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| <a href="validation_2reference_2_optical_flow_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> <span class="comment">/*</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (c) 2018 ARM Limited.</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * SPDX-License-Identifier: MIT</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> *</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <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> <span class="comment"> * of this software and associated documentation files (the "Software"), to</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <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> <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> <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> <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> <span class="comment"> *</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <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> <span class="comment"> * copies or substantial portions of the Software.</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> *</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <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> <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> <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> <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> <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> <span class="comment"> * SOFTWARE.</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> */</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include "<a class="code" href="_optical_flow_8h.xhtml">OpticalFlow.h</a>"</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> </div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include "<a class="code" href="_gaussian_pyramid_half_8h.xhtml">GaussianPyramidHalf.h</a>"</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include "<a class="code" href="_scharr_8h.xhtml">Scharr.h</a>"</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#include "<a class="code" href="tests_2validation_2reference_2_utils_8h.xhtml">Utils.h</a>"</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keyword">namespace </span><a class="code" href="namespacearm__compute.xhtml">arm_compute</a></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> {</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="keyword">namespace </span>test</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> {</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="keyword">namespace </span>validation</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> {</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="keyword">namespace </span>reference</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> {</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="keyword">namespace</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> {</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">using</span> <a class="code" href="namespacearm__compute.xhtml#a8856eca9a83e16bb0cb5880e9c6c9fe7">KeyPointArray</a> = std::vector<KeyPoint>;</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">using</span> InternalKeyPointArray = std::vector<InternalKeyPoint>;</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment">// Constants used for Lucas-Kanade Algorithm</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> constexpr <span class="keywordtype">int</span> <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376">W_BITS</a> = 14;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> constexpr <span class="keywordtype">float</span> <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a> = 1 << <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376">W_BITS</a>;</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> constexpr <span class="keywordtype">float</span> DETERMINANT_THRESHOLD = 1.0e-07f;</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> constexpr <span class="keywordtype">float</span> EIGENVALUE_THRESHOLD = 1.0e-04f;</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> constexpr <span class="keywordtype">float</span> <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a> = 1.0f / (1 << 20);</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment">// Creates an InternalKeyPointArray for tracking non-integral pixel coordinates</span></div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> InternalKeyPointArray create_internal_keypoints(<span class="keyword">const</span> <a class="code" href="namespacearm__compute.xhtml#a8856eca9a83e16bb0cb5880e9c6c9fe7">KeyPointArray</a> &keypoints)</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> {</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  InternalKeyPointArray internal_keypoints;</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">for</span>(<span class="keyword">auto</span> keypoint : keypoints)</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  {</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  InternalKeyPoint internal_keypoint;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  internal_keypoint.x = static_cast<float>(keypoint.x);</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  internal_keypoint.y = static_cast<float>(keypoint.y);</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  internal_keypoint.tracking_status = static_cast<bool>(keypoint.tracking_status);</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> </div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  internal_keypoints.push_back(internal_keypoint);</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keywordflow">return</span> internal_keypoints;</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> }</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment">// Scale tracked points based on Pyramid level</span></div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="keywordtype">void</span> scale_tracked_points(<span class="keywordtype">size_t</span> level, <span class="keywordtype">size_t</span> num_levels, <span class="keywordtype">bool</span> use_initial_estimate,</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  InternalKeyPointArray &old_points_internal, InternalKeyPointArray &new_points_internal,</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">const</span> <a class="code" href="namespacearm__compute.xhtml#a8856eca9a83e16bb0cb5880e9c6c9fe7">KeyPointArray</a> &old_points, <span class="keyword">const</span> <a class="code" href="namespacearm__compute.xhtml#a8856eca9a83e16bb0cb5880e9c6c9fe7">KeyPointArray</a> &new_points_estimates)</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span> {</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordflow">if</span>(level == num_levels - 1) <span class="comment">// lowest resolution</span></div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  {</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6d1214c8e51d5c216c257b8c1ce14525">scale</a> = std::pow(<a class="code" href="namespacearm__compute.xhtml#af9876aedd664cac0ddeacddb40cb71cd">SCALE_PYRAMID_HALF</a>, level);</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i < old_points.size(); ++i)</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  {</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  old_points_internal.at(i).x = old_points.at(i).x * <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6d1214c8e51d5c216c257b8c1ce14525">scale</a>;</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  old_points_internal.at(i).y = old_points.at(i).y * <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6d1214c8e51d5c216c257b8c1ce14525">scale</a>;</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  old_points_internal.at(i).tracking_status = <span class="keyword">true</span>;</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  InternalKeyPoint keypoint_to_track;</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span> </div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">if</span>(use_initial_estimate)</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  {</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  keypoint_to_track.x = new_points_estimates.at(i).x * <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6d1214c8e51d5c216c257b8c1ce14525">scale</a>;</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  keypoint_to_track.y = new_points_estimates.at(i).y * <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6d1214c8e51d5c216c257b8c1ce14525">scale</a>;</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  keypoint_to_track.tracking_status = (new_points_estimates.at(i).tracking_status == 1);</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  {</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  keypoint_to_track.x = old_points_internal.at(i).x;</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  keypoint_to_track.y = old_points_internal.at(i).y;</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  keypoint_to_track.tracking_status = <span class="keyword">true</span>;</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  }</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  new_points_internal.at(i) = keypoint_to_track;</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  }</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  }</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  {</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i < old_points.size(); ++i)</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  {</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  old_points_internal.at(i).x /= <a class="code" href="namespacearm__compute.xhtml#af9876aedd664cac0ddeacddb40cb71cd">SCALE_PYRAMID_HALF</a>;</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  old_points_internal.at(i).y /= <a class="code" href="namespacearm__compute.xhtml#af9876aedd664cac0ddeacddb40cb71cd">SCALE_PYRAMID_HALF</a>;</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  new_points_internal.at(i).x /= <a class="code" href="namespacearm__compute.xhtml#af9876aedd664cac0ddeacddb40cb71cd">SCALE_PYRAMID_HALF</a>;</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  new_points_internal.at(i).y /= <a class="code" href="namespacearm__compute.xhtml#af9876aedd664cac0ddeacddb40cb71cd">SCALE_PYRAMID_HALF</a>;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  }</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  }</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span> }</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span> </div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">bool</span> is_invalid_keypoint(<span class="keyword">const</span> InternalKeyPoint &keypoint, <span class="keyword">const</span> ValidRegion &<a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a7819bcbbf45c2e7c1396a137dce54422">valid_region</a>, <span class="keywordtype">size_t</span> window_dimension)</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span> {</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> half_window = window_dimension / 2;</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> x = std::floor(keypoint.x);</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> y = std::floor(keypoint.y);</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordflow">return</span> (x - half_window < <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a7819bcbbf45c2e7c1396a137dce54422">valid_region</a>.<a class="code" href="structarm__compute_1_1_valid_region.xhtml#aae139363fa58e04c3d391339e820a06f">start</a>(0)) || (x + half_window >= <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a7819bcbbf45c2e7c1396a137dce54422">valid_region</a>.<a class="code" href="structarm__compute_1_1_valid_region.xhtml#a1cb8fae6eb760594815b62ec5af5eca2">end</a>(0) - 1) || (y - half_window < <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a7819bcbbf45c2e7c1396a137dce54422">valid_region</a>.<a class="code" href="structarm__compute_1_1_valid_region.xhtml#aae139363fa58e04c3d391339e820a06f">start</a>(1)) || (y + half_window >= <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a7819bcbbf45c2e7c1396a137dce54422">valid_region</a>.<a class="code" href="structarm__compute_1_1_valid_region.xhtml#a1cb8fae6eb760594815b62ec5af5eca2">end</a>(1) - 1);</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span> }</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span> </div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span> constexpr <span class="keywordtype">int</span> INT_ROUND(T x, <span class="keywordtype">int</span> n)</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span> {</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">return</span> (x + (1 << (n - 1))) >> n;</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span> }</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment">// Return the bilinear value at a specified coordinate with different border modes</span></div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">int</span> <a class="code" href="warp__helpers_8h.xhtml#abea9f226daf3e0ad741d03cf7417d353">bilinear_interpolate</a>(<span class="keyword">const</span> SimpleTensor<T> &in, Coordinates <span class="keywordtype">id</span>, <span class="keywordtype">float</span> wx, <span class="keywordtype">float</span> wy, <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327">BorderMode</a> <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, T constant_border_value, <span class="keywordtype">int</span> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6d1214c8e51d5c216c257b8c1ce14525">scale</a>)</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span> {</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> level = <span class="keywordtype">id</span>.x();</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> idy = <span class="keywordtype">id</span>.y();</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> dx = wx;</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> dy = wy;</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> dx_1 = 1.0f - dx;</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> dy_1 = 1.0f - dy;</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span> </div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keyword">const</span> T border_value = constant_border_value;</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span> </div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  <span class="keywordtype">id</span>.set(0, level);</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordtype">id</span>.set(1, idy);</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keyword">const</span> T tl = <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a4f489943d8618d47b1ad4611f0b9b7ff">tensor_elem_at</a>(in, <span class="keywordtype">id</span>, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, border_value);</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordtype">id</span>.set(0, level + 1);</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordtype">id</span>.set(1, idy);</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  <span class="keyword">const</span> T tr = <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a4f489943d8618d47b1ad4611f0b9b7ff">tensor_elem_at</a>(in, <span class="keywordtype">id</span>, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, border_value);</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordtype">id</span>.set(0, level);</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordtype">id</span>.set(1, idy + 1);</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keyword">const</span> T bl = <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a4f489943d8618d47b1ad4611f0b9b7ff">tensor_elem_at</a>(in, <span class="keywordtype">id</span>, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, border_value);</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordtype">id</span>.set(0, level + 1);</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordtype">id</span>.set(1, idy + 1);</div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keyword">const</span> T br = <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a4f489943d8618d47b1ad4611f0b9b7ff">tensor_elem_at</a>(in, <span class="keywordtype">id</span>, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, border_value);</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span> </div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <span class="comment">// weights</span></div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> w00 = roundf(dx_1 * dy_1 * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a>);</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> w01 = roundf(dx * dy_1 * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a>);</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> w10 = roundf(dx_1 * dy * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a>);</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> w11 = <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a> - w00 - w01 - w10;</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span> </div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">return</span> static_cast<int>(INT_ROUND(tl * w00 + tr * w01 + bl * w10 + br * w11, <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6d1214c8e51d5c216c257b8c1ce14525">scale</a>));</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span> }</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span> </div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span> std::vector<int> compute_derivative(<span class="keyword">const</span> SimpleTensor<T> &input, <span class="keyword">const</span> InternalKeyPoint &keypoint,</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327">BorderMode</a> <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, uint8_t constant_border_value, <span class="keywordtype">size_t</span> window_dimension, <span class="keywordtype">int</span> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6d1214c8e51d5c216c257b8c1ce14525">scale</a>)</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span> {</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  std::vector<int> bilinear_values;</div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span> </div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> half_window = window_dimension / 2;</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordtype">float</span> keypoint_int_x = 0;</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordtype">float</span> keypoint_int_y = 0;</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span> </div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> wx = std::modf(keypoint.x, &keypoint_int_x);</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> wy = std::modf(keypoint.y, &keypoint_int_y);</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span> </div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  Coordinates tl_window(static_cast<int>(keypoint_int_x) - half_window, static_cast<int>(keypoint_int_y) - half_window);</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  Coordinates br_window(static_cast<int>(keypoint_int_x) + half_window, static_cast<int>(keypoint_int_y) + half_window);</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> y = tl_window.y(); y <= br_window.y(); ++y)</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  {</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">for</span>(<span class="keywordtype">int</span> x = tl_window.x(); x <= br_window.x(); ++x)</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  {</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  bilinear_values.push_back(<a class="code" href="warp__helpers_8h.xhtml#abea9f226daf3e0ad741d03cf7417d353">bilinear_interpolate</a>(input, Coordinates(x, y), wx, wy, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, static_cast<T>(constant_border_value), <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6d1214c8e51d5c216c257b8c1ce14525">scale</a>));</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  }</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  }</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span> </div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">return</span> bilinear_values;</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span> }</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span> </div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span> std::tuple<float, float, float> compute_spatial_gradient_matrix(<span class="keyword">const</span> std::vector<int> &bilinear_ix, <span class="keyword">const</span> std::vector<int> &bilinear_iy)</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span> {</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <a class="code" href="_error_8h.xhtml#a54a6080c9f4df1f908e57a9bbb46f5da">ARM_COMPUTE_ERROR_ON</a>(bilinear_ix.size() != bilinear_iy.size());</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span> </div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keywordtype">int</span> iA11 = 0;</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  <span class="keywordtype">int</span> iA12 = 0;</div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keywordtype">int</span> iA22 = 0;</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> </div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i < bilinear_ix.size(); ++i)</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  {</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordtype">int</span> ixval = bilinear_ix[i];</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  <span class="keywordtype">int</span> iyval = bilinear_iy[i];</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  iA11 += ixval * ixval;</div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  iA12 += ixval * iyval;</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  iA22 += iyval * iyval;</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  }</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span> </div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordflow">return</span> std::make_tuple(iA11 * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a>, iA12 * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a>, iA22 * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a>);</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span> }</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span> </div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span> std::tuple<double, double> compute_temporal_gradient_vector(<span class="keyword">const</span> std::vector<int> &bilinear_it_old,</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keyword">const</span> std::vector<int> &bilinear_it_new,</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  <span class="keyword">const</span> std::vector<int> &bilinear_ix,</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keyword">const</span> std::vector<int> &bilinear_iy)</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span> {</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  <a class="code" href="_error_8h.xhtml#a54a6080c9f4df1f908e57a9bbb46f5da">ARM_COMPUTE_ERROR_ON</a>(bilinear_ix.size() != bilinear_iy.size());</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <a class="code" href="_error_8h.xhtml#a54a6080c9f4df1f908e57a9bbb46f5da">ARM_COMPUTE_ERROR_ON</a>(bilinear_it_old.size() != bilinear_it_new.size());</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span> </div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordtype">int</span> ib1 = 0;</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  <span class="keywordtype">int</span> ib2 = 0;</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span> </div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i < bilinear_ix.size(); ++i)</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  {</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordtype">int</span> ixval = bilinear_ix[i];</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keywordtype">int</span> iyval = bilinear_iy[i];</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordtype">int</span> ival = bilinear_it_old[i];</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  <span class="keywordtype">int</span> jval = bilinear_it_new[i];</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span> </div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> diff = jval - ival;</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span> </div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  ib1 += diff * ixval;</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  ib2 += diff * iyval;</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  }</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span> </div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> b1 = ib1 * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a>;</div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> b2 = ib2 * <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a>;</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span> </div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  <span class="keywordflow">return</span> std::make_tuple(b1, b2);</div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span> }</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span> } <span class="comment">// namespace</span></div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span> </div><div class="line"><a name="l00245"></a><span class="lineno"> 245</span> <span class="keyword">template</span> <<span class="keyword">typename</span> T></div><div class="line"><a name="l00246"></a><span class="lineno"><a class="line" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6890d0541805e29cc8cb546ac3ed5239"> 246</a></span> std::vector<KeyPoint> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6890d0541805e29cc8cb546ac3ed5239">optical_flow</a>(<span class="keyword">const</span> <a class="code" href="classarm__compute_1_1test_1_1_simple_tensor.xhtml">SimpleTensor<T></a> &old_input, <span class="keyword">const</span> <a class="code" href="classarm__compute_1_1test_1_1_simple_tensor.xhtml">SimpleTensor<T></a> &new_input,</div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="keyword">const</span> <a class="code" href="structarm__compute_1_1_optical_flow_parameters.xhtml">OpticalFlowParameters</a> &params, <span class="keywordtype">size_t</span> num_levels,</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <span class="keyword">const</span> std::vector<KeyPoint> &old_points, <span class="keyword">const</span> std::vector<KeyPoint> &new_points_estimates,</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327">BorderMode</a> <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, uint8_t constant_border_value)</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span> {</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a2237230a1357685ba2472c2d6fca17fa">filter_size</a> = 3; <span class="comment">// scharr filter size</span></div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> max_iterations = 1000; <span class="comment">// fixed by kernel</span></div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> window_dimension = params.<a class="code" href="structarm__compute_1_1_optical_flow_parameters.xhtml#aca4f010655c8e5534162dfbfdce31d84">window_dimension</a>;</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> num_iterations = (params.<a class="code" href="structarm__compute_1_1_optical_flow_parameters.xhtml#a77d1ea96211300e9417b965981953c81">termination</a> == <a class="code" href="namespacearm__compute.xhtml#a08c1503414e23f5dd10ff83492685453a5a2e12b6baf7ad91a2ce32f19c36bd1b">Termination::TERM_CRITERIA_EPSILON</a>) ? max_iterations : params.<a class="code" href="structarm__compute_1_1_optical_flow_parameters.xhtml#a22fec0af810a755e77ecbb7179c193d4">num_iterations</a>;</div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span> </div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <a class="code" href="classarm__compute_1_1_array.xhtml">KeyPointArray</a> new_points(old_points.size());</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span> </div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  InternalKeyPointArray old_points_internal = create_internal_keypoints(old_points);</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  InternalKeyPointArray new_points_internal = create_internal_keypoints(new_points_estimates);</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span> </div><div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <a class="code" href="classarm__compute_1_1test_1_1_simple_tensor.xhtml">SimpleTensor<int16_t></a> scharr_gx;</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <a class="code" href="classarm__compute_1_1test_1_1_simple_tensor.xhtml">SimpleTensor<int16_t></a> scharr_gy;</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span> </div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="comment">// Create pyramids</span></div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  std::vector<SimpleTensor<T>> old_pyramid = <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a42c972f3c96f7c91c57a7aaf2068fddf">gaussian_pyramid_half</a>(old_input, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, constant_border_value, num_levels);</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  std::vector<SimpleTensor<T>> new_pyramid = <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a42c972f3c96f7c91c57a7aaf2068fddf">gaussian_pyramid_half</a>(new_input, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, constant_border_value, num_levels);</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span> </div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="comment">// Iterate over each level of the pyramid</span></div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> idx = num_levels; idx > 0; --idx)</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  {</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> level = idx - 1;</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span> </div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="comment">// Calculate scharr gradients</span></div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  std::tie(scharr_gx, scharr_gy) = scharr<int16_t, T>(old_pyramid[level], <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a2237230a1357685ba2472c2d6fca17fa">filter_size</a>, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, constant_border_value, <a class="code" href="namespacearm__compute.xhtml#ae46abc5ecac309cbece5c06cb80daaf7a5515a637eda61b978e97adaa5d7629cc">GradientDimension::GRAD_XY</a>);</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span> </div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  scale_tracked_points(level, num_levels, params.<a class="code" href="structarm__compute_1_1_optical_flow_parameters.xhtml#a1d79cd7ed111d3a441ba1372f90210de">use_initial_estimate</a>, old_points_internal, new_points_internal, old_points, new_points_estimates);</div><div class="line"><a name="l00277"></a><span class="lineno"> 277</span> </div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  <span class="comment">// Calculate valid region based on image dimensions of current pyramid level</span></div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keyword">const</span> <a class="code" href="structarm__compute_1_1_valid_region.xhtml">ValidRegion</a> <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a7819bcbbf45c2e7c1396a137dce54422">valid_region</a> = <a class="code" href="namespacearm__compute_1_1test.xhtml#a8103df0e6c416f55f40106aa49072b42">shape_to_valid_region</a>(old_pyramid[level].<a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a45cde9abb508c62d67c3bb2b9bf566a5">shape</a>(), (<a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a> == <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327a0db45d2a4141101bdfe48e3314cfbca3">BorderMode::UNDEFINED</a>), <a class="code" href="structarm__compute_1_1_border_size.xhtml">BorderSize</a>(<a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a2237230a1357685ba2472c2d6fca17fa">filter_size</a> / 2));</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span> </div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i < old_points.size(); ++i)</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  {</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <a class="code" href="structarm__compute_1_1_internal_key_point.xhtml">InternalKeyPoint</a> &old_keypoint = old_points_internal.at(i);</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <a class="code" href="structarm__compute_1_1_internal_key_point.xhtml">InternalKeyPoint</a> &new_keypoint = new_points_internal.at(i);</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span> </div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="comment">// Helper function for untracking keypoints when on the lowest pyramid level (high resolution)</span></div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keyword">const</span> <span class="keyword">auto</span> untrack_keypoint = [&](<span class="keywordtype">bool</span> predicate)</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  {</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keywordflow">if</span>(predicate && (level == 0))</div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  {</div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  new_keypoint.<a class="code" href="structarm__compute_1_1_internal_key_point.xhtml#a633fd1d1a22ab1b18aa0e091cb201553">tracking_status</a> = <span class="keyword">false</span>;</div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  }</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordflow">return</span> predicate;</div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  };</div><div class="line"><a name="l00296"></a><span class="lineno"> 296</span> </div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  <span class="keywordflow">if</span>(!old_keypoint.<a class="code" href="structarm__compute_1_1_internal_key_point.xhtml#a633fd1d1a22ab1b18aa0e091cb201553">tracking_status</a>)</div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  {</div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  }</div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span> </div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="comment">// Check if tracked coordinate is outside image coordinate</span></div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <span class="keywordflow">if</span>(untrack_keypoint(is_invalid_keypoint(old_keypoint, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a7819bcbbf45c2e7c1396a137dce54422">valid_region</a>, window_dimension)))</div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  {</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  }</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span> </div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  <span class="comment">// Compute spatial derivative</span></div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  std::vector<int> bilinear_ix = compute_derivative(scharr_gx, old_keypoint, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, constant_border_value, window_dimension, <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376">W_BITS</a>);</div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  std::vector<int> bilinear_iy = compute_derivative(scharr_gy, old_keypoint, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, constant_border_value, window_dimension, <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376">W_BITS</a>);</div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span> </div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  <span class="keywordtype">float</span> A11 = 0.f;</div><div class="line"><a name="l00313"></a><span class="lineno"> 313</span>  <span class="keywordtype">float</span> A12 = 0.f;</div><div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  <span class="keywordtype">float</span> A22 = 0.f;</div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span>  std::tie(A11, A12, A22) = compute_spatial_gradient_matrix(bilinear_ix, bilinear_iy);</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span> </div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  <span class="comment">// Calculate criteria for lost tracking : Matrix A is invertible</span></div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  <span class="comment">// 1. The determinant of the matrix is less than DETERMINANT_THRESHOLD</span></div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  <span class="comment">// 2. The minimum eigenvalue of the matrix is less than EIGENVALUE_THRESHOLD</span></div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> trace_A = A11 + A22;</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> determinant = A11 * A22 - A12 * A12;</div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> discriminant = (trace_A * trace_A) - 4.0f * (determinant);</div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> eigenvalue_A = (trace_A - std::sqrt(discriminant)) / 2.0f;</div><div class="line"><a name="l00324"></a><span class="lineno"> 324</span> </div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <span class="comment">// Divide by window_dimension squared to reduce the floating point accummulation error</span></div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> eigenvalue = eigenvalue_A / (window_dimension * window_dimension);</div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span> </div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  <span class="comment">// Check if it is a good point to track</span></div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  <span class="keywordflow">if</span>(untrack_keypoint(eigenvalue < EIGENVALUE_THRESHOLD || determinant < DETERMINANT_THRESHOLD))</div><div class="line"><a name="l00330"></a><span class="lineno"> 330</span>  {</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  }</div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span> </div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  <span class="keywordtype">float</span> prev_delta_x = 0.f;</div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordtype">float</span> prev_delta_y = 0.f;</div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span> </div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> j = 0; j < num_iterations; ++j)</div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  {</div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="comment">// Check if tracked coordinate is outside image coordinate</span></div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  <span class="keywordflow">if</span>(untrack_keypoint(is_invalid_keypoint(new_keypoint, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a7819bcbbf45c2e7c1396a137dce54422">valid_region</a>, window_dimension)))</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  {</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  }</div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span> </div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  <span class="comment">// Compute temporal derivative</span></div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  std::vector<int> bilinear_it_old = compute_derivative(old_pyramid[level], old_keypoint, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, constant_border_value, window_dimension, <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376">W_BITS</a> - 5);</div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  std::vector<int> bilinear_it_new = compute_derivative(new_pyramid[level], new_keypoint, <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, constant_border_value, window_dimension, <a class="code" href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376">W_BITS</a> - 5);</div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span> </div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  <span class="keywordtype">double</span> b1 = 0.f;</div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordtype">double</span> b2 = 0.f;</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  std::tie(b1, b2) = compute_temporal_gradient_vector(bilinear_it_old, bilinear_it_new, bilinear_ix, bilinear_iy);</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span> </div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <span class="comment">// Compute motion vector -> A^-1 * -b</span></div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> delta_x = (A12 * b2 - A22 * b1) / determinant;</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> delta_y = (A12 * b1 - A11 * b2) / determinant;</div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span> </div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <span class="comment">// Update the new position</span></div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  new_keypoint.<a class="code" href="structarm__compute_1_1_internal_key_point.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a> += delta_x;</div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  new_keypoint.<a class="code" href="structarm__compute_1_1_internal_key_point.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a> += delta_y;</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span> </div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> magnitude_squared = delta_x * delta_x + delta_y * delta_y;</div><div class="line"><a name="l00362"></a><span class="lineno"> 362</span> </div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  <span class="comment">// Check if termination criteria is EPSILON and if it is satisfied</span></div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  <span class="keywordflow">if</span>(magnitude_squared <= params.<a class="code" href="structarm__compute_1_1_optical_flow_parameters.xhtml#a2dceb63003a97fa431d06d1d07edc449">epsilon</a> && (params.<a class="code" href="structarm__compute_1_1_optical_flow_parameters.xhtml#a77d1ea96211300e9417b965981953c81">termination</a> == <a class="code" href="namespacearm__compute.xhtml#a08c1503414e23f5dd10ff83492685453a5a2e12b6baf7ad91a2ce32f19c36bd1b">Termination::TERM_CRITERIA_EPSILON</a> || params.<a class="code" href="structarm__compute_1_1_optical_flow_parameters.xhtml#a77d1ea96211300e9417b965981953c81">termination</a> == <a class="code" href="namespacearm__compute.xhtml#a08c1503414e23f5dd10ff83492685453a788740b1ba2d6463dae318a332513b29">Termination::TERM_CRITERIA_BOTH</a>))</div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  {</div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  }</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span> </div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  <span class="comment">// Check convergence analyzing the previous delta</span></div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  <span class="keywordflow">if</span>(j > 0 && (std::fabs(delta_x + prev_delta_x) < 0.01f && std::fabs(delta_y + prev_delta_y) < 0.01f))</div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  {</div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  new_keypoint.<a class="code" href="structarm__compute_1_1_internal_key_point.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a> -= delta_x * <a class="code" href="namespacearm__compute.xhtml#af9876aedd664cac0ddeacddb40cb71cd">SCALE_PYRAMID_HALF</a>;</div><div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  new_keypoint.<a class="code" href="structarm__compute_1_1_internal_key_point.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a> -= delta_y * <a class="code" href="namespacearm__compute.xhtml#af9876aedd664cac0ddeacddb40cb71cd">SCALE_PYRAMID_HALF</a>;</div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span> </div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  }</div><div class="line"><a name="l00377"></a><span class="lineno"> 377</span> </div><div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  prev_delta_x = delta_x;</div><div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  prev_delta_y = delta_y;</div><div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  }</div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  }</div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  }</div><div class="line"><a name="l00383"></a><span class="lineno"> 383</span> </div><div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  <span class="comment">// Copy optical flow coordinates to output vector</span></div><div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  <span class="keywordflow">for</span>(<span class="keywordtype">size_t</span> i = 0; i < old_points.size(); ++i)</div><div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  {</div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <span class="keyword">const</span> <a class="code" href="structarm__compute_1_1_internal_key_point.xhtml">InternalKeyPoint</a> &new_keypoint = new_points_internal.at(i);</div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span> </div><div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  new_points.at(i).<a class="code" href="structarm__compute_1_1_internal_key_point.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a> = roundf(new_keypoint.<a class="code" href="structarm__compute_1_1_internal_key_point.xhtml#ad0da36b2558901e21e7a30f6c227a45e">x</a>);</div><div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  new_points.at(i).y = roundf(new_keypoint.<a class="code" href="structarm__compute_1_1_internal_key_point.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">y</a>);</div><div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  new_points.at(i).tracking_status = new_keypoint.<a class="code" href="structarm__compute_1_1_internal_key_point.xhtml#a633fd1d1a22ab1b18aa0e091cb201553">tracking_status</a> ? 1 : 0;</div><div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  }</div><div class="line"><a name="l00393"></a><span class="lineno"> 393</span> </div><div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <span class="keywordflow">return</span> new_points;</div><div class="line"><a name="l00395"></a><span class="lineno"> 395</span> }</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span> </div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span> <span class="keyword">template</span> std::vector<KeyPoint> <a class="code" href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6890d0541805e29cc8cb546ac3ed5239">optical_flow</a>(<span class="keyword">const</span> <a class="code" href="classarm__compute_1_1test_1_1_simple_tensor.xhtml">SimpleTensor<uint8_t></a> &old_input, <span class="keyword">const</span> <a class="code" href="classarm__compute_1_1test_1_1_simple_tensor.xhtml">SimpleTensor<uint8_t></a> &new_input,</div><div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keyword">const</span> <a class="code" href="structarm__compute_1_1_optical_flow_parameters.xhtml">OpticalFlowParameters</a> &params, <span class="keywordtype">size_t</span> num_levels,</div><div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <span class="keyword">const</span> std::vector<KeyPoint> &old_points, <span class="keyword">const</span> std::vector<KeyPoint> &new_points_estimates,</div><div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  <a class="code" href="namespacearm__compute.xhtml#a15a05537a472ee742404821851529327">BorderMode</a> <a class="code" href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">border_mode</a>, uint8_t constant_border_value);</div><div class="line"><a name="l00401"></a><span class="lineno"> 401</span> } <span class="comment">// namespace reference</span></div><div class="line"><a name="l00402"></a><span class="lineno"> 402</span> } <span class="comment">// namespace validation</span></div><div class="line"><a name="l00403"></a><span class="lineno"> 403</span> } <span class="comment">// namespace test</span></div><div class="line"><a name="l00404"></a><span class="lineno"> 404</span> } <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#l00251">Types.h:251</a></div></div> |
| <div class="ttc" id="namespacearm__compute_xhtml_af9876aedd664cac0ddeacddb40cb71cd"><div class="ttname"><a href="namespacearm__compute.xhtml#af9876aedd664cac0ddeacddb40cb71cd">arm_compute::SCALE_PYRAMID_HALF</a></div><div class="ttdeci">constexpr float SCALE_PYRAMID_HALF</div><div class="ttdoc">Constant value used to indicate a half-scale pyramid.</div><div class="ttdef"><b>Definition:</b> <a href="arm__compute_2core_2_types_8h_source.xhtml#l00106">Types.h:106</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_internal_key_point_xhtml_aa4f0d3eebc3c443f9be81bf48561a217"><div class="ttname"><a href="structarm__compute_1_1_internal_key_point.xhtml#aa4f0d3eebc3c443f9be81bf48561a217">arm_compute::InternalKeyPoint::y</a></div><div class="ttdeci">float y</div><div class="ttdoc">y coordinate of the keypoint</div><div class="ttdef"><b>Definition:</b> <a href="tests_2_types_8h_source.xhtml#l00078">Types.h:78</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_ae0b2360d4b8e961bf2709b0663fd9f2a"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#ae0b2360d4b8e961bf2709b0663fd9f2a">D0</a></div><div class="ttdeci">#define D0</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00059">optical_flow_pyramid_lk.cl:59</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_internal_key_point_xhtml_a633fd1d1a22ab1b18aa0e091cb201553"><div class="ttname"><a href="structarm__compute_1_1_internal_key_point.xhtml#a633fd1d1a22ab1b18aa0e091cb201553">arm_compute::InternalKeyPoint::tracking_status</a></div><div class="ttdeci">bool tracking_status</div><div class="ttdoc">the tracking status of the keypoint</div><div class="ttdef"><b>Definition:</b> <a href="tests_2_types_8h_source.xhtml#l00079">Types.h:79</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1test_1_1validation_xhtml_a45cde9abb508c62d67c3bb2b9bf566a5"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation.xhtml#a45cde9abb508c62d67c3bb2b9bf566a5">arm_compute::test::validation::shape</a></div><div class="ttdeci">shape</div><div class="ttdef"><b>Definition:</b> <a href="_c_l_2_absolute_difference_8cpp_source.xhtml#l00097">AbsoluteDifference.cpp:97</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< T > &src, Coordinates coord, BorderMode border_mode, T constant_border_value)</div><div class="ttdef"><b>Definition:</b> <a href="tests_2validation_2reference_2_utils_8h_source.xhtml#l00061">Utils.h:61</a></div></div> |
| <div class="ttc" id="tests_2validation_2reference_2_utils_8h_xhtml"><div class="ttname"><a href="tests_2validation_2reference_2_utils_8h.xhtml">Utils.h</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_optical_flow_parameters_xhtml_a1d79cd7ed111d3a441ba1372f90210de"><div class="ttname"><a href="structarm__compute_1_1_optical_flow_parameters.xhtml#a1d79cd7ed111d3a441ba1372f90210de">arm_compute::OpticalFlowParameters::use_initial_estimate</a></div><div class="ttdeci">bool use_initial_estimate</div><div class="ttdef"><b>Definition:</b> <a href="tests_2_types_8h_source.xhtml#l00071">Types.h:71</a></div></div> |
| <div class="ttc" id="_scharr_8h_xhtml"><div class="ttname"><a href="_scharr_8h.xhtml">Scharr.h</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_border_size_xhtml"><div class="ttname"><a href="structarm__compute_1_1_border_size.xhtml">arm_compute::BorderSize</a></div><div class="ttdoc">Container for 2D border size.</div><div class="ttdef"><b>Definition:</b> <a href="arm__compute_2core_2_types_8h_source.xhtml#l00259">Types.h:259</a></div></div> |
| <div class="ttc" id="namespacearm__compute_xhtml_a08c1503414e23f5dd10ff83492685453a5a2e12b6baf7ad91a2ce32f19c36bd1b"><div class="ttname"><a href="namespacearm__compute.xhtml#a08c1503414e23f5dd10ff83492685453a5a2e12b6baf7ad91a2ce32f19c36bd1b">arm_compute::Termination::TERM_CRITERIA_EPSILON</a></div><div class="ttdoc">Terminate when within epsilon of a threshold.</div></div> |
| <div class="ttc" id="structarm__compute_1_1_optical_flow_parameters_xhtml_a77d1ea96211300e9417b965981953c81"><div class="ttname"><a href="structarm__compute_1_1_optical_flow_parameters.xhtml#a77d1ea96211300e9417b965981953c81">arm_compute::OpticalFlowParameters::termination</a></div><div class="ttdeci">Termination termination</div><div class="ttdef"><b>Definition:</b> <a href="tests_2_types_8h_source.xhtml#l00067">Types.h:67</a></div></div> |
| <div class="ttc" id="_optical_flow_8h_xhtml"><div class="ttname"><a href="_optical_flow_8h.xhtml">OpticalFlow.h</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1test_1_1validation_1_1reference_xhtml_a6890d0541805e29cc8cb546ac3ed5239"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6890d0541805e29cc8cb546ac3ed5239">arm_compute::test::validation::reference::optical_flow</a></div><div class="ttdeci">std::vector< KeyPoint > optical_flow(const SimpleTensor< T > &old_input, const SimpleTensor< T > &new_input, const OpticalFlowParameters &params, size_t num_levels, const std::vector< KeyPoint > &old_points, const std::vector< KeyPoint > &new_points_estimates, BorderMode border_mode, uint8_t constant_border_value)</div><div class="ttdef"><b>Definition:</b> <a href="validation_2reference_2_optical_flow_8cpp_source.xhtml#l00246">OpticalFlow.cpp:246</a></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#l00337">Error.h:337</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1test_1_1validation_1_1reference_xhtml_a6d1214c8e51d5c216c257b8c1ce14525"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a6d1214c8e51d5c216c257b8c1ce14525">arm_compute::test::validation::reference::scale</a></div><div class="ttdeci">SimpleTensor< T > scale(const SimpleTensor< T > &src, float scale_x, float scale_y, InterpolationPolicy policy, BorderMode border_mode, T constant_border_value, SamplingPolicy sampling_policy, bool ceil_policy_scale)</div><div class="ttdef"><b>Definition:</b> <a href="validation_2reference_2_scale_8cpp_source.xhtml#l00183">Scale.cpp:183</a></div></div> |
| <div class="ttc" id="namespacearm__compute_xhtml_a08c1503414e23f5dd10ff83492685453a788740b1ba2d6463dae318a332513b29"><div class="ttname"><a href="namespacearm__compute.xhtml#a08c1503414e23f5dd10ff83492685453a788740b1ba2d6463dae318a332513b29">arm_compute::Termination::TERM_CRITERIA_BOTH</a></div><div class="ttdoc">Terminate on whichever of the other conditions occurs first.</div></div> |
| <div class="ttc" id="namespacearm__compute_xhtml"><div class="ttname"><a href="namespacearm__compute.xhtml">arm_compute</a></div><div class="ttdoc">Copyright (c) 2017-2018 ARM Limited.</div><div class="ttdef"><b>Definition:</b> <a href="00__introduction_8dox_source.xhtml#l00024">00_introduction.dox:24</a></div></div> |
| <div class="ttc" id="classarm__compute_1_1_array_xhtml"><div class="ttname"><a href="classarm__compute_1_1_array.xhtml">arm_compute::Array</a></div><div class="ttdoc">Basic implementation of the IArray interface which allocates a static number of T values.</div><div class="ttdef"><b>Definition:</b> <a href="_array_8h_source.xhtml#l00037">Array.h:37</a></div></div> |
| <div class="ttc" id="namespacearm__compute_xhtml_a8856eca9a83e16bb0cb5880e9c6c9fe7"><div class="ttname"><a href="namespacearm__compute.xhtml#a8856eca9a83e16bb0cb5880e9c6c9fe7">arm_compute::KeyPointArray</a></div><div class="ttdeci">Array< KeyPoint > KeyPointArray</div><div class="ttdoc">Array of Key Points.</div><div class="ttdef"><b>Definition:</b> <a href="_array_8h_source.xhtml#l00065">Array.h:65</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_internal_key_point_xhtml_ad0da36b2558901e21e7a30f6c227a45e"><div class="ttname"><a href="structarm__compute_1_1_internal_key_point.xhtml#ad0da36b2558901e21e7a30f6c227a45e">arm_compute::InternalKeyPoint::x</a></div><div class="ttdeci">float x</div><div class="ttdoc">x coordinate of the keypoint</div><div class="ttdef"><b>Definition:</b> <a href="tests_2_types_8h_source.xhtml#l00077">Types.h:77</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1test_1_1validation_xhtml_a5471e46933e7a9c4709972d91fc4ea65"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation.xhtml#a5471e46933e7a9c4709972d91fc4ea65">arm_compute::test::validation::border_mode</a></div><div class="ttdeci">border_mode</div><div class="ttdef"><b>Definition:</b> <a href="validation_2_c_l_2_convolution_8cpp_source.xhtml#l00118">Convolution.cpp:118</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1test_1_1validation_xhtml_a2237230a1357685ba2472c2d6fca17fa"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation.xhtml#a2237230a1357685ba2472c2d6fca17fa">arm_compute::test::validation::filter_size</a></div><div class="ttdeci">filter_size</div><div class="ttdef"><b>Definition:</b> <a href="validation_2_c_l_2_convolution_8cpp_source.xhtml#l00119">Convolution.cpp:119</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_valid_region_xhtml_aae139363fa58e04c3d391339e820a06f"><div class="ttname"><a href="structarm__compute_1_1_valid_region.xhtml#aae139363fa58e04c3d391339e820a06f">arm_compute::ValidRegion::start</a></div><div class="ttdeci">int start(unsigned int d) const</div><div class="ttdoc">Return the start of the valid region for the given dimension d.</div><div class="ttdef"><b>Definition:</b> <a href="arm__compute_2core_2_types_8h_source.xhtml#l00220">Types.h:220</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1test_1_1validation_xhtml_a7819bcbbf45c2e7c1396a137dce54422"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation.xhtml#a7819bcbbf45c2e7c1396a137dce54422">arm_compute::test::validation::valid_region</a></div><div class="ttdeci">const ValidRegion valid_region</div><div class="ttdef"><b>Definition:</b> <a href="_c_l_2_absolute_difference_8cpp_source.xhtml#l00109">AbsoluteDifference.cpp:109</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_internal_key_point_xhtml"><div class="ttname"><a href="structarm__compute_1_1_internal_key_point.xhtml">arm_compute::InternalKeyPoint</a></div><div class="ttdoc">Internal keypoint class for Lucas-Kanade Optical Flow.</div><div class="ttdef"><b>Definition:</b> <a href="tests_2_types_8h_source.xhtml#l00075">Types.h:75</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</a></div><div class="ttdoc">Simple tensor object that stores elements in a consecutive chunk of memory.</div><div class="ttdef"><b>Definition:</b> <a href="_simple_tensor_8h_source.xhtml#l00059">SimpleTensor.h:59</a></div></div> |
| <div class="ttc" id="namespacearm__compute_xhtml_ae46abc5ecac309cbece5c06cb80daaf7a5515a637eda61b978e97adaa5d7629cc"><div class="ttname"><a href="namespacearm__compute.xhtml#ae46abc5ecac309cbece5c06cb80daaf7a5515a637eda61b978e97adaa5d7629cc">arm_compute::GradientDimension::GRAD_XY</a></div><div class="ttdoc">x and y gradient dimension</div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_a1852457538f524c42f96b66882bd9b35"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#a1852457538f524c42f96b66882bd9b35">FLT_SCALE</a></div><div class="ttdeci">#define FLT_SCALE</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00058">optical_flow_pyramid_lk.cl:58</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_valid_region_xhtml_a1cb8fae6eb760594815b62ec5af5eca2"><div class="ttname"><a href="structarm__compute_1_1_valid_region.xhtml#a1cb8fae6eb760594815b62ec5af5eca2">arm_compute::ValidRegion::end</a></div><div class="ttdeci">int end(unsigned int d) const</div><div class="ttdoc">Return the end of the valid region for the given dimension d.</div><div class="ttdef"><b>Definition:</b> <a href="arm__compute_2core_2_types_8h_source.xhtml#l00226">Types.h:226</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="namespacearm__compute_1_1test_1_1validation_1_1reference_xhtml_a42c972f3c96f7c91c57a7aaf2068fddf"><div class="ttname"><a href="namespacearm__compute_1_1test_1_1validation_1_1reference.xhtml#a42c972f3c96f7c91c57a7aaf2068fddf">arm_compute::test::validation::reference::gaussian_pyramid_half</a></div><div class="ttdeci">std::vector< SimpleTensor< T > > gaussian_pyramid_half(const SimpleTensor< T > &src, BorderMode border_mode, uint8_t constant_border_value, size_t num_levels)</div><div class="ttdef"><b>Definition:</b> <a href="_gaussian_pyramid_half_8cpp_source.xhtml#l00041">GaussianPyramidHalf.cpp:41</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_optical_flow_parameters_xhtml_aca4f010655c8e5534162dfbfdce31d84"><div class="ttname"><a href="structarm__compute_1_1_optical_flow_parameters.xhtml#aca4f010655c8e5534162dfbfdce31d84">arm_compute::OpticalFlowParameters::window_dimension</a></div><div class="ttdeci">size_t window_dimension</div><div class="ttdef"><b>Definition:</b> <a href="tests_2_types_8h_source.xhtml#l00070">Types.h:70</a></div></div> |
| <div class="ttc" id="optical__flow__pyramid__lk_8cl_xhtml_aab6bf9cc4b300f72d07a2ebe9939f376"><div class="ttname"><a href="optical__flow__pyramid__lk_8cl.xhtml#aab6bf9cc4b300f72d07a2ebe9939f376">W_BITS</a></div><div class="ttdeci">#define W_BITS</div><div class="ttdoc">Constants used for Lucas-Kanade Algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="optical__flow__pyramid__lk_8cl_source.xhtml#l00057">optical_flow_pyramid_lk.cl:57</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_optical_flow_parameters_xhtml_a2dceb63003a97fa431d06d1d07edc449"><div class="ttname"><a href="structarm__compute_1_1_optical_flow_parameters.xhtml#a2dceb63003a97fa431d06d1d07edc449">arm_compute::OpticalFlowParameters::epsilon</a></div><div class="ttdeci">float epsilon</div><div class="ttdef"><b>Definition:</b> <a href="tests_2_types_8h_source.xhtml#l00068">Types.h:68</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_valid_region_xhtml"><div class="ttname"><a href="structarm__compute_1_1_valid_region.xhtml">arm_compute::ValidRegion</a></div><div class="ttdoc">Container for valid region of a window.</div><div class="ttdef"><b>Definition:</b> <a href="arm__compute_2core_2_types_8h_source.xhtml#l00174">Types.h:174</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_optical_flow_parameters_xhtml_a22fec0af810a755e77ecbb7179c193d4"><div class="ttname"><a href="structarm__compute_1_1_optical_flow_parameters.xhtml#a22fec0af810a755e77ecbb7179c193d4">arm_compute::OpticalFlowParameters::num_iterations</a></div><div class="ttdeci">size_t num_iterations</div><div class="ttdef"><b>Definition:</b> <a href="tests_2_types_8h_source.xhtml#l00069">Types.h:69</a></div></div> |
| <div class="ttc" id="namespacearm__compute_1_1test_xhtml_a8103df0e6c416f55f40106aa49072b42"><div class="ttname"><a href="namespacearm__compute_1_1test.xhtml#a8103df0e6c416f55f40106aa49072b42">arm_compute::test::shape_to_valid_region</a></div><div class="ttdeci">ValidRegion shape_to_valid_region(const TensorShape &a_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#l00221">Utils.h:221</a></div></div> |
| <div class="ttc" id="structarm__compute_1_1_optical_flow_parameters_xhtml"><div class="ttname"><a href="structarm__compute_1_1_optical_flow_parameters.xhtml">arm_compute::OpticalFlowParameters</a></div><div class="ttdoc">Parameters of Optical Flow algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="tests_2_types_8h_source.xhtml#l00052">Types.h:52</a></div></div> |
| <div class="ttc" id="_gaussian_pyramid_half_8h_xhtml"><div class="ttname"><a href="_gaussian_pyramid_half_8h.xhtml">GaussianPyramidHalf.h</a></div></div> |
| <div class="ttc" id="warp__helpers_8h_xhtml_abea9f226daf3e0ad741d03cf7417d353"><div class="ttname"><a href="warp__helpers_8h.xhtml#abea9f226daf3e0ad741d03cf7417d353">bilinear_interpolate</a></div><div class="ttdeci">const DATA_TYPE4 bilinear_interpolate(const Image *in, const float8 coords, const float width, const float height)</div><div class="ttdoc">Computes the bilinear interpolation for each set of coordinates in the vector coords and returns the ...</div><div class="ttdef"><b>Definition:</b> <a href="warp__helpers_8h_source.xhtml#l00137">warp_helpers.h:137</a></div></div> |
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