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Merge pull request #27391 from Haosonn:pr-rvv-hal-fast
hal/riscv-rvv: implement FAST keypoint detection #27391 An implementation of FAST keypoint detection with NMS/noNMS version. A new perf test is written, and the perf test is evaluated in two platforms: K1/K230. Accelaration is achieved when threshold is high, however, weird stat shows that the acceleration doesn't work when threshold is low (the number of keypoint candidates is high). K1: ``` # GCC Name of Test scalar rvv rvv vs scalar (x-factor) detect::Fast_Params::(20, 2, false, "cv/cameracalibration/chess9.png") 22.113 23.721 0.93 detect::Fast_Params::(20, 2, false, "cv/inpaint/orig.png") 4.605 7.168 0.64 detect::Fast_Params::(20, 2, true, "cv/cameracalibration/chess9.png") 26.228 24.689 1.06 detect::Fast_Params::(20, 2, true, "cv/inpaint/orig.png") 7.134 7.561 0.94 detect::Fast_Params::(30, 2, false, "cv/cameracalibration/chess9.png") 19.488 21.407 0.91 detect::Fast_Params::(30, 2, false, "cv/inpaint/orig.png") 3.481 5.404 0.64 detect::Fast_Params::(30, 2, true, "cv/cameracalibration/chess9.png") 22.309 22.145 1.01 detect::Fast_Params::(30, 2, true, "cv/inpaint/orig.png") 4.826 5.654 0.85 detect::Fast_Params::(100, 2, false, "cv/cameracalibration/chess9.png") 14.108 8.205 1.72 detect::Fast_Params::(100, 2, false, "cv/inpaint/orig.png") 2.520 1.072 2.35 detect::Fast_Params::(100, 2, true, "cv/cameracalibration/chess9.png") 14.133 8.410 1.68 detect::Fast_Params::(100, 2, true, "cv/inpaint/orig.png") 2.556 1.097 2.33 # Clang Name of Test scalar rvv rvv vs scalar (x-factor) detect::Fast_Params::(20, 2, false, "cv/cameracalibration/chess9.png") 25.130 23.695 1.06 detect::Fast_Params::(20, 2, false, "cv/inpaint/orig.png") 4.987 7.168 0.70 detect::Fast_Params::(20, 2, true, "cv/cameracalibration/chess9.png") 28.035 24.467 1.15 detect::Fast_Params::(20, 2, true, "cv/inpaint/orig.png") 6.760 7.503 0.90 detect::Fast_Params::(30, 2, false, "cv/cameracalibration/chess9.png") 22.954 21.373 1.07 detect::Fast_Params::(30, 2, false, "cv/inpaint/orig.png") 3.838 5.330 0.72 detect::Fast_Params::(30, 2, true, "cv/cameracalibration/chess9.png") 24.523 21.998 1.11 detect::Fast_Params::(30, 2, true, "cv/inpaint/orig.png") 4.795 5.543 0.87 detect::Fast_Params::(100, 2, false, "cv/cameracalibration/chess9.png") 16.799 8.102 2.07 detect::Fast_Params::(100, 2, false, "cv/inpaint/orig.png") 2.874 1.024 2.81 detect::Fast_Params::(100, 2, true, "cv/cameracalibration/chess9.png") 16.950 8.073 2.10 detect::Fast_Params::(100, 2, true, "cv/inpaint/orig.png") 2.899 1.027 2.82 ``` K230 ``` # GCC Name of Test scalar rvv rvv vs scalar (x-factor) detect::Fast_Params::(20, 2, false, "cv/cameracalibration/chess9.png") 21.082 32.090 0.66 detect::Fast_Params::(20, 2, false, "cv/inpaint/orig.png") 4.837 9.157 0.53 detect::Fast_Params::(20, 2, true, "cv/cameracalibration/chess9.png") 25.479 33.576 0.76 detect::Fast_Params::(20, 2, true, "cv/inpaint/orig.png") 7.549 9.716 0.78 detect::Fast_Params::(30, 2, false, "cv/cameracalibration/chess9.png") 18.463 30.087 0.61 detect::Fast_Params::(30, 2, false, "cv/inpaint/orig.png") 3.716 6.544 0.57 detect::Fast_Params::(30, 2, true, "cv/cameracalibration/chess9.png") 21.548 31.374 0.69 detect::Fast_Params::(30, 2, true, "cv/inpaint/orig.png") 5.107 6.928 0.74 detect::Fast_Params::(100, 2, false, "cv/cameracalibration/chess9.png") 13.763 8.712 1.58 detect::Fast_Params::(100, 2, false, "cv/inpaint/orig.png") 2.578 1.284 2.01 detect::Fast_Params::(100, 2, true, "cv/cameracalibration/chess9.png") 13.804 8.831 1.56 detect::Fast_Params::(100, 2, true, "cv/inpaint/orig.png") 2.615 1.289 2.03 # Clang Name of Test scalar rvv rvv vs scalar (x-factor) detect::Fast_Params::(20, 2, false, "cv/cameracalibration/chess9.png") 23.424 35.072 0.67 detect::Fast_Params::(20, 2, false, "cv/inpaint/orig.png") 5.284 10.107 0.52 detect::Fast_Params::(20, 2, true, "cv/cameracalibration/chess9.png") 26.487 35.978 0.74 detect::Fast_Params::(20, 2, true, "cv/inpaint/orig.png") 7.146 10.612 0.67 detect::Fast_Params::(30, 2, false, "cv/cameracalibration/chess9.png") 21.155 32.858 0.64 detect::Fast_Params::(30, 2, false, "cv/inpaint/orig.png") 4.101 7.153 0.57 detect::Fast_Params::(30, 2, true, "cv/cameracalibration/chess9.png") 23.321 33.505 0.70 detect::Fast_Params::(30, 2, true, "cv/inpaint/orig.png") 5.106 7.415 0.69 detect::Fast_Params::(100, 2, false, "cv/cameracalibration/chess9.png") 15.597 8.792 1.77 detect::Fast_Params::(100, 2, false, "cv/inpaint/orig.png") 2.922 1.228 2.38 detect::Fast_Params::(100, 2, true, "cv/cameracalibration/chess9.png") 15.626 8.817 1.77 detect::Fast_Params::(100, 2, true, "cv/inpaint/orig.png") 2.963 1.240 2.39 ``` ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [ ] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [x] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
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@@ -435,11 +435,23 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
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cv::Mat img = _img.getMat();
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CALL_HAL(fast_dense, hal_FAST, img, keypoints, threshold, nonmax_suppression, type);
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size_t keypoints_count = 10000;
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size_t keypoints_count = 1;
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keypoints.clear();
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keypoints.resize(keypoints_count);
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CALL_HAL(fast, cv_hal_FAST, img.data, img.step, img.cols, img.rows,
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(uchar*)(keypoints.data()), &keypoints_count, threshold, nonmax_suppression, type);
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KeyPoint* kps = (KeyPoint*)malloc(sizeof(KeyPoint) * keypoints_count);
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int hal_ret = cv_hal_FASTv2(img.data, img.step, img.cols, img.rows, (void**)&kps,
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&keypoints_count, threshold, nonmax_suppression, type, realloc);
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if (hal_ret == CV_HAL_ERROR_OK) {
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keypoints.assign(kps, kps + keypoints_count);
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free(kps);
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return;
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} else {
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free(kps);
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keypoints_count = 10000;
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keypoints.clear();
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keypoints.resize(keypoints_count);
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CALL_HAL(fast, cv_hal_FAST, img.data, img.step, img.cols, img.rows,
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(uchar*)(keypoints.data()), &keypoints_count, threshold, nonmax_suppression, type);
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}
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switch(type) {
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case FastFeatureDetector::TYPE_5_8:
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