- openvx_utils.h
#ifndef OPENVX_UTILS_H #define OPENVX_UTILS_H #include <stdio.h> #include <stdlib.h> #include <opencv2/opencv.hpp> #include "VX/vx.h" // 状态检查 #define ERROR_CHECK_STATUS(status) \ { \ vx_status status_ = (status); \ if (status_ != VX_SUCCESS) \ { \ printf("ERROR: failed with status = (%d) at " __FILE__ "#%d\n", status_, __LINE__); \ exit(1); \ } \ } // 对象创建检查 #define ERROR_CHECK_OBJECT(obj, message) \ { \ vx_status status_ = vxGetStatus((vx_reference)(obj)); \ if (status_ != VX_SUCCESS) \ { \ printf("ERROR: failed with status = (%d) at " __FILE__ "#%d\n", status_, __LINE__); \ puts(message); \ exit(1); \ } \ } // 函数名称 #ifdef DEBUG #define DEBUG_FUNCTION_NAME(void) \ { \ printf("================================================================\n"); \ printf("%s\n", __func__); \ } #define DEBUG_LOG(format, ...) \ { \ printf("[%s:%d->%s] " format, __FILE__, __LINE__, __func__, ##__VA_ARGS__); \ } #else #define DEBUG_FUNCTION_NAME(void) #define DEBUG_LOG(format, ...) #endif static inline vx_image vxCvMatToVxImage(const vx_context context, const cv::Mat &cv_image) { DEBUG_FUNCTION_NAME(); // 图像类型 vx_df_image vx_image_type; switch (cv_image.type()) { case CV_8UC1: vx_image_type = VX_DF_IMAGE_U8; break; case CV_8UC3: vx_image_type = VX_DF_IMAGE_RGB; break; default: DEBUG_LOG("Format %d not supported\n", vx_image_type); return NULL; } // 图像属性 int width = cv_image.cols; int height = cv_image.rows; // 创建图像 vx_image image = vxCreateImage(context, width, height, vx_image_type); // 区域 vx_rectangle_t patch; patch.start_x = 0; patch.start_y = 0; patch.end_x = width; patch.end_y = height; vx_map_id map_id; vx_imagepatch_addressing_t addr; unsigned char *ptr; vx_status status = vxMapImagePatch(image, &patch, 0, &map_id, &addr, (void **)&ptr, VX_WRITE_ONLY, VX_MEMORY_TYPE_HOST, VX_NOGAP_X); if (status != VX_SUCCESS) { DEBUG_LOG("vxMapImagePatch returned error with code %d\n", status); return NULL; } if (addr.stride_x != 1 && addr.stride_x != 3) { DEBUG_LOG("addressing structure not supported, stride_x = %d\n", addr.stride_x); return NULL; } for (int y = 0; y < height; y++) { unsigned char *ptr_y = ptr + y * addr.stride_y; memcpy(ptr_y, cv_image.ptr(y), addr.stride_y); } status = vxUnmapImagePatch(image, map_id); if (status != VX_SUCCESS) { DEBUG_LOG("vxUnmapImagePatch failed...\n"); return NULL; } return image; } static inline int vxVxImageToCvMat(const vx_image image, cv::Mat &cv_image) { DEBUG_FUNCTION_NAME(); // 图像属性 vx_uint32 width = 0; vx_uint32 height = 0; ERROR_CHECK_STATUS(vxQueryImage(image, VX_IMAGE_WIDTH, &width, sizeof(width))); ERROR_CHECK_STATUS(vxQueryImage(image, VX_IMAGE_HEIGHT, &height, sizeof(height))); // 图像类型 vx_df_image image_type; ERROR_CHECK_STATUS(vxQueryImage(image, VX_IMAGE_FORMAT, &image_type, sizeof(image_type))); int cv_image_type; switch (image_type) { case VX_DF_IMAGE_U8: cv_image_type = CV_8UC1; break; case VX_DF_IMAGE_RGB: cv_image_type = CV_8UC3; break; default: DEBUG_LOG("Format %d not supported\n", cv_image_type); return -1; } // 区域 vx_rectangle_t patch = {0, 0, width, height}; vx_map_id map_id; vx_imagepatch_addressing_t addr; unsigned char *ptr; vx_status status = vxMapImagePatch(image, &patch, 0, &map_id, &addr, (void **)&ptr, VX_READ_ONLY, VX_MEMORY_TYPE_HOST, VX_NOGAP_X); if (status != VX_SUCCESS) { DEBUG_LOG("vxMapImagePatch returned error with code %d\n", status); return -1; } if (addr.stride_x != 1 && addr.stride_x != 3) { DEBUG_LOG("addressing structure not supported, stride_x = %d\n", addr.stride_x); return -1; } cv_image = cv::Mat(height, width, cv_image_type); for (int y = 0; y < height; y++) { unsigned char *ptr_y = ptr + y * addr.stride_y; memcpy(cv_image.ptr(y), ptr_y, addr.stride_y); } status = vxUnmapImagePatch(image, map_id); if (status != VX_SUCCESS) { DEBUG_LOG("vxUnmapImagePatch failed...\n"); return -1; } return 0; } static inline vx_image ReadImage(vx_context context, const char *file_name) { cv::Mat mat = cv::imread(file_name, cv::IMREAD_ANYCOLOR); return vxCvMatToVxImage(context, mat); } static inline void SaveImage(vx_image image, const char *file_name) { cv::Mat mat; int ret = vxVxImageToCvMat(image, mat); if (!ret) cv::imwrite(file_name, mat); } static inline void DisplayImage(vx_image image, const char *window_name, int time = 0, int width = 640, int height = 480) { cv::Mat mat; int ret = vxVxImageToCvMat(image, mat); if (!ret) { cv::namedWindow(window_name, cv::WINDOW_NORMAL); cv::resizeWindow(window_name, width, 480); cv::imshow(window_name, mat); cv::waitKey(time); } } static inline void DisplayImage(cv::Mat &image, const char *window_name, int time = 0, int width = 640, int height = 480) { cv::namedWindow(window_name, cv::WINDOW_NORMAL); cv::resizeWindow(window_name, width, 480); cv::imshow(window_name, image); cv::waitKey(time); } #endif - openvx_vxu_fast_corner.cpp
#include <stdio.h> #include <stdlib.h> #include "VX/vx.h" #include "VX/vxu.h" #include "openvx_utils.h" /// 目的： /// 1. 使用图像创建函数在黑色背景上创建一个白色矩形 /// 2. 使用Fast Corners算法计算角点数量 void errorCheck(vx_context context, vx_status status, const char *message) { if (status) { puts("ERROR! "); puts(message); vxReleaseContext(&context); exit(EXIT_FAILURE); } } vx_image makeInputImage(vx_context context) { DEBUG_FUNCTION_NAME(); /// 创建图像 vx_image image = vxCreateImage(context, 100U, 100U, VX_DF_IMAGE_U8); /// 判断图像是否创建成功 if (VX_SUCCESS != vxGetStatus((vx_reference)image)) return image; /// 定义矩形 vx_rectangle_t rect = {.start_x = 20, .start_y = 40, .end_x = 80, .end_y = 60}; /// 创建感兴趣区域 vx_image roi = vxCreateImageFromROI(image, &rect); if(VX_SUCCESS != vxGetStatus((vx_reference)roi)) return roi; vx_pixel_value_t pixel_white, pixel_black; pixel_white.U8 = 255; pixel_black.U8 = 0; /// 设置背景像素 if ( VX_SUCCESS != vxSetImagePixelValues(image, &pixel_black)) vxReleaseImage(&image); /// 设置前景像素 if (VX_SUCCESS != vxSetImagePixelValues(roi, &pixel_white)) vxReleaseImage(&roi); return image; } void fastCorner(vx_context context, vx_image image, vx_bool is_use_nonmax_suppression) { DEBUG_FUNCTION_NAME(); /// 分割阈值 vx_float32 strength_thresh_value = 128.0f; vx_scalar strength_thresh = vxCreateScalar(context, VX_TYPE_FLOAT32, &strength_thresh_value); errorCheck(context, vxGetStatus((vx_reference) strength_thresh), "Could not create threshold scalar"); /// 创建用于储存角点结果的数组 vx_array corners = vxCreateArray(context, VX_TYPE_KEYPOINT, 100); errorCheck(context, vxGetStatus((vx_reference) corners), "Could not create corner array"); /// 角点数量 vx_size num_corners_value = 0; vx_scalar num_corners = vxCreateScalar(context, VX_TYPE_SIZE, &num_corners_value); errorCheck(context, vxGetStatus((vx_reference) num_corners), "Could not create corner number scalar"); /// 用于显示角点而开辟的内存区 vx_keypoint_t *kp = (vx_keypoint_t *)calloc(100, sizeof(vx_keypoint_t)); errorCheck(context, kp == NULL, "Could not calloc memory"); /// 执行角点查找 vx_status status = vxuFastCorners(context, image, strength_thresh, is_use_nonmax_suppression, corners, num_corners); errorCheck(context, status, "Fast Corners function failed"); /// 获取角点数量 status = vxCopyScalar(num_corners, &num_corners_value, VX_READ_ONLY, VX_MEMORY_TYPE_HOST); errorCheck(context, status, "vxCopyScalar failed"); printf("Found %zu corners %s non-max suppression\n", num_corners_value, is_use_nonmax_suppression ? "with" : "without"); /// 获取角点数据 status = vxCopyArrayRange(corners, 0, num_corners_value, sizeof(vx_keypoint_t), kp, VX_READ_ONLY, VX_MEMORY_TYPE_HOST); errorCheck(context, status, "vxCopyArrayRange failed"); for (int i = 0; i < num_corners_value; ++i) { printf("Entry %3d: x = %d, y = %d\n", i, kp[i].x, kp[i].y); } cv::Mat cv_image; int ret = vxVxImageToCvMat(image, cv_image); if (0 == ret) { cv::Mat cv_image_color; cv::cvtColor(cv_image, cv_image_color, cv::COLOR_GRAY2BGR); for (int i = 0; i < num_corners_value; ++i) { cv::circle(cv_image_color, cv::Point(kp[i].x, kp[i].y), 3, cv::Scalar(0, 255, 0), -1); } DisplayImage(cv_image_color, "KeyPoints"); } free(kp); } int main(int argc, char *argv[]) { (void) argc; (void) argv; /// 创建上下文 vx_context context = vxCreateContext(); errorCheck(context, vxGetStatus((vx_reference)context), "Could not create a vx_context"); /// 创建图像（黑色背景上带有白色矩形） vx_image image = makeInputImage(context); DisplayImage(image, "image"); errorCheck(context, vxGetStatus((vx_reference)image), "Could not create image1"); /// 使用非极大值抑制 fastCorner(context, image, vx_true_e); /// 不使用非极大值抑制 fastCorner(context, image, vx_false_e); vxReleaseContext(&context); return EXIT_SUCCESS; } - 效果
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