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Add WarpPerspective in FastCV extension #3922

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0bb93a4
Add WarpPerspective in extension
quic-xuezha Jan 16, 2025
3881189
warpperspectivefixes
quic-xuezha Apr 11, 2025
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16 changes: 15 additions & 1 deletion modules/fastcv/include/opencv2/fastcv/warp.hpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
* Copyright (c) 2024-2025 Qualcomm Innovation Center, Inc. All rights reserved.
* SPDX-License-Identifier: Apache-2.0
*/

Expand All @@ -17,6 +17,20 @@ namespace fastcv {
//! @addtogroup fastcv
//! @{

/**
* @brief Transform an image using perspective transformation, same as cv::warpPerspective but not bit-exact.
* @param _src Input 8-bit image. Size of buffer is srcStride*srcHeight bytes.
* @param _dst Output 8-bit image. Size of buffer is dstStride*dstHeight bytes.
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Please remove the information about sizes. The destination buffer is allocated by the function itself automatically.

* @param _M0 3x3 perspective transformation matrix.
* @param dsize Size of the output image.
* @param interpolation Interpolation method. Only cv::INTER_NEAREST, cv::INTER_LINEAR and cv::INTER_AREA are supported.
* @param borderType Pixel extrapolation method. Only cv::BORDER_CONSTANT, cv::BORDER_REPLICATE and cv::BORDER_TRANSPARENT
* are supported.
* @param borderValue Value used in case of a constant border.
*/
void warpPerspective(InputArray _src, OutputArray _dst, InputArray _M0, Size dsize, int interpolation, int borderType,
const Scalar& borderValue);

/**
* @brief Perspective warp two images using the same transformation. Bi-linear interpolation is used where applicable.
* For example, to warp a grayscale image and an alpha image at the same time, or warp two color channels.
Expand Down
79 changes: 57 additions & 22 deletions modules/fastcv/perf/perf_warp.cpp
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Original file line number Diff line number Diff line change
@@ -1,37 +1,25 @@
/*
* Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
* Copyright (c) 2024-2025 Qualcomm Innovation Center, Inc. All rights reserved.
* SPDX-License-Identifier: Apache-2.0
*/

#include "perf_precomp.hpp"

namespace opencv_test {

typedef perf::TestBaseWithParam<Size> WarpPerspective2PlanePerfTest;

PERF_TEST_P(WarpPerspective2PlanePerfTest, run,
::testing::Values(perf::szVGA, perf::sz720p, perf::sz1080p))
static void getInvertMatrix(Mat& src, Mat& dst, Mat& M)
{
cv::Size dstSize = GetParam();
cv::Mat img = imread(cvtest::findDataFile("cv/shared/baboon.png"));
Mat src(img.rows, img.cols, CV_8UC1);
cvtColor(img,src,cv::COLOR_BGR2GRAY);
cv::Mat dst1, dst2, mat;
mat.create(3,3,CV_32FC1);
dst1.create(dstSize,CV_8UC1);
dst2.create(dstSize,CV_8UC1);

RNG& rng = cv::theRNG();
Point2f s[4], d[4];

s[0] = Point2f(0,0);
d[0] = Point2f(0,0);
s[1] = Point2f(src.cols-1.f,0);
d[1] = Point2f(dst1.cols-1.f,0);
d[1] = Point2f(dst.cols-1.f,0);
s[2] = Point2f(src.cols-1.f,src.rows-1.f);
d[2] = Point2f(dst1.cols-1.f,dst1.rows-1.f);
d[2] = Point2f(dst.cols-1.f,dst.rows-1.f);
s[3] = Point2f(0,src.rows-1.f);
d[3] = Point2f(0,dst1.rows-1.f);
d[3] = Point2f(0,dst.rows-1.f);

float buffer[16];
Mat tmp( 1, 16, CV_32FC1, buffer );
Expand All @@ -41,18 +29,65 @@ PERF_TEST_P(WarpPerspective2PlanePerfTest, run,
{
s[i].x += buffer[i*4]*src.cols/2;
s[i].y += buffer[i*4+1]*src.rows/2;
d[i].x += buffer[i*4+2]*dst1.cols/2;
d[i].y += buffer[i*4+3]*dst1.rows/2;
d[i].x += buffer[i*4+2]*dst.cols/2;
d[i].y += buffer[i*4+3]*dst.rows/2;
}

cv::getPerspectiveTransform( s, d ).convertTo( mat, mat.depth() );
cv::getPerspectiveTransform( s, d ).convertTo( M, M.depth() );

// Invert the perspective matrix
invert(mat,mat);
invert(M,M);
}

typedef perf::TestBaseWithParam<Size> WarpPerspective2PlanePerfTest;

PERF_TEST_P(WarpPerspective2PlanePerfTest, run,
::testing::Values(perf::szVGA, perf::sz720p, perf::sz1080p))
{
cv::Size dstSize = GetParam();
cv::Mat img = imread(cvtest::findDataFile("cv/shared/baboon.png"));
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Add EXPECT_FALSE(img.empty()); after the line to check that test input is not empty.

Mat src(img.rows, img.cols, CV_8UC1);
cvtColor(img,src,cv::COLOR_BGR2GRAY);
cv::Mat dst1, dst2, matrix;
matrix.create(3,3,CV_32FC1);
dst1.create(dstSize,CV_8UC1);
dst2.create(dstSize,CV_8UC1);

getInvertMatrix(src, dst1, matrix);

while (next())
{
startTimer();
cv::fastcv::warpPerspective2Plane(src, src, dst1, dst2, matrix, dstSize);
stopTimer();
}

SANITY_CHECK_NOTHING();
}

typedef perf::TestBaseWithParam<tuple<Size, int, int>> WarpPerspectivePerfTest;

PERF_TEST_P(WarpPerspectivePerfTest, run,
::testing::Combine( ::testing::Values(perf::szVGA, perf::sz720p, perf::sz1080p),
::testing::Values(INTER_NEAREST, INTER_LINEAR, INTER_AREA),
::testing::Values(BORDER_CONSTANT, BORDER_REPLICATE, BORDER_TRANSPARENT)))
{
cv::Size dstSize = get<0>(GetParam());
int interplation = get<1>(GetParam());
int borderType = get<2>(GetParam());
cv::Scalar borderValue = Scalar::all(100);

cv::Mat src = imread(cvtest::findDataFile("cv/shared/baboon.png"), cv::IMREAD_GRAYSCALE);
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The same assert.

cv::Mat dst, matrix, ref;
matrix.create(3, 3, CV_32FC1);
dst.create(dstSize, src.type());

getInvertMatrix(src, dst, matrix);

while (next())
{
startTimer();
cv::fastcv::warpPerspective2Plane(src, src, dst1, dst2, mat, dstSize);
cv::fastcv::warpPerspective(src, dst, matrix, dstSize, interplation, borderType, borderValue);
stopTimer();
}

Expand Down
175 changes: 139 additions & 36 deletions modules/fastcv/src/warp.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
/*
* Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
* Copyright (c) 2024-2025 Qualcomm Innovation Center, Inc. All rights reserved.
* SPDX-License-Identifier: Apache-2.0
*/

Expand All @@ -12,49 +12,52 @@ class FcvWarpPerspectiveLoop_Invoker : public cv::ParallelLoopBody
{
public:

FcvWarpPerspectiveLoop_Invoker(InputArray _src1, InputArray _src2, OutputArray _dst1, OutputArray _dst2, InputArray _M0,
Size _dsize) : cv::ParallelLoopBody()
{
src1 = _src1.getMat();
src2 = _src2.getMat();
dsize = _dsize;

_dst1.create(dsize, src1.type());
_dst2.create(dsize, src2.type());
dst1 = _dst1.getMat();
dst2 = _dst2.getMat();

M = _M0.getMat();
}
FcvWarpPerspectiveLoop_Invoker(const Mat& _src1, const Mat& _src2, Mat& _dst1, Mat& _dst2,
const float * _M, fcvInterpolationType _interpolation = FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR,
fcvBorderType _borderType = fcvBorderType::FASTCV_BORDER_UNDEFINED, const int _borderValue = 0)
: ParallelLoopBody(), src1(_src1), src2(_src2), dst1(_dst1), dst2(_dst2), M(_M), interpolation(_interpolation),
borderType(_borderType), borderValue(_borderValue)
{}

virtual void operator()(const cv::Range& range) const CV_OVERRIDE
{
uchar* dst1_ptr = dst1.data + range.start*dst1.step;
uchar* dst2_ptr = dst2.data + range.start*dst2.step;
uchar* dst1_ptr = dst1.data + range.start * dst1.step;
int rangeHeight = range.end - range.start;

float rangeMatrix[9];
rangeMatrix[0] = M.at<float>(0,0);
rangeMatrix[1] = M.at<float>(0,1);
rangeMatrix[2] = M.at<float>(0,2)+range.start*M.at<float>(0,1);
rangeMatrix[3] = M.at<float>(1,0);
rangeMatrix[4] = M.at<float>(1,1);
rangeMatrix[5] = M.at<float>(1,2)+range.start*M.at<float>(1,1);
rangeMatrix[6] = M.at<float>(2,0);
rangeMatrix[7] = M.at<float>(2,1);
rangeMatrix[8] = M.at<float>(2,2)+range.start*M.at<float>(2,1);

fcv2PlaneWarpPerspectiveu8(src1.data, src2.data, src1.cols, src1.rows, src1.step, src2.step, dst1_ptr, dst2_ptr,
dsize.width, rangeHeight, dst1.step, dst2.step, rangeMatrix);
rangeMatrix[0] = M[0];
rangeMatrix[1] = M[1];
rangeMatrix[2] = M[2]+range.start*M[1];
rangeMatrix[3] = M[3];
rangeMatrix[4] = M[4];
rangeMatrix[5] = M[5]+range.start*M[4];
rangeMatrix[6] = M[6];
rangeMatrix[7] = M[7];
rangeMatrix[8] = M[8]+range.start*M[7];

if ((src2.empty()) || (dst2.empty()))
{
fcvWarpPerspectiveu8_v5(src1.data, src1.cols, src1.rows, src1.step, src1.channels(), dst1_ptr, dst1.cols, rangeHeight,
dst1.step, rangeMatrix, interpolation, borderType, borderValue);
}
else
{
uchar* dst2_ptr = dst2.data + range.start * dst2.step;
fcv2PlaneWarpPerspectiveu8(src1.data, src2.data, src1.cols, src1.rows, src1.step, src2.step, dst1_ptr, dst2_ptr,
dst1.cols, rangeHeight, dst1.step, dst2.step, rangeMatrix);
}
}

private:
Mat src1;
Mat src2;
Mat dst1;
Mat dst2;
Mat M;
Size dsize;

const Mat& src1;
const Mat& src2;
Mat& dst1;
Mat& dst2;
const float* M;
fcvInterpolationType interpolation;
fcvBorderType borderType;
int borderValue;

FcvWarpPerspectiveLoop_Invoker(const FcvWarpPerspectiveLoop_Invoker &); // = delete;
const FcvWarpPerspectiveLoop_Invoker& operator= (const FcvWarpPerspectiveLoop_Invoker &); // = delete;
Expand All @@ -68,8 +71,108 @@ void warpPerspective2Plane(InputArray _src1, InputArray _src2, OutputArray _dst1
CV_Assert(!_src2.empty() && _src2.type() == CV_8UC1);
CV_Assert(!_M0.empty());

Mat src1 = _src1.getMat();
Mat src2 = _src2.getMat();

_dst1.create(dsize, src1.type());
_dst2.create(dsize, src2.type());
Mat dst1 = _dst1.getMat();
Mat dst2 = _dst2.getMat();

Mat M0 = _M0.getMat();
CV_Assert((M0.type() == CV_32F || M0.type() == CV_64F) && M0.rows == 3 && M0.cols == 3);
float matrix[9];
Mat M(3, 3, CV_32F, matrix);
M0.convertTo(M, M.type());

int nThreads = getNumThreads();
int nStripes = nThreads > 1 ? 2*nThreads : 1;

cv::parallel_for_(cv::Range(0, dsize.height),
FcvWarpPerspectiveLoop_Invoker(src1, src2, dst1, dst2, matrix), nStripes);
}

void warpPerspective(InputArray _src, OutputArray _dst, InputArray _M0, Size dsize, int interpolation, int borderType,
const Scalar& borderValue)
{
Mat src = _src.getMat();

_dst.create(dsize, src.type());
Mat dst = _dst.getMat();

Mat M0 = _M0.getMat();
CV_Assert((M0.type() == CV_32F || M0.type() == CV_64F) && M0.rows == 3 && M0.cols == 3);
float matrix[9];
Mat M(3, 3, CV_32F, matrix);
M0.convertTo(M, M.type());

// Do not support inplace case
CV_Assert(src.data != dst.data);
// Only support CV_8U
CV_Assert(src.depth() == CV_8U);

INITIALIZATION_CHECK;

fcvBorderType fcvBorder;
uint8_t fcvBorderValue = 0;
fcvInterpolationType fcvInterpolation;

switch (borderType)
{
case BORDER_CONSTANT:
{
// Border value should be same
CV_Assert((borderValue[0] == borderValue[1]) &&
(borderValue[0] == borderValue[2]) &&
(borderValue[0] == borderValue[3]));

fcvBorder = fcvBorderType::FASTCV_BORDER_CONSTANT;
fcvBorderValue = static_cast<uint8_t>(borderValue[0]);
break;
}
case BORDER_REPLICATE:
{
fcvBorder = fcvBorderType::FASTCV_BORDER_REPLICATE;
break;
}
case BORDER_TRANSPARENT:
{
fcvBorder = fcvBorderType::FASTCV_BORDER_UNDEFINED;
break;
}
default:
CV_Error(cv::Error::StsBadArg, cv::format("Border type:%d is not supported", borderType));
}

switch(interpolation)
{
case INTER_NEAREST:
{
fcvInterpolation = FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR;
break;
}
case INTER_LINEAR:
{
fcvInterpolation = FASTCV_INTERPOLATION_TYPE_BILINEAR;
break;
}
case INTER_AREA:
{
fcvInterpolation = FASTCV_INTERPOLATION_TYPE_AREA;
break;
}
default:
CV_Error(cv::Error::StsBadArg, cv::format("Interpolation type:%d is not supported", interpolation));
}

int nThreads = cv::getNumThreads();
int nStripes = nThreads > 1 ? 2*nThreads : 1;

// placeholder
Mat tmp;

cv::parallel_for_(cv::Range(0, dsize.height),
FcvWarpPerspectiveLoop_Invoker(_src1, _src2, _dst1, _dst2, _M0, dsize), 1);
FcvWarpPerspectiveLoop_Invoker(src, tmp, dst, tmp, matrix, fcvInterpolation, fcvBorder, fcvBorderValue), nStripes);
}

} // fastcv::
Expand Down
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