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Merge pull request #3922 from CodeLinaro:xuezha_4thPost
Add WarpPerspective in FastCV extension #3922 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [ ] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
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‎modules/fastcv/include/opencv2/fastcv/warp.hpp‎

Lines changed: 15 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
/*
2-
* Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
2+
* Copyright (c) 2024-2025 Qualcomm Innovation Center, Inc. All rights reserved.
33
* SPDX-License-Identifier: Apache-2.0
44
*/
55

@@ -17,6 +17,20 @@ namespace fastcv {
1717
//! @addtogroup fastcv
1818
//! @{
1919

20+
/**
21+
* @brief Transform an image using perspective transformation, same as cv::warpPerspective but not bit-exact.
22+
* @param _src Input 8-bit image.
23+
* @param _dst Output 8-bit image.
24+
* @param _M0 3x3 perspective transformation matrix.
25+
* @param dsize Size of the output image.
26+
* @param interpolation Interpolation method. Only cv::INTER_NEAREST, cv::INTER_LINEAR and cv::INTER_AREA are supported.
27+
* @param borderType Pixel extrapolation method. Only cv::BORDER_CONSTANT, cv::BORDER_REPLICATE and cv::BORDER_TRANSPARENT
28+
* are supported.
29+
* @param borderValue Value used in case of a constant border.
30+
*/
31+
CV_EXPORTS_W void warpPerspective(InputArray _src, OutputArray _dst, InputArray _M0, Size dsize, int interpolation, int borderType,
32+
const Scalar& borderValue);
33+
2034
/**
2135
* @brief Perspective warp two images using the same transformation. Bi-linear interpolation is used where applicable.
2236
* For example, to warp a grayscale image and an alpha image at the same time, or warp two color channels.

‎modules/fastcv/perf/perf_warp.cpp‎

Lines changed: 56 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -1,37 +1,25 @@
11
/*
2-
* Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
2+
* Copyright (c) 2024-2025 Qualcomm Innovation Center, Inc. All rights reserved.
33
* SPDX-License-Identifier: Apache-2.0
44
*/
55

66
#include "perf_precomp.hpp"
77

88
namespace opencv_test {
99

10-
typedef perf::TestBaseWithParam<Size> WarpPerspective2PlanePerfTest;
11-
12-
PERF_TEST_P(WarpPerspective2PlanePerfTest, run,
13-
::testing::Values(perf::szVGA, perf::sz720p, perf::sz1080p))
10+
static void getInvertMatrix(Mat& src, Size dstSize, Mat& M)
1411
{
15-
cv::Size dstSize = GetParam();
16-
cv::Mat img = imread(cvtest::findDataFile("cv/shared/baboon.png"));
17-
Mat src(img.rows, img.cols, CV_8UC1);
18-
cvtColor(img,src,cv::COLOR_BGR2GRAY);
19-
cv::Mat dst1, dst2, mat;
20-
mat.create(3,3,CV_32FC1);
21-
dst1.create(dstSize,CV_8UC1);
22-
dst2.create(dstSize,CV_8UC1);
23-
2412
RNG& rng = cv::theRNG();
2513
Point2f s[4], d[4];
2614

2715
s[0] = Point2f(0,0);
2816
d[0] = Point2f(0,0);
2917
s[1] = Point2f(src.cols-1.f,0);
30-
d[1] = Point2f(dst1.cols-1.f,0);
18+
d[1] = Point2f(dstSize.width-1.f,0);
3119
s[2] = Point2f(src.cols-1.f,src.rows-1.f);
32-
d[2] = Point2f(dst1.cols-1.f,dst1.rows-1.f);
20+
d[2] = Point2f(dstSize.width-1.f,dstSize.height-1.f);
3321
s[3] = Point2f(0,src.rows-1.f);
34-
d[3] = Point2f(0,dst1.rows-1.f);
22+
d[3] = Point2f(0,dstSize.height-1.f);
3523

3624
float buffer[16];
3725
Mat tmp( 1, 16, CV_32FC1, buffer );
@@ -41,18 +29,64 @@ PERF_TEST_P(WarpPerspective2PlanePerfTest, run,
4129
{
4230
s[i].x += buffer[i*4]*src.cols/2;
4331
s[i].y += buffer[i*4+1]*src.rows/2;
44-
d[i].x += buffer[i*4+2]*dst1.cols/2;
45-
d[i].y += buffer[i*4+3]*dst1.rows/2;
32+
d[i].x += buffer[i*4+2]*dstSize.width/2;
33+
d[i].y += buffer[i*4+3]*dstSize.height/2;
4634
}
4735

48-
cv::getPerspectiveTransform( s, d ).convertTo( mat, mat.depth() );
36+
cv::getPerspectiveTransform( s, d ).convertTo( M, M.depth() );
37+
4938
// Invert the perspective matrix
50-
invert(mat,mat);
39+
invert(M,M);
40+
}
41+
42+
typedef perf::TestBaseWithParam<Size> WarpPerspective2PlanePerfTest;
43+
44+
PERF_TEST_P(WarpPerspective2PlanePerfTest, run,
45+
::testing::Values(perf::szVGA, perf::sz720p, perf::sz1080p))
46+
{
47+
cv::Size dstSize = GetParam();
48+
cv::Mat img = imread(cvtest::findDataFile("cv/shared/baboon.png"));
49+
Mat src(img.rows, img.cols, CV_8UC1);
50+
cvtColor(img,src,cv::COLOR_BGR2GRAY);
51+
cv::Mat dst1, dst2, matrix;
52+
matrix.create(3,3,CV_32FC1);
53+
54+
getInvertMatrix(src, dstSize, matrix);
55+
56+
while (next())
57+
{
58+
startTimer();
59+
cv::fastcv::warpPerspective2Plane(src, src, dst1, dst2, matrix, dstSize);
60+
stopTimer();
61+
}
62+
63+
SANITY_CHECK_NOTHING();
64+
}
65+
66+
typedef perf::TestBaseWithParam<tuple<Size, int, int>> WarpPerspectivePerfTest;
67+
68+
PERF_TEST_P(WarpPerspectivePerfTest, run,
69+
::testing::Combine( ::testing::Values(perf::szVGA, perf::sz720p, perf::sz1080p),
70+
::testing::Values(INTER_NEAREST, INTER_LINEAR, INTER_AREA),
71+
::testing::Values(BORDER_CONSTANT, BORDER_REPLICATE, BORDER_TRANSPARENT)))
72+
{
73+
cv::Size dstSize = get<0>(GetParam());
74+
int interplation = get<1>(GetParam());
75+
int borderType = get<2>(GetParam());
76+
cv::Scalar borderValue = Scalar::all(100);
77+
78+
cv::Mat src = imread(cvtest::findDataFile("cv/shared/baboon.png"), cv::IMREAD_GRAYSCALE);
79+
EXPECT_FALSE(src.empty());
80+
81+
cv::Mat dst, matrix, ref;
82+
matrix.create(3, 3, CV_32FC1);
83+
84+
getInvertMatrix(src, dstSize, matrix);
5185

5286
while (next())
5387
{
5488
startTimer();
55-
cv::fastcv::warpPerspective2Plane(src, src, dst1, dst2, mat, dstSize);
89+
cv::fastcv::warpPerspective(src, dst, matrix, dstSize, interplation, borderType, borderValue);
5690
stopTimer();
5791
}
5892

‎modules/fastcv/src/warp.cpp‎

Lines changed: 139 additions & 36 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
/*
2-
* Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
2+
* Copyright (c) 2024-2025 Qualcomm Innovation Center, Inc. All rights reserved.
33
* SPDX-License-Identifier: Apache-2.0
44
*/
55

@@ -12,49 +12,52 @@ class FcvWarpPerspectiveLoop_Invoker : public cv::ParallelLoopBody
1212
{
1313
public:
1414

15-
FcvWarpPerspectiveLoop_Invoker(InputArray _src1, InputArray _src2, OutputArray _dst1, OutputArray _dst2, InputArray _M0,
16-
Size _dsize) : cv::ParallelLoopBody()
17-
{
18-
src1 = _src1.getMat();
19-
src2 = _src2.getMat();
20-
dsize = _dsize;
21-
22-
_dst1.create(dsize, src1.type());
23-
_dst2.create(dsize, src2.type());
24-
dst1 = _dst1.getMat();
25-
dst2 = _dst2.getMat();
26-
27-
M = _M0.getMat();
28-
}
15+
FcvWarpPerspectiveLoop_Invoker(const Mat& _src1, const Mat& _src2, Mat& _dst1, Mat& _dst2,
16+
const float * _M, fcvInterpolationType _interpolation = FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR,
17+
fcvBorderType _borderType = fcvBorderType::FASTCV_BORDER_UNDEFINED, const int _borderValue = 0)
18+
: ParallelLoopBody(), src1(_src1), src2(_src2), dst1(_dst1), dst2(_dst2), M(_M), interpolation(_interpolation),
19+
borderType(_borderType), borderValue(_borderValue)
20+
{}
2921

3022
virtual void operator()(const cv::Range& range) const CV_OVERRIDE
3123
{
32-
uchar* dst1_ptr = dst1.data + range.start*dst1.step;
33-
uchar* dst2_ptr = dst2.data + range.start*dst2.step;
24+
uchar* dst1_ptr = dst1.data + range.start * dst1.step;
3425
int rangeHeight = range.end - range.start;
3526

3627
float rangeMatrix[9];
37-
rangeMatrix[0] = M.at<float>(0,0);
38-
rangeMatrix[1] = M.at<float>(0,1);
39-
rangeMatrix[2] = M.at<float>(0,2)+range.start*M.at<float>(0,1);
40-
rangeMatrix[3] = M.at<float>(1,0);
41-
rangeMatrix[4] = M.at<float>(1,1);
42-
rangeMatrix[5] = M.at<float>(1,2)+range.start*M.at<float>(1,1);
43-
rangeMatrix[6] = M.at<float>(2,0);
44-
rangeMatrix[7] = M.at<float>(2,1);
45-
rangeMatrix[8] = M.at<float>(2,2)+range.start*M.at<float>(2,1);
46-
47-
fcv2PlaneWarpPerspectiveu8(src1.data, src2.data, src1.cols, src1.rows, src1.step, src2.step, dst1_ptr, dst2_ptr,
48-
dsize.width, rangeHeight, dst1.step, dst2.step, rangeMatrix);
28+
rangeMatrix[0] = M[0];
29+
rangeMatrix[1] = M[1];
30+
rangeMatrix[2] = M[2]+range.start*M[1];
31+
rangeMatrix[3] = M[3];
32+
rangeMatrix[4] = M[4];
33+
rangeMatrix[5] = M[5]+range.start*M[4];
34+
rangeMatrix[6] = M[6];
35+
rangeMatrix[7] = M[7];
36+
rangeMatrix[8] = M[8]+range.start*M[7];
37+
38+
if ((src2.empty()) || (dst2.empty()))
39+
{
40+
fcvWarpPerspectiveu8_v5(src1.data, src1.cols, src1.rows, src1.step, src1.channels(), dst1_ptr, dst1.cols, rangeHeight,
41+
dst1.step, rangeMatrix, interpolation, borderType, borderValue);
42+
}
43+
else
44+
{
45+
uchar* dst2_ptr = dst2.data + range.start * dst2.step;
46+
fcv2PlaneWarpPerspectiveu8(src1.data, src2.data, src1.cols, src1.rows, src1.step, src2.step, dst1_ptr, dst2_ptr,
47+
dst1.cols, rangeHeight, dst1.step, dst2.step, rangeMatrix);
48+
}
4949
}
5050

5151
private:
52-
Mat src1;
53-
Mat src2;
54-
Mat dst1;
55-
Mat dst2;
56-
Mat M;
57-
Size dsize;
52+
53+
const Mat& src1;
54+
const Mat& src2;
55+
Mat& dst1;
56+
Mat& dst2;
57+
const float* M;
58+
fcvInterpolationType interpolation;
59+
fcvBorderType borderType;
60+
int borderValue;
5861

5962
FcvWarpPerspectiveLoop_Invoker(const FcvWarpPerspectiveLoop_Invoker &); // = delete;
6063
const FcvWarpPerspectiveLoop_Invoker& operator= (const FcvWarpPerspectiveLoop_Invoker &); // = delete;
@@ -68,8 +71,108 @@ void warpPerspective2Plane(InputArray _src1, InputArray _src2, OutputArray _dst1
6871
CV_Assert(!_src2.empty() && _src2.type() == CV_8UC1);
6972
CV_Assert(!_M0.empty());
7073

74+
Mat src1 = _src1.getMat();
75+
Mat src2 = _src2.getMat();
76+
77+
_dst1.create(dsize, src1.type());
78+
_dst2.create(dsize, src2.type());
79+
Mat dst1 = _dst1.getMat();
80+
Mat dst2 = _dst2.getMat();
81+
82+
Mat M0 = _M0.getMat();
83+
CV_Assert((M0.type() == CV_32F || M0.type() == CV_64F) && M0.rows == 3 && M0.cols == 3);
84+
float matrix[9];
85+
Mat M(3, 3, CV_32F, matrix);
86+
M0.convertTo(M, M.type());
87+
88+
int nThreads = getNumThreads();
89+
int nStripes = nThreads > 1 ? 2*nThreads : 1;
90+
91+
cv::parallel_for_(cv::Range(0, dsize.height),
92+
FcvWarpPerspectiveLoop_Invoker(src1, src2, dst1, dst2, matrix), nStripes);
93+
}
94+
95+
void warpPerspective(InputArray _src, OutputArray _dst, InputArray _M0, Size dsize, int interpolation, int borderType,
96+
const Scalar& borderValue)
97+
{
98+
Mat src = _src.getMat();
99+
100+
_dst.create(dsize, src.type());
101+
Mat dst = _dst.getMat();
102+
103+
Mat M0 = _M0.getMat();
104+
CV_Assert((M0.type() == CV_32F || M0.type() == CV_64F) && M0.rows == 3 && M0.cols == 3);
105+
float matrix[9];
106+
Mat M(3, 3, CV_32F, matrix);
107+
M0.convertTo(M, M.type());
108+
109+
// Do not support inplace case
110+
CV_Assert(src.data != dst.data);
111+
// Only support CV_8U
112+
CV_Assert(src.depth() == CV_8U);
113+
114+
INITIALIZATION_CHECK;
115+
116+
fcvBorderType fcvBorder;
117+
uint8_t fcvBorderValue = 0;
118+
fcvInterpolationType fcvInterpolation;
119+
120+
switch (borderType)
121+
{
122+
case BORDER_CONSTANT:
123+
{
124+
// Border value should be same
125+
CV_Assert((borderValue[0] == borderValue[1]) &&
126+
(borderValue[0] == borderValue[2]) &&
127+
(borderValue[0] == borderValue[3]));
128+
129+
fcvBorder = fcvBorderType::FASTCV_BORDER_CONSTANT;
130+
fcvBorderValue = static_cast<uint8_t>(borderValue[0]);
131+
break;
132+
}
133+
case BORDER_REPLICATE:
134+
{
135+
fcvBorder = fcvBorderType::FASTCV_BORDER_REPLICATE;
136+
break;
137+
}
138+
case BORDER_TRANSPARENT:
139+
{
140+
fcvBorder = fcvBorderType::FASTCV_BORDER_UNDEFINED;
141+
break;
142+
}
143+
default:
144+
CV_Error(cv::Error::StsBadArg, cv::format("Border type:%d is not supported", borderType));
145+
}
146+
147+
switch(interpolation)
148+
{
149+
case INTER_NEAREST:
150+
{
151+
fcvInterpolation = FASTCV_INTERPOLATION_TYPE_NEAREST_NEIGHBOR;
152+
break;
153+
}
154+
case INTER_LINEAR:
155+
{
156+
fcvInterpolation = FASTCV_INTERPOLATION_TYPE_BILINEAR;
157+
break;
158+
}
159+
case INTER_AREA:
160+
{
161+
fcvInterpolation = FASTCV_INTERPOLATION_TYPE_AREA;
162+
break;
163+
}
164+
default:
165+
CV_Error(cv::Error::StsBadArg, cv::format("Interpolation type:%d is not supported", interpolation));
166+
}
167+
168+
int nThreads = cv::getNumThreads();
169+
int nStripes = nThreads > 1 ? 2*nThreads : 1;
170+
171+
// placeholder
172+
Mat tmp;
173+
71174
cv::parallel_for_(cv::Range(0, dsize.height),
72-
FcvWarpPerspectiveLoop_Invoker(_src1, _src2, _dst1, _dst2, _M0, dsize), 1);
175+
FcvWarpPerspectiveLoop_Invoker(src, tmp, dst, tmp, matrix, fcvInterpolation, fcvBorder, fcvBorderValue), nStripes);
73176
}
74177

75178
} // fastcv::

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