# fpe/app.cpp /******************************************************************************* Copyright (c) 2021-2022 Qualcomm Technologies, Inc. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted (subject to the limitations in the disclaimer below) provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions 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. * Neither the name of Qualcomm Technologies, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS LICENSE. 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 COPYRIGHT HOLDER 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. @brief Program to run the FastADAS Feature Point Extraction pipeline(s). *******************************************************************************/ #include #include #include #ifdef USE_OPENCV #include #include #include #include #endif #include #include "../util/util.h" #define ST // single- or multi-threaded versions #define ROI_FULL // ROI set to full image or UL quarter image int32_t main( int32_t argc, char** argv ) { int32_t retVal = 0; if( FadasInit( nullptr ) != FADAS_ERROR_NONE ) // initialize all FADAS features { UTIL_ERROR( "FadasInit failed\n" ); return -1; } /**************************************************************************/ // Ex. #1: 8-bit example const char* path = "stones_640x448.pgm"; uint16_t barrier = 140; FadasImage_t srcImg = { 0 }; if( UTIL_ReadPGM( path, srcImg, true, FADAS_BUF_TYPE_IN ) == false ) { UTIL_ERROR( "reading file" ); FadasDestroyImage( &srcImg ); FadasDeInit(); return -1; } #ifdef ROI_FULL FadasROI_t roi = { 0 }; #else FadasROI_t roi = { srcImg.props.width / 2, 0, srcImg.props.width / 2, srcImg.props.height / 2 }; #endif const uint32_t nCornersMax = 1024; float32_t FADAS_ALIGN128( ptX[nCornersMax] ); float32_t FADAS_ALIGN128( ptY[nCornersMax] ); uint32_t FADAS_ALIGN128( ptScore[nCornersMax] ); uint32_t nCorners = 0; FadasFPE* fpe = FadasFPE_Create( srcImg.props ); if( nullptr != fpe ) { #ifdef ST nCorners = 0; if( FadasFPE_Run( FADAS_FPE_PIPELINE_FAST10ScoresNMS, fpe, &srcImg, &roi, barrier, nCornersMax, &nCorners, ptX, ptY, ptScore ) != FADAS_ERROR_NONE ) { UTIL_ERROR( "FadasFPE_Run failed\n" ); retVal = -1; } #else int32_t n_threads_affinity[4] = {0, 1, 2, 3}; void* wrkrs = FadasFPE_CreateWorkers( 4, n_threads_affinity, FADAS_FPE_PIPELINE_FAST10ScoresNMS ); if( nullptr == wrkrs ) { UTIL_ERROR( "creating FADAS_FPE_PIPELINE_FAST10ScoresNMS workers" ); retVal = -1; } else { nCorners = 0; if( FADAS_ERROR_NONE != FadasFPE_RunMT( wrkrs, fpe, &srcImg, &roi, barrier, nCornersMax, &nCorners, ptX, ptY, ptScore ) ) { UTIL_ERROR( "FadasFPE_RunMT failed\n" ); retVal = -1; } FadasFPE_DestroyWorkers( wrkrs ); } #endif if( FADAS_ERROR_NONE != FadasFPE_Destroy( fpe ) ) { UTIL_ERROR( "FadasFPE_DestroyWorkers failed\n" ); retVal = -1; } printf( "%d corners found, 20 expected (8b)\n", nCorners ); #ifdef USE_OPENCV cv::Mat img_ocv( srcImg.props.height, srcImg.props.width, CV_8UC1, srcImg.plane[0], srcImg.props.stride[0] ); cv::Mat img_display( srcImg.props.height, srcImg.props.width, CV_8UC3 ); cv::cvtColor( img_ocv, img_display, cv::COLOR_GRAY2RGB ); cv::namedWindow( "Key Points (8b)", cv::WINDOW_AUTOSIZE ); // display points for( uint32_t k = 0; k < nCorners; ++k ) cv::circle( img_display, cv::Point( ptX[k], ptY[k] ), 1, cv::Scalar( 0, 255, 0 ), 2 ); cv::imshow( "Key Points (8b)", img_display ); #else printf( "Key Points (8b)\n" ); for( uint32_t k = 0; k < nCorners; ++k ) printf( "{ %.01f, %.01f } = %d\n", ptX[k], ptY[k], ptScore[k] ); #endif } if( 0 == retVal ) { /**************************************************************************/ // Ex. #2: 12-bit example FadasImage_t srcImg12b = { 0 }; srcImg12b.props = srcImg.props; srcImg.props.format = FADAS_IMAGE_FORMAT_Y12; srcImg12b.props.stride[0] = srcImg.props.width * sizeof( uint16_t ); srcImg12b.props.stride[0] = FADAS_MODULO128( srcImg12b.props.stride[0] ); const int32_t memsz12b = srcImg12b.props.stride[0] * srcImg12b.props.height; srcImg12b.plane[0] = (uint16_t*)FadasMemAlloc( memsz12b, 128, nullptr ); if( nullptr == srcImg12b.plane[0] ) { UTIL_ERROR( "error allocating image 12b memory" ); FadasDestroyImage( &srcImg ); FadasDeInit(); return -1; } memset( srcImg12b.plane[0], 0, memsz12b ); uint8_t* img8b = (uint8_t*)srcImg.plane[0]; uint16_t* img12b = (uint16_t*)srcImg12b.plane[0]; for ( uint32_t y = 0; y < srcImg12b.props.height; ++y ) { uint8_t* row8b = img8b + y * srcImg.props.stride[0]; uint16_t* row12b = img12b + y * ( srcImg12b.props.stride[0] ) / sizeof( uint16_t ); for ( uint32_t x = 0; x < srcImg12b.props.width; ++x ) { uint8_t pxl8 = row8b[x]; row12b[x] = uint16_t( pxl8 ) << 4; } } FadasError_e ret = FadasRegBuf( FADAS_BUF_TYPE_IN, srcImg12b.plane[0], size_t( memsz12b ) ); if( FADAS_ERROR_NONE == ret ) { #ifdef ROI_FULL roi = { 0 }; #else roi = { srcImg12b.props.width / 2, 0, srcImg12b.props.width / 2, srcImg12b.props.height / 2 }; #endif float32_t FADAS_ALIGN128( ptX12[nCornersMax] ); float32_t FADAS_ALIGN128( ptY12[nCornersMax] ); uint32_t FADAS_ALIGN128( ptScore12[nCornersMax] ); uint32_t nCorners12 = 0; FadasFPE* fpe12 = FadasFPE_Create( srcImg12b.props ); if( nullptr == fpe12 ) { UTIL_ERROR( "FadasFPE_Create(12b) failed\n" ); retVal = -1; } else { #ifdef ST if( FadasFPE_Run( FADAS_FPE_PIPELINE_FAST10ScoresNMS12b, fpe12, &srcImg12b, &roi, barrier << 4, nCornersMax, &nCorners12, ptX12, ptY12, ptScore12 ) != FADAS_ERROR_NONE ) { UTIL_ERROR( "FadasFPE_Run(12b) failed\n" ); retVal = -1; } #else int32_t n_threads_affinity[4] = {0, 1, 2, 3}; void* wrkrs12 = FadasFPE_CreateWorkers( 4, n_threads_affinity, FADAS_FPE_PIPELINE_FAST10ScoresNMS12b ); if( nullptr == wrkrs12 ) { UTIL_ERROR( "creating workers" ); retVal = -1; } else { if( FADAS_ERROR_NONE != FadasFPE_RunMT( wrkrs12, fpe12, &srcImg12b, &roi, barrier << 4, nCornersMax, &nCorners12, ptX12, ptY12, ptScore12) ) { UTIL_ERROR( "FadasFPE_RunMT(12b) failed\n" ); retVal = -1; } FadasFPE_DestroyWorkers( wrkrs12 ); } #endif if( FADAS_ERROR_NONE != FadasFPE_Destroy( fpe12 ) ) { UTIL_ERROR( "FadasFPE_DestroyWorkers(12b) failed\n" ); retVal = -1; } printf( "%d corners found, 20 expected (12b)\n", nCorners12 ); #ifdef USE_OPENCV // use 8-bit image for display cv::Mat img12_ocv( srcImg.props.height, srcImg.props.width, CV_8UC1, srcImg.plane[0], srcImg.props.stride[0] ); cv::Mat img12_display( srcImg.props.height, srcImg.props.width, CV_8UC3 ); cv::cvtColor( img12_ocv, img12_display, cv::COLOR_GRAY2RGB ); cv::namedWindow( "Key Points (12b)", cv::WINDOW_AUTOSIZE ); // display points for( uint32_t k = 0; k < nCorners12; ++k ) cv::circle( img12_display, cv::Point( ptX12[k], ptY12[k] ), 1, cv::Scalar( 0, 255, 0 ), 2 ); cv::imshow( "Key Points (12b)", img12_display ); cv::waitKey( 0 ); #else printf( "Key Points (12b)\n" ); for( uint32_t k = 0; k < nCorners12; ++k ) printf( "{ %.01f, %.01f }\n", ptX12[k], ptY12[k] ); #endif } } FadasDeregBuf(srcImg12b.plane[0]); FadasMemFree(srcImg12b.plane[0]); } FadasDestroyImage( &srcImg ); FadasDeInit(); return retVal; } Copy to clipboard Last Published: Sep 30, 2024 [Previous Topic uyuv\_nv12\_y/app.cpp](https://docs.qualcomm.com/bundle/publicresource/80-63309-1/topics/uyvy-nv12-y.md) [Next Topic fpt/app.cpp](https://docs.qualcomm.com/bundle/publicresource/80-63309-1/topics/fpt.md)