimensions.xhtml#afb5cd37bb08f1029691590372e6330f0">x</a> = coord.x();</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>&#160; corner.y = coord.y();</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>&#160; corner.tracking_status = 1;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>&#160; corner.strength = suppressed_scores[i];</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>&#160; corner.scale = 0.f;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>&#160; corner.orientation = 0.f;</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>&#160; corner.error = 0.f;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>&#160;</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>&#160; corner_candidates.emplace_back(corner);</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>&#160; }</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>&#160; }</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>&#160;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>&#160; <span class="comment">// Sort descending by strength</span></div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>&#160; std::sort(corner_candidates.begin(), corner_candidates.end(), [](<span class="keyword">const</span> KeyPoint &amp; a, <span class="keyword">const</span> KeyPoint &amp; b)</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>&#160; {</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>&#160; <span class="keywordflow">return</span> a.strength &gt; b.strength;</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>&#160; });</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>&#160;</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>&#160; std::vector&lt;KeyPoint&gt; corners;</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>&#160; corners.reserve(corner_candidates.size());</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>&#160;</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>&#160; <span class="comment">// Only add corner if there is no stronger within min_dist</span></div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>&#160; <span class="keywordflow">for</span>(<span class="keyword">const</span> KeyPoint &amp;point : corner_candidates)</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>&#160; {</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>&#160; <span class="keyword">const</span> <span class="keyword">auto</span> strongest = std::find_if(corners.begin(), corners.end(), [&amp;](<span class="keyword">const</span> KeyPoint &amp; other)</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>&#160; {</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>&#160; <span class="keywordflow">return</span> std::sqrt((<a class="code" href="namespacearm__compute_1_1test_1_1fixed__point__arithmetic_1_1detail.xhtml#af782da2c5016738c96c16fee5e17670f">std::pow</a>(point.x - other.x, 2) + <a class="code" href="namespacearm__compute_1_1test_1_1fixed__point__arithmetic_1_1detail.xhtml#af782da2c5016738c96c16fee5e17670f">std::pow</a>(point.y - other.y, 2))) &lt; min_dist;</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>&#160; });</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160;</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>&#160; <span class="keywordflow">if</span>(strongest == corners.end())</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>&#160; {</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>&#160; corners.emplace_back(point);</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>&#160; }</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160; }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160;</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>&#160; corners.shrink_to_fit();</div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>&#160;</div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>&#160; <span class="keywordflow">return</span> corners;</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>&#160;}</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>&#160;</div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#adc64cfa88bef3958e1603bfca23db47a"> 187</a></span>&#160;std::vector&lt;KeyPoint&gt; <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#adc64cfa88bef3958e1603bfca23db47a">harris_corner_detector</a>(<span class="keyword">const</span> SimpleTensor&lt;T&gt; &amp;src, <span class="keywordtype">float</span> threshold, <span class="keywordtype">float</span> min_dist, <span class="keywordtype">float</span> sensitivity, <span class="keywordtype">int</span> gradient_size, <span class="keywordtype">int</span> block_size, <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327">BorderMode</a> border_mode,</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>&#160; T constant_border_value)</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>&#160;{</div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>&#160; <span class="keywordflow">if</span>(gradient_size &lt; 7)</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>&#160; {</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>&#160; <span class="keywordflow">return</span> harris_corner_detector_impl&lt;int16_t&gt;(src, <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6cae310822a46019ba25a00ddb0f7e62">threshold</a>, min_dist, sensitivity, gradient_size, block_size, border_mode, constant_border_value);</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>&#160; }</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>&#160; <span class="keywordflow">else</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>&#160; {</div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>&#160; <span class="keywordflow">return</span> harris_corner_detector_impl&lt;int32_t&gt;(src, <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6cae310822a46019ba25a00ddb0f7e62">threshold</a>, min_dist, sensitivity, gradient_size, block_size, border_mode, constant_border_value);</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>&#160; }</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>&#160;}</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>&#160;</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>&#160;<span class="keyword">template</span> std::vector&lt;KeyPoint&gt; <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#adc64cfa88bef3958e1603bfca23db47a">harris_corner_detector</a>(<span class="keyword">const</span> <a class="code" href="classarm__compute_1_1test_1_1_simple_tensor.xhtml">SimpleTensor&lt;uint8_t&gt;</a> &amp;src, <span class="keywordtype">float</span> threshold, <span class="keywordtype">float</span> min_dist, <span class="keywordtype">float</span> sensitivity, <span class="keywordtype">int</span> gradient_size, <span class="keywordtype">int</span> block_size, <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327">BorderMode</a> border_mode,</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>&#160; uint8_t constant_border_value);</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>&#160;} <span class="comment">// namespace reference</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>&#160;} <span class="comment">// namespace validation</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>&#160;} <span class="comment">// namespace test</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>&#160;} <span class="comment">// namespace arm_compute</span></div>
<div class="ttc" id="namespacearm__compute_xhtml_a15a05537a472ee742404821851529327"><div class="ttname"><a href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327">arm_compute::BorderMode</a></div><div class="ttdeci">BorderMode</div><div class="ttdoc">Methods available to handle borders. </div><div class="ttdef"><b>Definition:</b> <a href="arm__compute_2core_2_types_8h_source.xhtml#l00128">Types.h:128</a></div></div>
<div class="ttc" id="_error_8h_xhtml_a05b19c75afe9c24200a62b9724734bbd"><div class="ttname"><a href="_error_8h.xhtml#a05b19c75afe9c24200a62b9724734bbd">ARM_COMPUTE_ERROR</a></div><div class="ttdeci">#define ARM_COMPUTE_ERROR(...)</div><div class="ttdoc">Print the given message then throw an std::runtime_error. </div><div class="ttdef"><b>Definition:</b> <a href="_error_8h_source.xhtml#l00031">Error.h:31</a></div></div>
<div class="ttc" id="namespacearm__compute_1_1test_1_1validation_xhtml_a4f489943d8618d47b1ad4611f0b9b7ff"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation.xhtml#a4f489943d8618d47b1ad4611f0b9b7ff">arm_compute::test::validation::tensor_elem_at</a></div><div class="ttdeci">T tensor_elem_at(const SimpleTensor&lt; T &gt; &amp;src, Coordinates coord, BorderMode border_mode, T constant_border_value)</div><div class="ttdef"><b>Definition:</b> <a href="tests_2validation_2_c_p_p_2_utils_8h_source.xhtml#l00046">Utils.h:46</a></div></div>
<div class="ttc" id="namespacearm__compute_1_1test_xhtml_a4c9ad143c34306817986409ffb1dbd40"><div class="ttname"><a href="namespacearm__compute_1_1test.xhtml#a4c9ad143c34306817986409ffb1dbd40">arm_compute::test::shape_to_valid_region</a></div><div class="ttdeci">ValidRegion shape_to_valid_region(TensorShape shape, bool border_undefined=false, BorderSize border_size=BorderSize(0))</div><div class="ttdoc">Create a valid region based on tensor shape, border mode and border size. </div><div class="ttdef"><b>Definition:</b> <a href="tests_2_utils_8h_source.xhtml#l00193">Utils.h:193</a></div></div>
<div class="ttc" id="namespacearm__compute_xhtml_ab4e88c89b3b7ea1735996cc4def22d58a44ad4ef5a76e6aa6fb3e3fa079a54fda"><div class="ttname"><a href="namespacearm__compute.xhtml#ab4e88c89b3b7ea1735996cc4def22d58a44ad4ef5a76e6aa6fb3e3fa079a54fda">arm_compute::Format::F32</a></div><div class="ttdoc">1 channel, 1 F16 per channel </div></div>
<div class="ttc" id="_error_8h_xhtml_a54a6080c9f4df1f908e57a9bbb46f5da"><div class="ttname"><a href="_error_8h.xhtml#a54a6080c9f4df1f908e57a9bbb46f5da">ARM_COMPUTE_ERROR_ON</a></div><div class="ttdeci">#define ARM_COMPUTE_ERROR_ON(cond)</div><div class="ttdoc">If the condition is true then an error message is printed and an exception thrown. </div><div class="ttdef"><b>Definition:</b> <a href="_error_8h_source.xhtml#l00124">Error.h:124</a></div></div>
<div class="ttc" id="tests_2validation_2_helpers_8h_xhtml"><div class="ttname"><a href="tests_2validation_2_helpers_8h.xhtml">Helpers.h</a></div></div>
<div class="ttc" id="_sobel_8h_xhtml"><div class="ttname"><a href="_sobel_8h.xhtml">Sobel.h</a></div></div>
<div class="ttc" id="_non_maxima_suppression_8h_xhtml"><div class="ttname"><a href="_non_maxima_suppression_8h.xhtml">NonMaximaSuppression.h</a></div></div>
<div class="ttc" id="classarm__compute_1_1_dimensions_xhtml_afb5cd37bb08f1029691590372e6330f0"><div class="ttname"><a href="classarm__compute_1_1_dimensions.xhtml#afb5cd37bb08f1029691590372e6330f0">arm_compute::Dimensions::x</a></div><div class="ttdeci">T x() const </div><div class="ttdoc">Alias to access the size of the first dimension. </div><div class="ttdef"><b>Definition:</b> <a href="_dimensions_8h_source.xhtml#l00081">Dimensions.h:81</a></div></div>
<div class="ttc" id="namespacearm__compute_1_1test_xhtml_a856b55fc20ddcbdbeb84c35ae27bedac"><div class="ttname"><a href="namespacearm__compute_1_1test.xhtml#a856b55fc20ddcbdbeb84c35ae27bedac">arm_compute::test::is_in_valid_region</a></div><div class="ttdeci">bool is_in_valid_region(const ValidRegion &amp;valid_region, Coordinates coord)</div><div class="ttdoc">Check if a coordinate is within a valid region. </div><div class="ttdef"><b>Definition:</b> <a href="tests_2_utils_8h_source.xhtml#l00355">Utils.h:355</a></div></div>
<div class="ttc" id="_harris_corner_detector_8h_xhtml"><div class="ttname"><a href="_harris_corner_detector_8h.xhtml">HarrisCornerDetector.h</a></div></div>
<div class="ttc" id="namespacearm__compute_1_1test_xhtml_a24d8c0391cfa38e78969b6ad97c0ff09"><div class="ttname"><a href="namespacearm__compute_1_1test.xhtml#a24d8c0391cfa38e78969b6ad97c0ff09">arm_compute::test::index2coord</a></div><div class="ttdeci">Coordinates index2coord(const TensorShape &amp;shape, int index)</div><div class="ttdoc">Convert a linear index into n-dimensional coordinates. </div><div class="ttdef"><b>Definition:</b> <a href="tests_2_utils_8h_source.xhtml#l00308">Utils.h:308</a></div></div>
<div class="ttc" id="classarm__compute_1_1test_1_1_simple_tensor_xhtml"><div class="ttname"><a href="classarm__compute_1_1test_1_1_simple_tensor.xhtml">arm_compute::test::SimpleTensor&lt; uint8_t &gt;</a></div></div>
<div class="ttc" id="namespacearm__compute_1_1test_1_1validation_1_1reference_xhtml_adc64cfa88bef3958e1603bfca23db47a"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#adc64cfa88bef3958e1603bfca23db47a">arm_compute::test::validation::reference::harris_corner_detector</a></div><div class="ttdeci">std::vector&lt; KeyPoint &gt; harris_corner_detector(const SimpleTensor&lt; T &gt; &amp;src, float threshold, float min_dist, float sensitivity, int gradient_size, int block_size, BorderMode border_mode, T constant_border_value)</div><div class="ttdef"><b>Definition:</b> <a href="_harris_corner_detector_8cpp_source.xhtml#l00187">HarrisCornerDetector.cpp:187</a></div></div>
<div class="ttc" id="namespacearm__compute_1_1test_1_1validation_1_1reference_xhtml_a60e89e48713565425943913adec65294"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a60e89e48713565425943913adec65294">arm_compute::test::validation::reference::non_maxima_suppression</a></div><div class="ttdeci">SimpleTensor&lt; T &gt; non_maxima_suppression(const SimpleTensor&lt; T &gt; &amp;src, BorderMode border_mode, T constant_border_value)</div><div class="ttdef"><b>Definition:</b> <a href="_non_maxima_suppression_8cpp_source.xhtml#l00038">NonMaximaSuppression.cpp:38</a></div></div>
<div class="ttc" id="namespacearm__compute_xhtml_a15a05537a472ee742404821851529327a0db45d2a4141101bdfe48e3314cfbca3"><div class="ttname"><a href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327a0db45d2a4141101bdfe48e3314cfbca3">arm_compute::BorderMode::UNDEFINED</a></div><div class="ttdoc">Borders are left undefined. </div></div>
<div class="ttc" id="tests_2validation_2_c_p_p_2_utils_8h_xhtml"><div class="ttname"><a href="tests_2validation_2_c_p_p_2_utils_8h.xhtml">Utils.h</a></div></div>
<div class="ttc" id="namespacearm__compute_xhtml_a15a05537a472ee742404821851529327a8d6b5cada83510220f59e00ce86d4d92"><div class="ttname"><a href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327a8d6b5cada83510220f59e00ce86d4d92">arm_compute::BorderMode::CONSTANT</a></div><div class="ttdoc">Pixels outside the image are assumed to have a constant value. </div></div>
<div class="ttc" id="namespacearm__compute_1_1test_1_1fixed__point__arithmetic_1_1detail_xhtml_af782da2c5016738c96c16fee5e17670f"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1fixed__point__arithmetic_1_1detail.xhtml#af782da2c5016738c96c16fee5e17670f">arm_compute::test::fixed_point_arithmetic::detail::pow</a></div><div class="ttdeci">fixed_point&lt; T &gt; pow(fixed_point&lt; T &gt; x, fixed_point&lt; T &gt; a)</div><div class="ttdef"><b>Definition:</b> <a href="tests_2validation_2_fixed_point_8h_source.xhtml#l00944">FixedPoint.h:944</a></div></div>
<div class="ttc" id="namespacearm__compute_1_1test_1_1validation_1_1reference_xhtml_a6cae310822a46019ba25a00ddb0f7e62"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6cae310822a46019ba25a00ddb0f7e62">arm_compute::test::validation::reference::threshold</a></div><div class="ttdeci">SimpleTensor&lt; T &gt; threshold(const SimpleTensor&lt; T &gt; &amp;src, T threshold, T false_value, T true_value, ThresholdType type, T upper)</div><div class="ttdef"><b>Definition:</b> <a href="_c_p_p_2_threshold_8cpp_source.xhtml#l00035">Threshold.cpp:35</a></div></div>
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