OpenCV_surfCompute.cpp

/*
Copyright (c) 2015 - 2024 Advanced Micro Devices, Inc. All rights reserved.

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
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The above copyright notice and this permission notice shall be included in
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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THE SOFTWARE.
*/

#if USE_OPENCV_CONTRIB
#include "internal_publishKernels.h"

/*!***********************************************************************************************************
input parameter validator.
param [in] node The handle to the node.
param [in] index The index of the parameter to validate.
*************************************************************************************************************/
static vx_status VX_CALLBACK CV_SURF_Compute_InputValidator(vx_node node, vx_uint32 index)
{
    vx_status status = VX_SUCCESS;
    vx_parameter param = vxGetParameterByIndex(node, index);

    if (index == 0)
    {
        vx_image image;
        vx_df_image df_image = VX_DF_IMAGE_VIRT;
        STATUS_ERROR_CHECK(vxQueryParameter(param, VX_PARAMETER_ATTRIBUTE_REF, &image, sizeof(vx_image)));
        STATUS_ERROR_CHECK(vxQueryImage(image, VX_IMAGE_ATTRIBUTE_FORMAT, &df_image, sizeof(df_image)));
        if (df_image != VX_DF_IMAGE_U8)
        {
            status = VX_ERROR_INVALID_VALUE;
        }
        vxReleaseImage(&image);
    }

    if (index == 1)
    {
        vx_image image;
        vx_df_image df_image = VX_DF_IMAGE_VIRT;
        STATUS_ERROR_CHECK(vxQueryParameter(param, VX_PARAMETER_ATTRIBUTE_REF, &image, sizeof(vx_image)));
        STATUS_ERROR_CHECK(vxQueryImage(image, VX_IMAGE_ATTRIBUTE_FORMAT, &df_image, sizeof(df_image)));
        if (df_image != VX_DF_IMAGE_U8)
        {
            status = VX_ERROR_INVALID_VALUE;
        }
        vxReleaseImage(&image);
    }

    else if (index == 2)
    {
        vx_array array;
        vx_size size = 0;
        STATUS_ERROR_CHECK(vxQueryParameter(param, VX_PARAMETER_ATTRIBUTE_REF, &array, sizeof(array)));
        STATUS_ERROR_CHECK(vxQueryArray(array, VX_ARRAY_ATTRIBUTE_CAPACITY, &size, sizeof(size)));
        vxReleaseArray(&array);
    }

    else if (index == 3)
    {
        vx_array array;
        vx_size size = 0;
        STATUS_ERROR_CHECK(vxQueryParameter(param, VX_PARAMETER_ATTRIBUTE_REF, &array, sizeof(array)));
        STATUS_ERROR_CHECK(vxQueryArray(array, VX_ARRAY_ATTRIBUTE_CAPACITY, &size, sizeof(size)));
        vxReleaseArray(&array);
    }

    else if (index == 4)
    {
        vx_scalar scalar = 0;
        vx_enum type = 0;
        vx_float32 value = 0;
        STATUS_ERROR_CHECK(vxQueryParameter(param, VX_PARAMETER_ATTRIBUTE_REF, &scalar, sizeof(scalar)));
        STATUS_ERROR_CHECK(vxQueryScalar(scalar, VX_SCALAR_ATTRIBUTE_TYPE, &type, sizeof(type)));
        STATUS_ERROR_CHECK(vxReadScalarValue(scalar, &value));
        if (value < 0 || type != VX_TYPE_FLOAT32)
        {
            status = VX_ERROR_INVALID_VALUE;
        }
        vxReleaseScalar(&scalar);
    }

    else if (index == 5)
    {
        vx_scalar scalar = 0;
        vx_enum type = 0;
        vx_int32 value = 0;
        STATUS_ERROR_CHECK(vxQueryParameter(param, VX_PARAMETER_ATTRIBUTE_REF, &scalar, sizeof(scalar)));
        STATUS_ERROR_CHECK(vxQueryScalar(scalar, VX_SCALAR_ATTRIBUTE_TYPE, &type, sizeof(type)));
        STATUS_ERROR_CHECK(vxReadScalarValue(scalar, &value));
        if (value < 0 || type != VX_TYPE_INT32)
        {
            status = VX_ERROR_INVALID_VALUE;
        }
        vxReleaseScalar(&scalar);
    }

    else if (index == 6)
    {
        vx_scalar scalar = 0;
        vx_enum type = 0;
        vx_int32 value = 0;
        STATUS_ERROR_CHECK(vxQueryParameter(param, VX_PARAMETER_ATTRIBUTE_REF, &scalar, sizeof(scalar)));
        STATUS_ERROR_CHECK(vxQueryScalar(scalar, VX_SCALAR_ATTRIBUTE_TYPE, &type, sizeof(type)));
        STATUS_ERROR_CHECK(vxReadScalarValue(scalar, &value));
        if (value < 0 || type != VX_TYPE_INT32)
        {
            status = VX_ERROR_INVALID_VALUE;
        }
        vxReleaseScalar(&scalar);
    }

    else if (index == 7)
    {
        vx_scalar scalar = 0;
        vx_enum type = 0;
        vx_bool value = vx_true_e;
        STATUS_ERROR_CHECK(vxQueryParameter(param, VX_PARAMETER_ATTRIBUTE_REF, &scalar, sizeof(scalar)));
        STATUS_ERROR_CHECK(vxQueryScalar(scalar, VX_SCALAR_ATTRIBUTE_TYPE, &type, sizeof(type)));
        STATUS_ERROR_CHECK(vxReadScalarValue(scalar, &value));
        if ((value != vx_true_e && value != vx_false_e) || type != VX_TYPE_BOOL)
        {
            status = VX_ERROR_INVALID_VALUE;
        }
        vxReleaseScalar(&scalar);
    }

    else if (index == 8)
    {
        vx_scalar scalar = 0;
        vx_enum type = 0;
        vx_bool value = vx_true_e;
        STATUS_ERROR_CHECK(vxQueryParameter(param, VX_PARAMETER_ATTRIBUTE_REF, &scalar, sizeof(scalar)));
        STATUS_ERROR_CHECK(vxQueryScalar(scalar, VX_SCALAR_ATTRIBUTE_TYPE, &type, sizeof(type)));
        STATUS_ERROR_CHECK(vxReadScalarValue(scalar, &value));
        if ((value != vx_true_e && value != vx_false_e) || type != VX_TYPE_BOOL)
        {
            status = VX_ERROR_INVALID_VALUE;
        }
        vxReleaseScalar(&scalar);
    }

    vxReleaseParameter(&param);
    return status;
}

/*!***********************************************************************************************************
output parameter validator.
*************************************************************************************************************/
static vx_status VX_CALLBACK CV_SURF_Compute_OutputValidator(vx_node node, vx_uint32 index, vx_meta_format meta)
{
    vx_status status = VX_SUCCESS;
    if (index == 2)
    {
        vx_parameter output_param = vxGetParameterByIndex(node, 2);
        vx_array output;
        vx_size size = 0;

        STATUS_ERROR_CHECK(vxQueryParameter(output_param, VX_PARAMETER_ATTRIBUTE_REF, &output, sizeof(vx_array)));
        STATUS_ERROR_CHECK(vxQueryArray(output, VX_ARRAY_ATTRIBUTE_CAPACITY, &size, sizeof(size)));

        if (size <= 0)
        {
            status = VX_ERROR_INVALID_VALUE;
        }

        vxReleaseArray(&output);
        vxReleaseParameter(&output_param);
    }
    return status;
}

/*!***********************************************************************************************************
Execution Kernel
*************************************************************************************************************/
static vx_status VX_CALLBACK CV_SURF_Compute_Kernel(vx_node node, const vx_reference *parameters, vx_uint32 num)
{
    vx_status status = VX_SUCCESS;

    vx_image image_in = (vx_image) parameters[0];
    vx_image mask = (vx_image) parameters[1];
    vx_array array = (vx_array) parameters[2];
    vx_array DESP = (vx_array) parameters[3];
    vx_scalar hessianThreshold = (vx_scalar) parameters[4];
    vx_scalar nOctaves = (vx_scalar) parameters[5];
    vx_scalar nOctaveLayers = (vx_scalar) parameters[6];
    vx_scalar EXTENDED = (vx_scalar) parameters[7];
    vx_scalar UPRIGHT = (vx_scalar) parameters[8];

    Mat *mat, *mask_mat, Img;
    vx_float32 FloatValue = 0;
    vx_int32 value = 0;
    vx_bool extend, upright, value_b;
    float HessianThreshold;
    int NOctaves, NOctaveLayers;

    //Extracting Values from the Scalar
    STATUS_ERROR_CHECK(vxReadScalarValue(hessianThreshold, &FloatValue));
    HessianThreshold = FloatValue;
    STATUS_ERROR_CHECK(vxReadScalarValue(nOctaves, &value));
    NOctaves = value;
    STATUS_ERROR_CHECK(vxReadScalarValue(nOctaveLayers, &value));
    NOctaveLayers = value;
    STATUS_ERROR_CHECK(vxReadScalarValue(EXTENDED, &value_b));
    extend = value_b;
    STATUS_ERROR_CHECK(vxReadScalarValue(UPRIGHT, &value_b));
    upright = value_b;

    //Converting VX Image to OpenCV Mat
    STATUS_ERROR_CHECK(VX_to_CV_Image(&mat, image_in));
    STATUS_ERROR_CHECK(VX_to_CV_Image(&mask_mat, mask));

    //Compute using OpenCV
    bool extended_B, upright_b;
    if (extend == vx_true_e) {
        extended_B = true;
    }
    else {
        extended_B = false;
    }
    if (upright == vx_true_e) {
        upright_b = true;
    }
    else {
        upright_b = false;
    }
    vector<KeyPoint> key_points;
    Mat Desp;
    Ptr<Feature2D> surf = xfeatures2d::SURF::create(HessianThreshold, NOctaves, NOctaveLayers);
    surf->detectAndCompute(*mat, *mask_mat, key_points, Desp);

    //Converting OpenCV Keypoints to OpenVX Keypoints
    STATUS_ERROR_CHECK(CV_to_VX_keypoints(key_points, array));

    if (extend == 1)
    {
        STATUS_ERROR_CHECK(CV_DESP_to_VX_DESP(Desp, DESP, 512));
    }
    if (extend != 1)
    {
        STATUS_ERROR_CHECK(CV_DESP_to_VX_DESP(Desp, DESP, 256));
    }

    return status;
}

/************************************************************************************************************
Function to Register the Kernel for Publish
*************************************************************************************************************/
vx_status CV_SURF_compute_Register(vx_context context)
{
    vx_status status = VX_SUCCESS;
    vx_kernel Kernel = vxAddKernel(context,
                                   "org.opencv.surf_compute",
                                   VX_KERNEL_OPENCV_SURF_COMPUTE,
                                   CV_SURF_Compute_Kernel,
                                   9,
                                   CV_SURF_Compute_InputValidator,
                                   CV_SURF_Compute_OutputValidator,
                                   nullptr,
                                   nullptr);

    if (Kernel)
    {
        PARAM_ERROR_CHECK(vxAddParameterToKernel(Kernel, 0, VX_INPUT, VX_TYPE_IMAGE, VX_PARAMETER_STATE_REQUIRED));
        PARAM_ERROR_CHECK(vxAddParameterToKernel(Kernel, 1, VX_INPUT, VX_TYPE_IMAGE, VX_PARAMETER_STATE_REQUIRED));
        PARAM_ERROR_CHECK(vxAddParameterToKernel(Kernel, 2, VX_BIDIRECTIONAL, VX_TYPE_ARRAY, VX_PARAMETER_STATE_REQUIRED));
        PARAM_ERROR_CHECK(vxAddParameterToKernel(Kernel, 3, VX_BIDIRECTIONAL, VX_TYPE_ARRAY, VX_PARAMETER_STATE_REQUIRED));
        PARAM_ERROR_CHECK(vxAddParameterToKernel(Kernel, 4, VX_INPUT, VX_TYPE_SCALAR, VX_PARAMETER_STATE_REQUIRED));
        PARAM_ERROR_CHECK(vxAddParameterToKernel(Kernel, 5, VX_INPUT, VX_TYPE_SCALAR, VX_PARAMETER_STATE_REQUIRED));
        PARAM_ERROR_CHECK(vxAddParameterToKernel(Kernel, 6, VX_INPUT, VX_TYPE_SCALAR, VX_PARAMETER_STATE_REQUIRED));
        PARAM_ERROR_CHECK(vxAddParameterToKernel(Kernel, 7, VX_INPUT, VX_TYPE_SCALAR, VX_PARAMETER_STATE_REQUIRED));
        PARAM_ERROR_CHECK(vxAddParameterToKernel(Kernel, 8, VX_INPUT, VX_TYPE_SCALAR, VX_PARAMETER_STATE_REQUIRED));
        PARAM_ERROR_CHECK(vxFinalizeKernel(Kernel));
    }

    if (status != VX_SUCCESS)
    {
exit:
        vxRemoveKernel(Kernel);
        return VX_FAILURE;
    }

    return status;
}

#endif