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add HAL for FAST (#10362)

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* add HAL for FAST

* add new interface
This commit is contained in:
Elena Gvozdeva
2018-01-24 01:48:06 +03:00
committed by Vadim Pisarevsky
parent a1d2258ac3
commit b97b650ab3
3 changed files with 232 additions and 0 deletions
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modules/features2d/src/fast.cpp
+64
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@@ -45,6 +45,7 @@ The references are:
#include "fast.hpp"
#include "fast_score.hpp"
#include "opencl_kernels_features2d.hpp"
#include "hal_replacement.hpp"
#include "opencv2/core/hal/intrin.hpp"
#include "opencv2/core/openvx/ovx_defs.hpp"
@@ -414,6 +415,62 @@ static bool openvx_FAST(InputArray _img, std::vector<KeyPoint>& keypoints,
#endif
static inline int hal_FAST(cv::Mat& src, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression, int type)
{
if (threshold > 20)
return CV_HAL_ERROR_NOT_IMPLEMENTED;
cv::Mat scores(src.size(), src.type());
int error = cv_hal_FAST_dense(src.data, src.step, scores.data, scores.step, src.cols, src.rows, type);
if (error != CV_HAL_ERROR_OK)
return error;
cv::Mat suppressedScores(src.size(), src.type());
if (nonmax_suppression)
{
error = cv_hal_FAST_NMS(scores.data, scores.step, suppressedScores.data, suppressedScores.step, scores.cols, scores.rows);
if (error != CV_HAL_ERROR_OK)
return error;
}
else
{
suppressedScores = scores;
}
if (!threshold && nonmax_suppression) threshold = 1;
cv::KeyPoint kpt(0, 0, 7.f, -1, 0);
uint32_t uthreshold = (uint32_t) threshold;
int ofs = 3;
int stride = (int)suppressedScores.step;
const uint8_t* pscore = suppressedScores.data;
keypoints.clear();
for (int y = ofs; y + ofs < suppressedScores.rows; ++y)
{
kpt.pt.y = (float)(y);
for (int x = ofs; x + ofs < suppressedScores.cols; ++x)
{
uint32_t score = pscore[y * stride + x];
if (score > uthreshold)
{
kpt.pt.x = (float)(x);
kpt.response = (nonmax_suppression != 0) ? (float)((int32_t)score - 1) : 0.f;
keypoints.push_back(kpt);
}
}
}
return CV_HAL_ERROR_OK;
}
void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool nonmax_suppression, int type)
{
@@ -422,6 +479,13 @@ void FAST(InputArray _img, std::vector<KeyPoint>& keypoints, int threshold, bool
CV_OCL_RUN(_img.isUMat() && type == FastFeatureDetector::TYPE_9_16,
ocl_FAST(_img, keypoints, threshold, nonmax_suppression, 10000));
cv::Mat img = _img.getMat();
CALL_HAL(fast_dense, hal_FAST, img, keypoints, threshold, nonmax_suppression, type);
size_t 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))