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Merged
merged 5 commits into from
Mar 19, 2025
Merged

FastCV extension 3rd Post #3891

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d3d26cb
FastCV extension 3rd Post
adsha-quic Feb 26, 2025
dafbca2
Adding support for zeroing output buffers in FastCV sobel pyramid
adsha-quic Feb 26, 2025
423e3e1
Merge branch 'opencv:4.x' into 3rdPost
adsha-quic Mar 3, 2025
3c63f54
Adding modifications as per feedback by Alexander
adsha-quic Mar 3, 2025
15ea63c
Adding modifications in channel tests and pyramid roi as suggested by…
adsha-quic Mar 6, 2025
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3 changes: 2 additions & 1 deletion modules/fastcv/include/opencv2/fastcv.hpp
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/*
* 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 @@ -11,6 +11,7 @@
#include "opencv2/fastcv/arithm.hpp"
#include "opencv2/fastcv/bilateralFilter.hpp"
#include "opencv2/fastcv/blur.hpp"
#include "opencv2/fastcv/channel.hpp"
#include "opencv2/fastcv/cluster.hpp"
#include "opencv2/fastcv/draw.hpp"
#include "opencv2/fastcv/edges.hpp"
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41 changes: 40 additions & 1 deletion modules/fastcv/include/opencv2/fastcv/arithm.hpp
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/*
* 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 @@ -8,6 +8,10 @@

#include <opencv2/core.hpp>

#define FCV_CMP_EQ(val1,val2) (fabs(val1 - val2) < FLT_EPSILON)

#define FCV_OPTYPE(depth,op) ((depth<<3) + op)

namespace cv {
namespace fastcv {

Expand All @@ -26,6 +30,41 @@ CV_EXPORTS_W void matmuls8s32(InputArray src1, InputArray src2, OutputArray dst)

//! @}

//! @addtogroup fastcv
//! @{

/**
* @brief Arithmetic add and subtract operations for two matrices
* It is optimized for Qualcomm's processors
* @param src1 First source matrix, can be of type CV_8U, CV_16S, CV_32F.
* Note: CV_32F not supported for subtract
* @param src2 Second source matrix of same type and size as src1
* @param dst Resulting matrix of type as src mats
* @param op type of operation - 0 for add and 1 for subtract
*/
CV_EXPORTS_W void arithmetic_op(InputArray src1, InputArray src2, OutputArray dst, int op);

//! @}

//! @addtogroup fastcv
//! @{

/**
* @brief Matrix multiplication of two float type matrices
* R = a*A*B + b*C where A,B,C,R are matrices and a,b are constants
* It is optimized for Qualcomm's processors
* @param src1 First source matrix of type CV_32F
* @param src2 Second source matrix of type CV_32F with same rows as src1 cols
* @param dst Resulting matrix of type CV_32F
* @param alpha multiplying factor for src1 and src2
* @param src3 Optional third matrix of type CV_32F to be added to matrix product
* @param beta multiplying factor for src3
*/
CV_EXPORTS_W void gemm(InputArray src1, InputArray src2, OutputArray dst, float alpha = 1.0,
InputArray src3 = noArray(), float beta = 0.0);
Comment on lines +52 to +64
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OpenCV HAL has GEMM options:

/**
The function performs generalized matrix multiplication similar to the gemm functions in BLAS level 3:
\f$D = \alpha*AB+\beta*C\f$

@param src1 pointer to input \f$M\times N\f$ matrix \f$A\f$ or \f$A^T\f$ stored in row major order.
@param src1_step number of bytes between two consequent rows of matrix \f$A\f$ or \f$A^T\f$.
@param src2 pointer to input \f$N\times K\f$ matrix \f$B\f$ or \f$B^T\f$ stored in row major order.
@param src2_step number of bytes between two consequent rows of matrix \f$B\f$ or \f$B^T\f$.
@param alpha \f$\alpha\f$ multiplier before \f$AB\f$
@param src3 pointer to input \f$M\times K\f$ matrix \f$C\f$ or \f$C^T\f$ stored in row major order.
@param src3_step number of bytes between two consequent rows of matrix \f$C\f$ or \f$C^T\f$.
@param beta \f$\beta\f$ multiplier before \f$C\f$
@param dst pointer to input \f$M\times K\f$ matrix \f$D\f$ stored in row major order.
@param dst_step number of bytes between two consequent rows of matrix \f$D\f$.
@param m number of rows in matrix \f$A\f$ or \f$A^T\f$, equals to number of rows in matrix \f$D\f$
@param n number of columns in matrix \f$A\f$ or \f$A^T\f$
@param k number of columns in matrix \f$B\f$ or \f$B^T\f$, equals to number of columns in matrix \f$D\f$
@param flags algorithm options (combination of CV_HAL_GEMM_1_T, ...).
 */

//! @addtogroup core_hal_interface_matrix_multiplication Matrix multiplication
//! @{
inline int hal_ni_gemm32f(const float* src1, size_t src1_step, const float* src2, size_t src2_step,
                          float alpha, const float* src3, size_t src3_step, float beta, float* dst, size_t dst_step,
                          int m, int n, int k, int flags) { return CV_HAL_ERROR_NOT_IMPLEMENTED; }
inline int hal_ni_gemm64f(const double* src1, size_t src1_step, const double* src2, size_t src2_step,
                          double alpha, const double* src3, size_t src3_step, double beta, double* dst, size_t dst_step,
                          int m, int n, int k, int flags) { return CV_HAL_ERROR_NOT_IMPLEMENTED; }
inline int hal_ni_gemm32fc(const float* src1, size_t src1_step, const float* src2, size_t src2_step,
                          float alpha, const float* src3, size_t src3_step, float beta, float* dst, size_t dst_step,
                          int m, int n, int k, int flags) { return CV_HAL_ERROR_NOT_IMPLEMENTED; }
inline int hal_ni_gemm64fc(const double* src1, size_t src1_step, const double* src2, size_t src2_step,
                          double alpha, const double* src3, size_t src3_step, double beta, double* dst, size_t dst_step,
                          int m, int n, int k, int flags) { return CV_HAL_ERROR_NOT_IMPLEMENTED; }
//! @}

I propose to implement rather then add extension.


//! @}

} // fastcv::
} // cv::

Expand Down
45 changes: 45 additions & 0 deletions modules/fastcv/include/opencv2/fastcv/channel.hpp
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/*
* Copyright (c) 2025 Qualcomm Innovation Center, Inc. All rights reserved.
* SPDX-License-Identifier: Apache-2.0
*/

#ifndef OPENCV_FASTCV_CHANNEL_HPP
#define OPENCV_FASTCV_CHANNEL_HPP

#include <opencv2/core.hpp>

namespace cv {
namespace fastcv {

//! @addtogroup fastcv
//! @{

/**
* @brief Creates one multi-channel mat out of several single-channel CV_8U mats.
* Optimized for Qualcomm's processors
* @param mv input vector of matrices to be merged; all the matrices in mv must be of CV_8UC1 and have the same size
* Note: numbers of mats can be 2,3 or 4.
* @param dst output array of depth CV_8U and same size as mv[0]; The number of channels
* will be the total number of matrices in the matrix array
*/
CV_EXPORTS_W void merge(InputArrayOfArrays mv, OutputArray dst);

//! @}

//! @addtogroup fastcv
//! @{

/**
* @brief Splits an CV_8U multi-channel mat into several CV_8UC1 mats
* Optimized for Qualcomm's processors
* @param src input 2,3 or 4 channel mat of depth CV_8U
* @param mv output vector of size src.channels() of CV_8UC1 mats
*/
CV_EXPORTS_W void split(InputArray src, OutputArrayOfArrays mv);
Comment on lines +17 to +38
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The same question on HAL.

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We are trying optimizations to achieve consistent perf across various targets. So for now we added it in extension


//! @}

} // fastcv::
} // cv::

#endif // OPENCV_FASTCV_CHANNEL_HPP
9 changes: 6 additions & 3 deletions modules/fastcv/include/opencv2/fastcv/pyramid.hpp
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/*
* 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 @@ -15,14 +15,17 @@ namespace fastcv {
//! @{

/**
* @brief Creates a gradient pyramid from an image pyramid
* @brief Creates a gradient pyramid from an image pyramid.
* Note: The borders are ignored during gradient calculation.
*
* @param pyr Input pyramid of 1-channel 8-bit images. Only continuous images are supported.
* @param dx Horizontal Sobel gradient pyramid of the same size as pyr
* @param dy Verical Sobel gradient pyramid of the same size as pyr
* @param outType Type of output data, can be CV_8S, CV_16S or CV_32F
* @param clearBuffers If set to 1, output buffers are set to 0 before computation, to remove garbage values.
*/
CV_EXPORTS_W void sobelPyramid(InputArrayOfArrays pyr, OutputArrayOfArrays dx, OutputArrayOfArrays dy, int outType = CV_8S);
CV_EXPORTS_W void sobelPyramid(InputArrayOfArrays pyr, OutputArrayOfArrays dx, OutputArrayOfArrays dy, int outType = CV_8S,
int clearBuffers = 0);

/**
* @brief Builds an image pyramid of float32 arising from a single
Expand Down
35 changes: 34 additions & 1 deletion modules/fastcv/perf/perf_matmul.cpp
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/*
* 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 @@ -10,6 +10,9 @@ namespace opencv_test {
typedef std::tuple<int /*rows1*/, int /*cols1*/, int /*cols2*/> MatMulPerfParams;
typedef perf::TestBaseWithParam<MatMulPerfParams> MatMulPerfTest;

typedef std::tuple<int /*rows1*/, int /*cols1*/, int /*cols2*/, float> MatMulGemmPerfParams;
typedef perf::TestBaseWithParam<MatMulGemmPerfParams> MatMulGemmPerfTest;

PERF_TEST_P(MatMulPerfTest, run,
::testing::Combine(::testing::Values(8, 16, 128, 256), // rows1
::testing::Values(8, 16, 128, 256), // cols1
Expand Down Expand Up @@ -37,4 +40,34 @@ PERF_TEST_P(MatMulPerfTest, run,
SANITY_CHECK_NOTHING();
}

PERF_TEST_P(MatMulGemmPerfTest, run,
::testing::Combine(::testing::Values(8, 16, 128, 256), // rows1
::testing::Values(8, 16, 128, 256), // cols1
::testing::Values(8, 16, 128, 256), // cols2
::testing::Values(2.5, 5.8)) // alpha
)
{
auto p = GetParam();
int rows1 = std::get<0>(p);
int cols1 = std::get<1>(p);
int cols2 = std::get<2>(p);
float alpha = std::get<3>(p);

RNG& rng = cv::theRNG();
Mat src1(rows1, cols1, CV_32FC1), src2(cols1, cols2, CV_32FC1);
cvtest::randUni(rng, src1, Scalar::all(-128.0), Scalar::all(128.0));
cvtest::randUni(rng, src2, Scalar::all(-128.0), Scalar::all(128.0));

Mat dst;

while (next())
{
startTimer();
cv::fastcv::gemm(src1, src2, dst, alpha, noArray(), 0);
stopTimer();
}

SANITY_CHECK_NOTHING();
}

} // namespace
4 changes: 2 additions & 2 deletions modules/fastcv/perf/perf_pyramid.cpp
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/*
* 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 Down Expand Up @@ -66,7 +66,7 @@ PERF_TEST_P(SobelPyramidTest, checkAllTypes,
{
std::vector<cv::Mat> pyrDx, pyrDy;
startTimer();
cv::fastcv::sobelPyramid(pyr, pyrDx, pyrDy, type);
cv::fastcv::sobelPyramid(pyr, pyrDx, pyrDy, type, 1);
stopTimer();
}

Expand Down
150 changes: 149 additions & 1 deletion modules/fastcv/src/arithm.cpp
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/*
* 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 Down Expand Up @@ -32,5 +32,153 @@ void matmuls8s32(InputArray _src1, InputArray _src2, OutputArray _dst)
(int32_t*)dst.data, dst.step);
}

void arithmetic_op(InputArray _src1, InputArray _src2, OutputArray _dst, int op)
{
CV_Assert(!_src1.empty() && (_src1.depth() == CV_8U || _src1.depth() == CV_16S || _src1.depth() == CV_32F));
CV_Assert(!_src2.empty() && _src2.type() == _src1.type());
CV_Assert(_src2.size() == _src1.size());

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

_dst.create(_src1.rows(), _src1.cols(), _src1.type());
Mat dst = _dst.getMat();

INITIALIZATION_CHECK;

fcvConvertPolicy policy = FASTCV_CONVERT_POLICY_SATURATE;

int nStripes = cv::getNumThreads();

int func = FCV_OPTYPE(_src1.depth(), op);
switch(func)
{
case FCV_OPTYPE(CV_8U, 0):
cv::parallel_for_(cv::Range(0, src1.rows), [&](const cv::Range &range){
int rangeHeight = range.end - range.start;
const uchar* yS1 = src1.data + static_cast<size_t>(range.start)*src1.step[0];
const uchar* yS2 = src2.data + static_cast<size_t>(range.start)*src2.step[0];
uchar* yD = dst.data + static_cast<size_t>(range.start)*dst.step[0];
fcvAddu8(yS1, src1.cols, rangeHeight, src1.step[0],
yS2, src2.step[0], policy, yD, dst.step[0]);
}, nStripes);
break;
case FCV_OPTYPE(CV_16S, 0):
cv::parallel_for_(cv::Range(0, src1.rows), [&](const cv::Range &range){
int rangeHeight = range.end - range.start;
const short* yS1 = (short*)src1.data + static_cast<size_t>(range.start)*(src1.step[0]/sizeof(short));
const short* yS2 = (short*)src2.data + static_cast<size_t>(range.start)*(src2.step[0]/sizeof(short));
short* yD = (short*)dst.data + static_cast<size_t>(range.start)*(dst.step[0]/sizeof(short));
fcvAdds16_v2(yS1, src1.cols, rangeHeight, src1.step[0],
yS2, src2.step[0], policy, yD, dst.step[0]);
}, nStripes);
break;
case FCV_OPTYPE(CV_32F, 0):
cv::parallel_for_(cv::Range(0, src1.rows), [&](const cv::Range &range){
int rangeHeight = range.end - range.start;
const float* yS1 = (float*)src1.data + static_cast<size_t>(range.start)*(src1.step[0]/sizeof(float));
const float* yS2 = (float*)src2.data + static_cast<size_t>(range.start)*(src2.step[0]/sizeof(float));
float* yD = (float*)dst.data + static_cast<size_t>(range.start)*(dst.step[0]/sizeof(float));
fcvAddf32(yS1, src1.cols, rangeHeight, src1.step[0],
yS2, src2.step[0], yD, dst.step[0]);
}, nStripes);
break;
case FCV_OPTYPE(CV_8U, 1):
cv::parallel_for_(cv::Range(0, src1.rows), [&](const cv::Range &range){
int rangeHeight = range.end - range.start;
const uchar* yS1 = src1.data + static_cast<size_t>(range.start)*src1.step[0];
const uchar* yS2 = src2.data + static_cast<size_t>(range.start)*src2.step[0];
uchar* yD = dst.data + static_cast<size_t>(range.start)*dst.step[0];
fcvSubtractu8(yS1, src1.cols, rangeHeight, src1.step[0],
yS2, src2.step[0], policy, yD, dst.step[0]);
}, nStripes);
break;
case FCV_OPTYPE(CV_16S, 1):
cv::parallel_for_(cv::Range(0, src1.rows), [&](const cv::Range &range){
int rangeHeight = range.end - range.start;
const short* yS1 = (short*)src1.data + static_cast<size_t>(range.start)*(src1.step[0]/sizeof(short));
const short* yS2 = (short*)src2.data + static_cast<size_t>(range.start)*(src2.step[0]/sizeof(short));
short* yD = (short*)dst.data + static_cast<size_t>(range.start)*(dst.step[0]/sizeof(short));
fcvSubtracts16(yS1, src1.cols, rangeHeight, src1.step[0],
yS2, src2.step[0], policy, yD, dst.step[0]);
}, nStripes);
break;
default:
CV_Error(cv::Error::StsBadArg, cv::format("op type is not supported"));
break;
}
}


void gemm(InputArray _src1, InputArray _src2, OutputArray _dst, float alpha, InputArray _src3, float beta)
{
CV_Assert(!_src1.empty() && _src1.type() == CV_32FC1);
CV_Assert(_src1.cols() == _src2.rows());
Mat src1 = _src1.getMat();

CV_Assert(!_src2.empty() && _src2.type() == CV_32FC1);
Mat src2 = _src2.getMat();

bool isSrc3 = !_src3.empty();

Mat src3 = _src3.getMat();

_dst.create(_src1.rows(), _src2.cols(), CV_32FC1);

Mat dst = _dst.getMat();

CV_Assert(!FCV_CMP_EQ(alpha,0));

cv::Mat dst_temp1, dst_temp2;
float *dstp = NULL;
bool inplace = false;
size_t dst_stride;
fcvStatus status = FASTCV_SUCCESS;

int n = src1.cols, m = src1.rows, k = src2.cols;

INITIALIZATION_CHECK;

if(src1.data == dst.data || src2.data == dst.data || (isSrc3 && (src3.data == dst.data)))
{
dst_temp1 = cv::Mat(m, k, CV_32FC1);
dstp = dst_temp1.ptr<float>();
inplace = true;
dst_stride = dst_temp1.step[0];
}
else
{
dstp = (float32_t*)dst.data;
dst_stride = dst.step[0];
}
float32_t *dstp1 = dstp;
status = fcvMatrixMultiplyf32_v2((float32_t*)src1.data, n, m, src1.step[0], (float32_t*)src2.data, k,
src2.step[0], dstp, dst_stride);

bool isAlpha = !(FCV_CMP_EQ(alpha,0) || FCV_CMP_EQ(alpha,1));
if(isAlpha && status == FASTCV_SUCCESS)
{
status = fcvMultiplyScalarf32(dstp, k, m, dst_stride, alpha, dstp1, dst_stride);
}

if(isSrc3 && (!FCV_CMP_EQ(beta,0)) && status == FASTCV_SUCCESS)
{
cv::Mat dst3 = cv::Mat(m, k, CV_32FC1);
if(!FCV_CMP_EQ(beta,1))
{
status = fcvMultiplyScalarf32((float32_t*)src3.data, k, m, src3.step[0], beta, (float32_t*)dst3.data, dst3.step[0]);
if(status == FASTCV_SUCCESS)
fcvAddf32_v2(dstp, k, m, dst_stride, (float32_t*)dst3.data, dst3.step[0], dstp1, dst_stride);
}
else
fcvAddf32_v2(dstp, k, m, dst_stride, (float32_t*)src3.data, src3.step[0], dstp1, dst_stride);
}

if(inplace == true)
{
dst_temp1(cv::Rect(0, 0, k, m)).copyTo(dst(cv::Rect(0, 0, k, m)));
}
}

} // fastcv::
} // cv::
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