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Merge pull request #7720 from savuor:openvx_FAST

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Added OpenVX based processing to FAST (#7720)

* added wrapper for OVX FAST & fixes to IVX wrappers

* fixed type checks in wrappers, array downloading code simplified

* rewritten for new macro use
This commit is contained in:
Rostislav Vasilikhin 2016-12-16 15:48:18 +04:00 committed by Alexander Alekhin
parent c038d1be60
commit 969c55da58
1 changed files with 65 additions and 0 deletions
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65
modules/features2d/src/fast.cpp
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@ -45,6 +45,7 @@ The references are:
#include "fast_score.hpp"
#include "opencl_kernels_features2d.hpp"
#include "opencv2/core/openvx/ovx_defs.hpp"
#if defined _MSC_VER
# pragma warning( disable : 4127)
#endif
@ -329,6 +330,67 @@ static bool ocl_FAST( InputArray _img, std::vector<KeyPoint>& keypoints,
}
#endif
#ifdef HAVE_OPENVX
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;
try
{
Context context = Context::create();
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 (RuntimeError & e)
{
VX_DbgThrow(e.what());
}
catch (WrapperError & e)
{
VX_DbgThrow(e.what());
}
return true;
}
#endif
void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression, int type)
{
CV_INSTRUMENT_REGION()
@ -342,6 +404,9 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
}
#endif
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);