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include/PreFastGrayStep.hh

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+// Copyright (C) 2011  Dmitri Nikulin
+// Copyright (C) 2011  Monash University
+//
+// Permission is hereby granted, free of charge, to any person
+// obtaining a copy of this software and associated documentation
+// files (the "Software"), to deal in the Software without
+// restriction, including without limitation the rights to use,
+// copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following
+// conditions:
+//
+// The above copyright notice and this permission notice shall be
+// included in all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+// OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+// OTHER DEALINGS IN THE SOFTWARE.
+
+#ifndef __CVD_CL_PRE_FAST_GRAY_STEP_HH__
+#define __CVD_CL_PRE_FAST_GRAY_STEP_HH__
+
+#include <cvd-cl/worker/WorkerStep.hh>
+#include <cvd-cl/states/ImageState.hh>
+#include <cvd-cl/states/ListState.hh>
+
+namespace CVD {
+namespace CL  {
+
+/// \brief WorkerStep to select points that are reasonably likely to later satisfy a FAST corner test.
+class PreFastGrayStep : public WorkerStep {
+public:
+
+    /// \brief Construct the step.
+    ///
+    /// \param i_image     Input image.
+    /// \param o_points    Output point list.
+    /// \param threshold   FAST threshold.
+    explicit PreFastGrayStep(GrayImageState & i_image, PointListState & o_points, cl_int threshold=40);
+
+    /// \brief De-construct the step.
+    virtual ~PreFastGrayStep();
+
+    virtual void execute();
+
+protected:
+
+    /// \brief Input image.
+    GrayImageState & i_image;
+
+    /// \brief Output point list.
+    PointListState & o_points;
+
+    /// \brief FAST threshold.
+    cl_int const     threshold;
+
+    /// \brief OpenCL program.
+    cl::Program      program;
+
+    /// \brief OpenCL kernel.
+    cl::Kernel       kernel;
+};
+
+} // namespace CL
+} // namespace CVD
+
+#endif /* __CVD_CL_PRE_FAST_GRAY_STEP_HH__ */