add HAL for FAST (#10362)

* add HAL for FAST

* add new interface

modules/features2d/include/opencv2/features2d/hal/interface.h

+#ifndef OPENCV_FEATURE2D_HAL_INTERFACE_H
+#define OPENCV_FEATURE2D_HAL_INTERFACE_H
+
+#include "opencv2/core/cvdef.h"
+//! @addtogroup featrure2d_hal_interface
+//! @{
+
+//! @name Fast feature detector types
+//! @sa cv::FastFeatureDetector
+//! @{
+#define CV_HAL_TYPE_5_8  0
+#define CV_HAL_TYPE_7_12 1
+#define CV_HAL_TYPE_9_16 2
+//! @}
+
+//! @name Key point
+//! @sa cv::KeyPoint
+//! @{
+struct CV_EXPORTS cvhalKeyPoint
+{
+    float x;
+    float y;
+    float size;
+    float angle;
+    float response;
+    int octave;
+    int class_id;
+};
+//! @}
+
+//! @}
+
+#endif

modules/features2d/src/fast.cpp

@@ -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))
 

modules/features2d/src/hal_replacement.hpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2017, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef OPENCV_FEATURES2D_HAL_REPLACEMENT_HPP
+#define OPENCV_FEATURES2D_HAL_REPLACEMENT_HPP
+
+#include "opencv2/core/hal/interface.h"
+
+#if defined __GNUC__
+#  pragma GCC diagnostic push
+#  pragma GCC diagnostic ignored "-Wunused-parameter"
+#elif defined _MSC_VER
+#  pragma warning( push )
+#  pragma warning( disable: 4100 )
+#endif
+
+//! @addtogroup features2d_hal_interface
+//! @note Define your functions to override default implementations:
+//! @code
+//! #undef hal_add8u
+//! #define hal_add8u my_add8u
+//! @endcode
+//! @{
+/**
+   @brief Detects corners using the FAST algorithm, returns mask.
+   @param src_data,src_step Source image
+   @param dst_data,dst_step Destination mask
+   @param width,height Source image dimensions
+   @param type FAST type
+*/
+inline int hal_ni_FAST_dense(const uchar* src_data, size_t src_step, uchar* dst_data, size_t dst_step, int width, int height, int type) { return CV_HAL_ERROR_NOT_IMPLEMENTED; }
+
+//! @cond IGNORED
+#define cv_hal_FAST_dense hal_ni_FAST_dense
+//! @endcond
+
+/**
+   @brief Non-maximum suppression for FAST_9_16.
+   @param src_data,src_step Source mask
+   @param dst_data,dst_step Destination mask after NMS
+   @param width,height Source mask dimensions
+*/
+inline int hal_ni_FAST_NMS(const uchar* src_data, size_t src_step, uchar* dst_data, size_t dst_step, int width, int height) { return CV_HAL_ERROR_NOT_IMPLEMENTED; }
+
+//! @cond IGNORED
+#define cv_hal_FAST_NMS hal_ni_FAST_NMS
+//! @endcond
+
+/**
+   @brief Detects corners using the FAST algorithm.
+   @param src_data,src_step Source image
+   @param width,height Source image dimensions
+   @param keypoints_data Pointer to keypoints
+   @param keypoints_count Count of keypoints
+   @param threshold Threshold for keypoint
+   @param nonmax_suppression Indicates if make nonmaxima suppression or not.
+   @param type FAST type
+*/
+inline int hal_ni_FAST(const uchar* src_data, size_t src_step, int width, int height, uchar* keypoints_data, size_t* keypoints_count, int threshold, bool nonmax_suppression, int type) { return CV_HAL_ERROR_NOT_IMPLEMENTED; }
+
+//! @cond IGNORED
+#define cv_hal_FAST hal_ni_FAST
+//! @endcond
+
+//! @}
+
+
+#if defined __GNUC__
+#  pragma GCC diagnostic pop
+#elif defined _MSC_VER
+#  pragma warning( pop )
+#endif
+
+#include "custom_hal.hpp"
+
+//! @cond IGNORED
+#define CALL_HAL_RET(name, fun, retval, ...) \
+    int res = __CV_EXPAND(fun(__VA_ARGS__, &retval)); \
+    if (res == CV_HAL_ERROR_OK) \
+        return retval; \
+    else if (res != CV_HAL_ERROR_NOT_IMPLEMENTED) \
+        CV_Error_(cv::Error::StsInternal, \
+            ("HAL implementation " CVAUX_STR(name) " ==> " CVAUX_STR(fun) " returned %d (0x%08x)", res, res));
+
+
+#define CALL_HAL(name, fun, ...) \
+{                                           \
+    int res = __CV_EXPAND(fun(__VA_ARGS__)); \
+    if (res == CV_HAL_ERROR_OK) \
+        return; \
+    else if (res != CV_HAL_ERROR_NOT_IMPLEMENTED) \
+        CV_Error_(cv::Error::StsInternal, \
+            ("HAL implementation " CVAUX_STR(name) " ==> " CVAUX_STR(fun) " returned %d (0x%08x)", res, res)); \
+}
+//! @endcond
+
+#endif