【OPENVX】快速角点提取之 vxuFastCorners

#ifndef OPENVX_UTILS_H
#define OPENVX_UTILS_H
#include 
#include 
#include 
#include "VX/vx.h"

// 状态检查
#define ERROR_CHECK_STATUS(status)                                                              \
    {                                                                                           \
        vx_status status_ = (status);                                                           \
        if (status_ != VX_SUCCESS)                                                              \
        {                                                                                       \
            printf("ERROR: failed with status = (%d) at " __FILE__ "#%d\n", status_, __LINE__); \
            exit(1);                                                                            \
        }                                                                                       \
    }

// 对象创建检查
#define ERROR_CHECK_OBJECT(obj, message)                                                        \
    {                                                                                           \
        vx_status status_ = vxGetStatus((vx_reference)(obj));                                   \
        if (status_ != VX_SUCCESS)                                                              \
        {                                                                                       \
            printf("ERROR: failed with status = (%d) at " __FILE__ "#%d\n", status_, __LINE__); \
            puts(message);                                                                      \
            exit(1);                                                                            \
        }                                                                                       \
    }

// 函数名称
#ifdef DEBUG
#define DEBUG_FUNCTION_NAME(void)                                                     \
    {                                                                                 \
        printf("================================================================\n"); \
        printf(__func__);                                                             \
        printf("\n");                                                                 \
    }

#define DEBUG_LOG(format, ...)                                                      \
    {                                                                               \
        printf("[%s:%d->%s] " format, __FILE__, __LINE__, __func__, ##__VA_ARGS__); \
    }
#else
#define DEBUG_FUNCTION_NAME(void)
#define DEBUG_LOG(format, ...)
#endif

static inline vx_image vxCvMatToVxImage(const vx_context context, const cv::Mat &cv_image)
{
    DEBUG_FUNCTION_NAME();

    // 图像类型
    vx_df_image vx_image_type;
    switch (cv_image.type())
    {
    case CV_8UC1:
        vx_image_type = VX_DF_IMAGE_U8;
        break;
    case CV_8UC3:
        vx_image_type = VX_DF_IMAGE_RGB;
        break;
    default:
        DEBUG_LOG("Format %d not supported\n", vx_image_type);

        return NULL;
    }

    // 图像属性
    int width = cv_image.cols;
    int height = cv_image.rows;

    // 创建图像
    vx_image image = vxCreateImage(context, width, height, vx_image_type);

    // 区域
    vx_rectangle_t patch;
    patch.start_x = 0;
    patch.start_y = 0;
    patch.end_x = width;
    patch.end_y = height;

    vx_map_id map_id;
    vx_imagepatch_addressing_t addr;
    unsigned char *ptr;
    vx_status status = vxMapImagePatch(image, &patch, 0, &map_id, &addr, (void **)&ptr, VX_WRITE_ONLY, VX_MEMORY_TYPE_HOST, VX_NOGAP_X);
    if (status != VX_SUCCESS)
    {
        DEBUG_LOG("vxMapImagePatch returned error with code %d\n", status);
        return NULL;
    }

    if (addr.stride_x != 1 && addr.stride_x != 3)
    {
        DEBUG_LOG("addressing structure not supported, stride_x = %d\n", addr.stride_x);
        return NULL;
    }

    for (int y = 0; y < height; y++)
    {
        unsigned char *ptr_y = ptr + y * addr.stride_y;
        memcpy(ptr_y, cv_image.ptr(y), addr.stride_y);
    }

    status = vxUnmapImagePatch(image, map_id);
    if (status != VX_SUCCESS)
    {
        DEBUG_LOG("vxUnmapImagePatch failed...\n");
        return NULL;
    }

    return image;
}

static inline int vxVxImageToCvMat(const vx_image image, cv::Mat &cv_image)
{
    DEBUG_FUNCTION_NAME();

    // 图像属性
    vx_uint32 width = 0;
    vx_uint32 height = 0;
    ERROR_CHECK_STATUS(vxQueryImage(image, VX_IMAGE_WIDTH, &width, sizeof(width)));
    ERROR_CHECK_STATUS(vxQueryImage(image, VX_IMAGE_HEIGHT, &height, sizeof(height)));

    // 图像类型
    vx_df_image image_type;
    ERROR_CHECK_STATUS(vxQueryImage(image, VX_IMAGE_FORMAT, &image_type, sizeof(image_type)));

    int cv_image_type;
    switch (image_type)
    {
    case VX_DF_IMAGE_U8:
        cv_image_type = CV_8UC1;
        break;
    case VX_DF_IMAGE_RGB:
        cv_image_type = CV_8UC3;
        break;
    default:
        DEBUG_LOG("Format %d not supported\n", cv_image_type);
        return -1;
    }

    // 区域
    vx_rectangle_t patch = {0, 0, width, height};
    vx_map_id map_id;
    vx_imagepatch_addressing_t addr;
    unsigned char *ptr;
    vx_status status = vxMapImagePatch(image, &patch, 0, &map_id, &addr, (void **)&ptr, VX_READ_ONLY, VX_MEMORY_TYPE_HOST, VX_NOGAP_X);
    if (status != VX_SUCCESS)
    {
        DEBUG_LOG("vxMapImagePatch returned error with code %d\n", status);
        return -1;
    }

    if (addr.stride_x != 1 && addr.stride_x != 3)
    {
        DEBUG_LOG("addressing structure not supported, stride_x = %d\n", addr.stride_x);
        return -1;
    }

    cv_image = cv::Mat(height, width, cv_image_type);
    for (int y = 0; y < height; y++)
    {
        unsigned char *ptr_y = ptr + y * addr.stride_y;
        memcpy(cv_image.ptr(y), ptr_y, addr.stride_y);
    }

    status = vxUnmapImagePatch(image, map_id);
    if (status != VX_SUCCESS)
    {
        DEBUG_LOG("vxUnmapImagePatch failed...\n");
        return -1;
    }

    return 0;
}

static inline vx_image ReadImage(vx_context context, const char *file_name)
{
    cv::Mat mat = cv::imread(file_name, cv::IMREAD_ANYCOLOR);
    return vxCvMatToVxImage(context, mat);
}

static inline void SaveImage(vx_image image, const char *file_name)
{
    cv::Mat mat;
    int ret = vxVxImageToCvMat(image, mat);
    if (!ret)
        cv::imwrite(file_name, mat);
}

static inline void DisplayImage(vx_image image, const char *window_name, int time = 0, int width = 640, int height = 480)
{
    cv::Mat mat;
    int ret = vxVxImageToCvMat(image, mat);
    if (!ret)
    {
        cv::namedWindow(window_name, cv::WINDOW_NORMAL);
        cv::resizeWindow(window_name, width, 480);
        cv::imshow(window_name, mat);
        cv::waitKey(time);
    }
}

static inline void DisplayImage(cv::Mat &image, const char *window_name, int time = 0, int width = 640, int height = 480)
{
    cv::namedWindow(window_name, cv::WINDOW_NORMAL);
    cv::resizeWindow(window_name, width, 480);
    cv::imshow(window_name, image);
    cv::waitKey(time);
}

#endif

#include 
#include 
#include "VX/vx.h"
#include "VX/vxu.h"
#include "openvx_utils.h"

/// 目的：
///     1. 使用图像创建函数在黑色背景上创建一个白色矩形
///     2. 使用Fast Corners算法计算角点数量

void errorCheck(vx_context context, vx_status status, const char *message)
{
    if (status)
    {
        puts("ERROR! ");
        puts(message);
        vxReleaseContext(&context);
        exit(EXIT_FAILURE);
    }
}

vx_image makeInputImage(vx_context context)
{
    DEBUG_FUNCTION_NAME();

    /// 创建图像
    vx_image image = vxCreateImage(context, 100U, 100U, VX_DF_IMAGE_U8);

    /// 判断图像是否创建成功
    if (VX_SUCCESS != vxGetStatus((vx_reference)image))
        return image;

    /// 定义矩形
    vx_rectangle_t rect = {.start_x = 20, .start_y = 40, .end_x = 80, .end_y = 60};

    /// 创建感兴趣区域
    vx_image roi = vxCreateImageFromROI(image, &rect);
    if(VX_SUCCESS != vxGetStatus((vx_reference)roi))
        return roi;

    vx_pixel_value_t pixel_white, pixel_black;
    pixel_white.U8 = 255;
    pixel_black.U8 = 0;
    
    /// 设置背景像素
    if ( VX_SUCCESS != vxSetImagePixelValues(image, &pixel_black))
        vxReleaseImage(&image);
    
    /// 设置前景像素
    if (VX_SUCCESS != vxSetImagePixelValues(roi, &pixel_white))
        vxReleaseImage(&roi);

    return image;
}

void fastCorner(vx_context context, vx_image image, vx_bool is_use_nonmax_suppression)
{
    DEBUG_FUNCTION_NAME();
    
    /// 分割阈值
    vx_float32 strength_thresh_value = 128.0f;
    vx_scalar strength_thresh = vxCreateScalar(context, VX_TYPE_FLOAT32, &strength_thresh_value);
    errorCheck(context, vxGetStatus((vx_reference) strength_thresh), "Could not create threshold scalar");

    /// 创建用于储存角点结果的数组
    vx_array corners = vxCreateArray(context, VX_TYPE_KEYPOINT, 100);
    errorCheck(context, vxGetStatus((vx_reference) corners), "Could not create corner array");

    /// 角点数量
    vx_size num_corners_value = 0;
    vx_scalar num_corners = vxCreateScalar(context, VX_TYPE_SIZE, &num_corners_value);
    errorCheck(context, vxGetStatus((vx_reference) num_corners), "Could not create corner number scalar");

    /// 用于显示角点而开辟的内存区
    vx_keypoint_t *kp = (vx_keypoint_t *)calloc(100, sizeof(vx_keypoint_t));
    errorCheck(context, kp == NULL, "Could not calloc memory");

    /// 执行角点查找
    vx_status status = vxuFastCorners(context, image, strength_thresh, is_use_nonmax_suppression, corners, num_corners);
    errorCheck(context, status, "Fast Corners function failed");

    /// 获取角点数量
    status = vxCopyScalar(num_corners, &num_corners_value, VX_READ_ONLY, VX_MEMORY_TYPE_HOST);
    errorCheck(context, status, "vxCopyScalar failed");
    printf("Found %zu corners %s non-max suppression\n", num_corners_value, is_use_nonmax_suppression ? "with" : "without");

    /// 获取角点数据
    status = vxCopyArrayRange(corners, 0, num_corners_value, sizeof(vx_keypoint_t), kp, VX_READ_ONLY, VX_MEMORY_TYPE_HOST);
    errorCheck(context, status, "vxCopyArrayRange failed");

    for (int i = 0; i < num_corners_value; ++i)
    {
        printf("Entry %3d: x = %d, y = %d\n", i, kp[i].x, kp[i].y);
    }

    cv::Mat cv_image;
    int ret = vxVxImageToCvMat(image, cv_image);
    if (0 == ret)
    {
        cv::Mat cv_image_color;
        cv::cvtColor(cv_image, cv_image_color, cv::COLOR_GRAY2BGR);
        for (int i = 0; i < num_corners_value; ++i)
        {
            cv::circle(cv_image_color, cv::Point(kp[i].x, kp[i].y), 3, cv::Scalar(0, 255, 0), -1);
        }
        DisplayImage(cv_image_color, "KeyPoints");
    }

    free(kp);
}

int main(int argc, char *argv[])
{
    (void) argc;
    (void) argv;

    /// 创建上下文
    vx_context context = vxCreateContext();
    errorCheck(context, vxGetStatus((vx_reference)context), "Could not create a vx_context");

    /// 创建图像（黑色背景上带有白色矩形）
    vx_image image = makeInputImage(context);
    DisplayImage(image, "image");
    errorCheck(context, vxGetStatus((vx_reference)image), "Could not create image1");

    /// 使用非极大值抑制
    fastCorner(context, image, vx_true_e);

    /// 不使用非极大值抑制
    fastCorner(context, image, vx_false_e);

    vxReleaseContext(&context);

    return EXIT_SUCCESS;
}