Rewrite Universal Intrinsic code: features2d and calib3d module. #24301

hanliutong · 2023-09-20T08:40:19Z

The goal of this series of PRs is to modify the SIMD code blocks guarded by CV_SIMD macro: rewrite them by using the new Universal Intrinsic API.

This is the modification to the features2d module and calib3d module.

Test with clang 16 and QEMU v7.0.0. AP3P.ctheta1p_nan_23607 failed beacuse of a small calculation error. But this patch does not touch the relevant code, and this error always reproduce on QEMU, regardless of whether the patch is applied or not. I think we can ignore it

[ RUN      ] AP3P.ctheta1p_nan_23607
/home/hanliutong/project/opencv/modules/calib3d/test/test_solvepnp_ransac.cpp:2319: Failure
Expected: (cvtest::norm(res.colRange(0, 2), expected, NORM_INF)) <= (3e-16), actual: 3.33067e-16 vs 3e-16
[  FAILED  ] AP3P.ctheta1p_nan_23607 (26 ms)

...

[==========] 148 tests from 64 test cases ran. (1147114 ms total)
[  PASSED  ] 147 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] AP3P.ctheta1p_nan_23607

Note: There are 2 test cases failed with GCC 13.2.1 without this patch, seems like there are someting wrong with RVV part on GCC.

[----------] Global test environment tear-down
[==========] 148 tests from 64 test cases ran. (1511399 ms total)
[  PASSED  ] 146 tests.
[  FAILED  ] 2 tests, listed below:
[  FAILED  ] Calib3d_StereoSGBM.regression
[  FAILED  ] Calib3d_StereoSGBM_HH4.regression

The patch is partially auto-generated by using the rewriter.

Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

I agree to contribute to the project under Apache 2 License.
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

force_builders=Custom
Xbuild_image:Custom=riscv-clang-rvv
build_image:Custom=riscv-gcc-rvv
Xbuild_image:Custom=riscv-clang-rvv-128
Xbuild_image:Custom=riscv-gcc-rvv-07
test_modules:Custom=core,imgproc,dnn
buildworker:Custom=linux-1
test_timeout:Custom=600
build_contrib:Custom=OFF

hanliutong · 2023-09-21T03:24:39Z

Conflicts is resolved.
Related PR #24303

asmorkalov

👍
Checked per regression on ARMv7 + NEON
Checked build and test with QEMU from opencv-infrastructure/opencv-gha-dockerfile#20

modules/calib3d/src/stereosgbm.cpp

modules/features2d/src/sift.simd.hpp

Rewrite Universal Intrinsic code: float related part #24325 The goal of this series of PRs is to modify the SIMD code blocks guarded by CV_SIMD macro: rewrite them by using the new Universal Intrinsic API. The series of PRs is listed below: #23885 First patch, an example #23980 Core module #24058 ImgProc module, part 1 #24132 ImgProc module, part 2 #24166 ImgProc module, part 3 #24301 Features2d and calib3d module #24324 Gapi module This patch (hopefully) is the last one in the series. This patch mainly involves 3 parts 1. Add some modifications related to float (CV_SIMD_64F) 2. Use `#if (CV_SIMD || CV_SIMD_SCALABLE)` instead of `#if CV_SIMD || CV_SIMD_SCALABLE`, then we can get the `CV_SIMD` module that is not enabled for `CV_SIMD_SCALABLE` by looking for `if CV_SIMD` 3. Summary of `CV_SIMD` blocks that remains unmodified: Updated comments - Some blocks will cause test fail when enable for RVV, marked as `TODO: enable for CV_SIMD_SCALABLE, ....` - Some blocks can not be rewrited directly. (Not commented in the source code, just listed here) - ./modules/core/src/mathfuncs_core.simd.hpp (Vector type wrapped in class/struct) - ./modules/imgproc/src/color_lab.cpp (Array of vector type) - ./modules/imgproc/src/color_rgb.simd.hpp (Array of vector type) - ./modules/imgproc/src/sumpixels.simd.hpp (fixed length algorithm, strongly ralated with `CV_SIMD_WIDTH`) These algorithms will need to be redesigned to accommodate scalable backends. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [ ] I agree to contribute to the project under Apache 2 License. - [ ] 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

Rewrite Universal Intrinsic code: features2d and calib3d module. opencv#24301 The goal of this series of PRs is to modify the SIMD code blocks guarded by CV_SIMD macro: rewrite them by using the new Universal Intrinsic API. This is the modification to the features2d module and calib3d module. Test with clang 16 and QEMU v7.0.0. `AP3P.ctheta1p_nan_23607` failed beacuse of a small calculation error. But this patch does not touch the relevant code, and this error always reproduce on QEMU, regardless of whether the patch is applied or not. I think we can ignore it ``` [ RUN ] AP3P.ctheta1p_nan_23607 /home/hanliutong/project/opencv/modules/calib3d/test/test_solvepnp_ransac.cpp:2319: Failure Expected: (cvtest::norm(res.colRange(0, 2), expected, NORM_INF)) <= (3e-16), actual: 3.33067e-16 vs 3e-16 [ FAILED ] AP3P.ctheta1p_nan_23607 (26 ms) ... [==========] 148 tests from 64 test cases ran. (1147114 ms total) [ PASSED ] 147 tests. [ FAILED ] 1 test, listed below: [ FAILED ] AP3P.ctheta1p_nan_23607 ``` Note: There are 2 test cases failed with GCC 13.2.1 without this patch, seems like there are someting wrong with RVV part on GCC. ``` [----------] Global test environment tear-down [==========] 148 tests from 64 test cases ran. (1511399 ms total) [ PASSED ] 146 tests. [ FAILED ] 2 tests, listed below: [ FAILED ] Calib3d_StereoSGBM.regression [ FAILED ] Calib3d_StereoSGBM_HH4.regression ``` The patch is partially auto-generated by using the [rewriter](https://github.com/hanliutong/rewriter). ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [ ] I agree to contribute to the project under Apache 2 License. - [ ] 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

Rewrite Universal Intrinsic code: float related part opencv#24325 The goal of this series of PRs is to modify the SIMD code blocks guarded by CV_SIMD macro: rewrite them by using the new Universal Intrinsic API. The series of PRs is listed below: opencv#23885 First patch, an example opencv#23980 Core module opencv#24058 ImgProc module, part 1 opencv#24132 ImgProc module, part 2 opencv#24166 ImgProc module, part 3 opencv#24301 Features2d and calib3d module opencv#24324 Gapi module This patch (hopefully) is the last one in the series. This patch mainly involves 3 parts 1. Add some modifications related to float (CV_SIMD_64F) 2. Use `#if (CV_SIMD || CV_SIMD_SCALABLE)` instead of `#if CV_SIMD || CV_SIMD_SCALABLE`, then we can get the `CV_SIMD` module that is not enabled for `CV_SIMD_SCALABLE` by looking for `if CV_SIMD` 3. Summary of `CV_SIMD` blocks that remains unmodified: Updated comments - Some blocks will cause test fail when enable for RVV, marked as `TODO: enable for CV_SIMD_SCALABLE, ....` - Some blocks can not be rewrited directly. (Not commented in the source code, just listed here) - ./modules/core/src/mathfuncs_core.simd.hpp (Vector type wrapped in class/struct) - ./modules/imgproc/src/color_lab.cpp (Array of vector type) - ./modules/imgproc/src/color_rgb.simd.hpp (Array of vector type) - ./modules/imgproc/src/sumpixels.simd.hpp (fixed length algorithm, strongly ralated with `CV_SIMD_WIDTH`) These algorithms will need to be redesigned to accommodate scalable backends. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [ ] I agree to contribute to the project under Apache 2 License. - [ ] 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

Rewrite Universal Intrinsic code: features2d and calib3d module. opencv#24301 The goal of this series of PRs is to modify the SIMD code blocks guarded by CV_SIMD macro: rewrite them by using the new Universal Intrinsic API. This is the modification to the features2d module and calib3d module. Test with clang 16 and QEMU v7.0.0. `AP3P.ctheta1p_nan_23607` failed beacuse of a small calculation error. But this patch does not touch the relevant code, and this error always reproduce on QEMU, regardless of whether the patch is applied or not. I think we can ignore it ``` [ RUN ] AP3P.ctheta1p_nan_23607 /home/hanliutong/project/opencv/modules/calib3d/test/test_solvepnp_ransac.cpp:2319: Failure Expected: (cvtest::norm(res.colRange(0, 2), expected, NORM_INF)) <= (3e-16), actual: 3.33067e-16 vs 3e-16 [ FAILED ] AP3P.ctheta1p_nan_23607 (26 ms) ... [==========] 148 tests from 64 test cases ran. (1147114 ms total) [ PASSED ] 147 tests. [ FAILED ] 1 test, listed below: [ FAILED ] AP3P.ctheta1p_nan_23607 ``` Note: There are 2 test cases failed with GCC 13.2.1 without this patch, seems like there are someting wrong with RVV part on GCC. ``` [----------] Global test environment tear-down [==========] 148 tests from 64 test cases ran. (1511399 ms total) [ PASSED ] 146 tests. [ FAILED ] 2 tests, listed below: [ FAILED ] Calib3d_StereoSGBM.regression [ FAILED ] Calib3d_StereoSGBM_HH4.regression ``` The patch is partially auto-generated by using the [rewriter](https://github.com/hanliutong/rewriter). ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [ ] I agree to contribute to the project under Apache 2 License. - [ ] 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

Rewrite Universal Intrinsic code: float related part opencv#24325 The goal of this series of PRs is to modify the SIMD code blocks guarded by CV_SIMD macro: rewrite them by using the new Universal Intrinsic API. The series of PRs is listed below: opencv#23885 First patch, an example opencv#23980 Core module opencv#24058 ImgProc module, part 1 opencv#24132 ImgProc module, part 2 opencv#24166 ImgProc module, part 3 opencv#24301 Features2d and calib3d module opencv#24324 Gapi module This patch (hopefully) is the last one in the series. This patch mainly involves 3 parts 1. Add some modifications related to float (CV_SIMD_64F) 2. Use `#if (CV_SIMD || CV_SIMD_SCALABLE)` instead of `#if CV_SIMD || CV_SIMD_SCALABLE`, then we can get the `CV_SIMD` module that is not enabled for `CV_SIMD_SCALABLE` by looking for `if CV_SIMD` 3. Summary of `CV_SIMD` blocks that remains unmodified: Updated comments - Some blocks will cause test fail when enable for RVV, marked as `TODO: enable for CV_SIMD_SCALABLE, ....` - Some blocks can not be rewrited directly. (Not commented in the source code, just listed here) - ./modules/core/src/mathfuncs_core.simd.hpp (Vector type wrapped in class/struct) - ./modules/imgproc/src/color_lab.cpp (Array of vector type) - ./modules/imgproc/src/color_rgb.simd.hpp (Array of vector type) - ./modules/imgproc/src/sumpixels.simd.hpp (fixed length algorithm, strongly ralated with `CV_SIMD_WIDTH`) These algorithms will need to be redesigned to accommodate scalable backends. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [ ] I agree to contribute to the project under Apache 2 License. - [ ] 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

Rewrite Universal Intrinsic code: features2d and calib3d module. opencv#24301 The goal of this series of PRs is to modify the SIMD code blocks guarded by CV_SIMD macro: rewrite them by using the new Universal Intrinsic API. This is the modification to the features2d module and calib3d module. Test with clang 16 and QEMU v7.0.0. `AP3P.ctheta1p_nan_23607` failed beacuse of a small calculation error. But this patch does not touch the relevant code, and this error always reproduce on QEMU, regardless of whether the patch is applied or not. I think we can ignore it ``` [ RUN ] AP3P.ctheta1p_nan_23607 /home/hanliutong/project/opencv/modules/calib3d/test/test_solvepnp_ransac.cpp:2319: Failure Expected: (cvtest::norm(res.colRange(0, 2), expected, NORM_INF)) <= (3e-16), actual: 3.33067e-16 vs 3e-16 [ FAILED ] AP3P.ctheta1p_nan_23607 (26 ms) ... [==========] 148 tests from 64 test cases ran. (1147114 ms total) [ PASSED ] 147 tests. [ FAILED ] 1 test, listed below: [ FAILED ] AP3P.ctheta1p_nan_23607 ``` Note: There are 2 test cases failed with GCC 13.2.1 without this patch, seems like there are someting wrong with RVV part on GCC. ``` [----------] Global test environment tear-down [==========] 148 tests from 64 test cases ran. (1511399 ms total) [ PASSED ] 146 tests. [ FAILED ] 2 tests, listed below: [ FAILED ] Calib3d_StereoSGBM.regression [ FAILED ] Calib3d_StereoSGBM_HH4.regression ``` The patch is partially auto-generated by using the [rewriter](https://github.com/hanliutong/rewriter). ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [ ] I agree to contribute to the project under Apache 2 License. - [ ] 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

Rewrite Universal Intrinsic code: float related part opencv#24325 The goal of this series of PRs is to modify the SIMD code blocks guarded by CV_SIMD macro: rewrite them by using the new Universal Intrinsic API. The series of PRs is listed below: opencv#23885 First patch, an example opencv#23980 Core module opencv#24058 ImgProc module, part 1 opencv#24132 ImgProc module, part 2 opencv#24166 ImgProc module, part 3 opencv#24301 Features2d and calib3d module opencv#24324 Gapi module This patch (hopefully) is the last one in the series. This patch mainly involves 3 parts 1. Add some modifications related to float (CV_SIMD_64F) 2. Use `#if (CV_SIMD || CV_SIMD_SCALABLE)` instead of `#if CV_SIMD || CV_SIMD_SCALABLE`, then we can get the `CV_SIMD` module that is not enabled for `CV_SIMD_SCALABLE` by looking for `if CV_SIMD` 3. Summary of `CV_SIMD` blocks that remains unmodified: Updated comments - Some blocks will cause test fail when enable for RVV, marked as `TODO: enable for CV_SIMD_SCALABLE, ....` - Some blocks can not be rewrited directly. (Not commented in the source code, just listed here) - ./modules/core/src/mathfuncs_core.simd.hpp (Vector type wrapped in class/struct) - ./modules/imgproc/src/color_lab.cpp (Array of vector type) - ./modules/imgproc/src/color_rgb.simd.hpp (Array of vector type) - ./modules/imgproc/src/sumpixels.simd.hpp (fixed length algorithm, strongly ralated with `CV_SIMD_WIDTH`) These algorithms will need to be redesigned to accommodate scalable backends. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [ ] I agree to contribute to the project under Apache 2 License. - [ ] 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

asmorkalov added optimization platform: riscv labels Sep 20, 2023

hanliutong added 2 commits September 21, 2023 11:18

features2d module

1e84391

calib3d module

e5da793

hanliutong force-pushed the rewrite-stereo-sift branch from 2689bdb to e5da793 Compare September 21, 2023 03:24

asmorkalov requested review from asmorkalov and mshabunin September 21, 2023 09:47

asmorkalov assigned mshabunin Sep 21, 2023

asmorkalov added this to the 4.9.0 milestone Sep 21, 2023

asmorkalov approved these changes Sep 21, 2023

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mshabunin reviewed Sep 22, 2023

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mshabunin approved these changes Sep 23, 2023

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asmorkalov merged commit aa143a3 into opencv:4.x Sep 25, 2023

hanliutong mentioned this pull request Sep 27, 2023

Rewrite Universal Intrinsic code: float related part #24325

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asmorkalov mentioned this pull request Sep 28, 2023

(5.x) Merge 4.x #24338

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asmorkalov mentioned this pull request Oct 31, 2023

About the performance of opencv of the sizeless instruction(Riscv vector, SVE .etc) #21780

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Rewrite Universal Intrinsic code: features2d and calib3d module. #24301

Rewrite Universal Intrinsic code: features2d and calib3d module. #24301

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Rewrite Universal Intrinsic code: features2d and calib3d module. #24301

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