Merge pull request #26907 from asmorkalov:as/openvx_hal_features2d

Migrate remaning OpenVX integrations to OpenVX HAL (features2d)

3rdparty/openvx/hal/CMakeLists.txt

@@ -4,6 +4,7 @@ target_include_directories(openvx_hal PUBLIC
   ${OPENCV_3P_OPENVX_DIR}/include
   ${CMAKE_SOURCE_DIR}/modules/core/include
   ${CMAKE_SOURCE_DIR}/modules/imgproc/include
+  ${CMAKE_SOURCE_DIR}/modules/features2d/include
   ${OPENVX_INCLUDE_DIR})
 target_link_libraries(openvx_hal PUBLIC ${OPENVX_LIBRARIES})
 set_target_properties(openvx_hal PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${3P_LIBRARY_OUTPUT_PATH})

3rdparty/openvx/hal/openvx_hal.cpp

@@ -1,5 +1,7 @@
 #include "openvx_hal.hpp"
+#include "opencv2/core/hal/interface.h"
 #include "opencv2/imgproc/hal/interface.h"
+#include "opencv2/features2d/hal/interface.h"
 
 #define IVX_HIDE_INFO_WARNINGS
 #include "ivx.hpp"
@@ -1334,3 +1336,72 @@ int ovx_hal_minMaxIdxMaskStep(const uchar* src_data, size_t src_step, int width,
 
     return CV_HAL_ERROR_OK;
 }
+
+template <> inline bool skipSmallImages<VX_KERNEL_FAST_CORNERS>(int w, int h) { return w*h < 800 * 600; }
+
+int ovx_hal_FAST(const uchar* src_data, size_t src_step, int width, int height, uchar* keypoints_data, size_t* keypoints_count,
+                 int threshold, bool nonmax_suppression, int /*cv::FastFeatureDetector::DetectorType*/ dtype)
+{
+    // Nonmax suppression is done differently in OpenCV than in OpenVX
+    // 9/16 is the only supported mode in OpenVX
+    if(nonmax_suppression || dtype != CV_HAL_TYPE_9_16)
+    {
+        return CV_HAL_ERROR_NOT_IMPLEMENTED;
+    }
+
+    if (skipSmallImages<VX_KERNEL_FAST_CORNERS>(width, height))
+    {
+        return CV_HAL_ERROR_NOT_IMPLEMENTED;
+    }
+
+    try
+    {
+        ivx::Context context = getOpenVXHALContext();
+        ivx::Image img = ivx::Image::createFromHandle(context, VX_DF_IMAGE_U8,
+                                                      ivx::Image::createAddressing(width, height, 1, (vx_int32)src_step),
+                                                      const_cast<uchar*>(src_data));
+
+        ivx::Scalar vxthreshold = ivx::Scalar::create<VX_TYPE_FLOAT32>(context, threshold);
+        vx_size capacity = width * height;
+        ivx::Array corners = ivx::Array::create(context, VX_TYPE_KEYPOINT, capacity);
+
+        ivx::Scalar numCorners = ivx::Scalar::create<VX_TYPE_SIZE>(context, 0);
+
+        ivx::IVX_CHECK_STATUS(vxuFastCorners(context, img, vxthreshold, (vx_bool)nonmax_suppression, corners, numCorners));
+
+        size_t nPoints = numCorners.getValue<vx_size>();
+        std::vector<vx_keypoint_t> vxCorners(nPoints);
+        corners.copyTo(vxCorners);
+        cvhalKeyPoint* keypoints = (cvhalKeyPoint*)keypoints_data;
+        for(size_t i = 0; i < std::min(nPoints, *keypoints_count); i++)
+        {
+            //if nonmaxSuppression is false, vxCorners[i].strength is undefined
+            keypoints[i].x = vxCorners[i].x;
+            keypoints[i].y = vxCorners[i].y;
+            keypoints[i].size = 7;
+            keypoints[i].angle = -1;
+            keypoints[i].response = vxCorners[i].strength;
+        }
+
+        *keypoints_count = std::min(nPoints, *keypoints_count);
+
+#ifdef VX_VERSION_1_1
+        //we should take user memory back before release
+        //(it's not done automatically according to standard)
+        img.swapHandle();
+#endif
+    }
+    catch (const ivx::RuntimeError & e)
+    {
+        PRINT_HALERR_MSG(runtime);
+        return CV_HAL_ERROR_UNKNOWN;
+
+    }
+    catch (const ivx::WrapperError & e)
+    {
+        PRINT_HALERR_MSG(wrapper);
+        return CV_HAL_ERROR_UNKNOWN;
+    }
+
+    return CV_HAL_ERROR_OK;
+}

3rdparty/openvx/hal/openvx_hal.hpp

@@ -59,7 +59,8 @@ int ovx_hal_meanStdDev(const uchar* src_data, size_t src_step, int width, int he
 int ovx_hal_lut(const uchar *src_data, size_t src_step, size_t src_type, const uchar* lut_data, size_t lut_channel_size, size_t lut_channels, uchar *dst_data, size_t dst_step, int width, int height);
 int ovx_hal_minMaxIdxMaskStep(const uchar* src_data, size_t src_step, int width, int height, int depth,
                               double* minVal, double* maxVal, int* minIdx, int* maxIdx, uchar* mask, size_t mask_step);
-
+int ovx_hal_FAST(const uchar* src_data, size_t src_step, int width, int height, uchar* keypoints_data, size_t* keypoints_count,
+                 int threshold, bool nonmax_suppression, int /*cv::FastFeatureDetector::DetectorType*/ dtype);
 //==================================================================================================
 // functions redefinition
 // ...
@@ -152,5 +153,6 @@ int ovx_hal_minMaxIdxMaskStep(const uchar* src_data, size_t src_step, int width,
 #define cv_hal_lut ovx_hal_lut
 #undef cv_hal_minMaxIdxMaskStep
 #define cv_hal_minMaxIdxMaskStep ovx_hal_minMaxIdxMaskStep
+#define cv_hal_FAST ovx_hal_FAST
 
 #endif

modules/features2d/src/fast.cpp

@@ -49,8 +49,6 @@ The references are:
 #include "opencv2/core/hal/intrin.hpp"
 #include "opencv2/core/utils/buffer_area.private.hpp"
 
-#include "opencv2/core/openvx/ovx_defs.hpp"
-
 namespace cv
 {
 
@@ -370,72 +368,6 @@ static bool ocl_FAST( InputArray _img, std::vector<KeyPoint>& keypoints,
 }
 #endif
 
-
-#ifdef HAVE_OPENVX
-namespace ovx {
-    template <> inline bool skipSmallImages<VX_KERNEL_FAST_CORNERS>(int w, int h) { return w*h < 800 * 600; }
-}
-static bool openvx_FAST(InputArray _img, std::vector<KeyPoint>& keypoints,
-                        int _threshold, bool nonmaxSuppression, int type)
-{
-    using namespace ivx;
-
-    // Nonmax suppression is done differently in OpenCV than in OpenVX
-    // 9/16 is the only supported mode in OpenVX
-    if(nonmaxSuppression || type != FastFeatureDetector::TYPE_9_16)
-        return false;
-
-    Mat imgMat = _img.getMat();
-    if(imgMat.empty() || imgMat.type() != CV_8UC1)
-        return false;
-
-    if (ovx::skipSmallImages<VX_KERNEL_FAST_CORNERS>(imgMat.cols, imgMat.rows))
-        return false;
-
-    try
-    {
-        Context context = ovx::getOpenVXContext();
-        Image img = Image::createFromHandle(context, Image::matTypeToFormat(imgMat.type()),
-                                            Image::createAddressing(imgMat), (void*)imgMat.data);
-        ivx::Scalar threshold = ivx::Scalar::create<VX_TYPE_FLOAT32>(context, _threshold);
-        vx_size capacity = imgMat.cols * imgMat.rows;
-        Array corners = Array::create(context, VX_TYPE_KEYPOINT, capacity);
-
-        ivx::Scalar numCorners = ivx::Scalar::create<VX_TYPE_SIZE>(context, 0);
-
-        IVX_CHECK_STATUS(vxuFastCorners(context, img, threshold, (vx_bool)nonmaxSuppression, corners, numCorners));
-
-        size_t nPoints = numCorners.getValue<vx_size>();
-        keypoints.clear(); keypoints.reserve(nPoints);
-        std::vector<vx_keypoint_t> vxCorners;
-        corners.copyTo(vxCorners);
-        for(size_t i = 0; i < nPoints; i++)
-        {
-            vx_keypoint_t kp = vxCorners[i];
-            //if nonmaxSuppression is false, kp.strength is undefined
-            keypoints.push_back(KeyPoint((float)kp.x, (float)kp.y, 7.f, -1, kp.strength));
-        }
-
-#ifdef VX_VERSION_1_1
-        //we should take user memory back before release
-        //(it's not done automatically according to standard)
-        img.swapHandle();
-#endif
-    }
-    catch (const RuntimeError & e)
-    {
-        VX_DbgThrow(e.what());
-    }
-    catch (const WrapperError & e)
-    {
-        VX_DbgThrow(e.what());
-    }
-
-    return true;
-}
-
-#endif
-
 static inline int hal_FAST(cv::Mat& src, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression, FastFeatureDetector::DetectorType type)
 {
     if (threshold > 20)
@@ -503,13 +435,12 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
     cv::Mat img = _img.getMat();
     CALL_HAL(fast_dense, hal_FAST, img, keypoints, threshold, nonmax_suppression, type);
 
-    size_t keypoints_count;
+    size_t keypoints_count = 10000;
+    keypoints.clear();
+    keypoints.resize(keypoints_count);
     CALL_HAL(fast, cv_hal_FAST, img.data, img.step, img.cols, img.rows,
              (uchar*)(keypoints.data()), &keypoints_count, threshold, nonmax_suppression, type);
 
-    CV_OVX_RUN(true,
-               openvx_FAST(_img, keypoints, threshold, nonmax_suppression, type))
-
     switch(type) {
     case FastFeatureDetector::TYPE_5_8:
         FAST_t<8>(_img, keypoints, threshold, nonmax_suppression);

modules/features2d/test/test_fast.cpp

@@ -135,4 +135,34 @@ void CV_FastTest::run( int )
 
 TEST(Features2d_FAST, regression) { CV_FastTest test; test.safe_run(); }
 
+// #define DUMP_TEST_DATA
+
+TEST(Features2d_FAST, noNMS)
+{
+    Mat img = imread(string(cvtest::TS::ptr()->get_data_path()) + "inpaint/orig.png", cv::IMREAD_GRAYSCALE);
+    string xml = string(cvtest::TS::ptr()->get_data_path()) + "fast/result_no_nonmax.xml";
+
+    vector<KeyPoint> keypoints;
+    FAST(img, keypoints, 100, false, FastFeatureDetector::DetectorType::TYPE_9_16);
+    Mat kps(1, (int)(keypoints.size() * sizeof(KeyPoint)), CV_8U, &keypoints[0]);
+
+    Mat gt_kps;
+    FileStorage fs(xml, FileStorage::READ);
+#ifdef DUMP_TEST_DATA
+    if (!fs.isOpened())
+    {
+        fs.open(xml, FileStorage::WRITE);
+        fs << "exp_kps" << kps;
+        fs.release();
+        fs.open(xml, FileStorage::READ);
+    }
+#endif
+    ASSERT_TRUE(fs.isOpened());
+    fs["exp_kps"] >> gt_kps;
+    fs.release();
+    ASSERT_GT(gt_kps.total(), size_t(0));
+
+    ASSERT_EQ( 0, cvtest::norm(gt_kps, kps, NORM_L2));
+}
+
 }} // namespace