opencv · asmorkalov · Feb 5, 2025 · Sep 20, 2024 · Aug 21, 2024 · Nov 24, 2024
diff --git a/3rdparty/fastcv/CMakeLists.txt b/3rdparty/fastcv/CMakeLists.txt
@@ -0,0 +1,32 @@
+if(HAVE_FASTCV)
+  set(FASTCV_HAL_VERSION 0.0.1 CACHE INTERNAL "")
+  set(FASTCV_HAL_LIBRARIES "fastcv_hal" CACHE INTERNAL "")
+  set(FASTCV_HAL_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/include" CACHE INTERNAL "")
+  set(FASTCV_HAL_HEADERS
+    "${CMAKE_CURRENT_SOURCE_DIR}/include/fastcv_hal_core.hpp"
+    "${CMAKE_CURRENT_SOURCE_DIR}/include/fastcv_hal_imgproc.hpp"
+    CACHE INTERNAL "")
+
+  file(GLOB FASTCV_HAL_FILES    "${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp")
+
+  add_library(fastcv_hal STATIC ${FASTCV_HAL_FILES})
+
+  target_include_directories(fastcv_hal PRIVATE
+    ${CMAKE_SOURCE_DIR}/modules/core/include
+    ${CMAKE_SOURCE_DIR}/modules/imgproc/include
+    ${FASTCV_HAL_INCLUDE_DIRS} ${FastCV_INCLUDE_PATH})
+
+  target_link_libraries(fastcv_hal PUBLIC ${FASTCV_LIBRARY})
+
+  set_target_properties(fastcv_hal PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${3P_LIBRARY_OUTPUT_PATH})
+
+  if(NOT BUILD_SHARED_LIBS)
+    ocv_install_target(fastcv_hal EXPORT OpenCVModules ARCHIVE DESTINATION ${OPENCV_3P_LIB_INSTALL_PATH} COMPONENT dev)
+  endif()
+
+  if(ENABLE_SOLUTION_FOLDERS)
+    set_target_properties(fastcv_hal PROPERTIES FOLDER "3rdparty")
+  endif()
+else()
+  message(STATUS "FastCV is not available, disabling related HAL")
+endif(HAVE_FASTCV)
diff --git a/3rdparty/fastcv/fastcv.cmake b/3rdparty/fastcv/fastcv.cmake
@@ -0,0 +1,43 @@
+function(download_fastcv root_dir)
+
+  # Commit SHA in the opencv_3rdparty repo
+  set(FASTCV_COMMIT "dc5d58018f3af915a8d209386d2c58c0501c0f2c")
+
+  # Define actual FastCV versions
+  if(ANDROID)
+    if(AARCH64)
+      message(STATUS "Download FastCV for Android aarch64")
+      set(FCV_PACKAGE_NAME  "fastcv_android_aarch64_2024_12_11.tgz")
+      set(FCV_PACKAGE_HASH  "9dac41e86597305f846212dae31a4a88")
+    else()
+      message(STATUS "Download FastCV for Android armv7")
+      set(FCV_PACKAGE_NAME  "fastcv_android_arm32_2024_12_11.tgz")
+      set(FCV_PACKAGE_HASH  "fe2d30334180b17e3031eee92aac43b6")
+    endif()
+  elseif(UNIX AND NOT APPLE AND NOT IOS AND NOT XROS)
+    if(AARCH64)
+      set(FCV_PACKAGE_NAME  "fastcv_linux_aarch64_2024_12_11.tgz")
+      set(FCV_PACKAGE_HASH  "7b33ad833e6f15ab6d4ec64fa3c17acd")
+    else()
+      message("FastCV: fastcv lib for 32-bit Linux is not supported for now!")
+    endif()
+  endif(ANDROID)
+
+  # Download Package
+  set(OPENCV_FASTCV_URL "https://raw.githubusercontent.com/opencv/opencv_3rdparty/${FASTCV_COMMIT}/fastcv/")
+
+  ocv_download( FILENAME        ${FCV_PACKAGE_NAME}
+                HASH            ${FCV_PACKAGE_HASH}
+                URL             ${OPENCV_FASTCV_URL}
+                DESTINATION_DIR ${root_dir}
+                ID              FASTCV
+                STATUS          res
+                UNPACK
+                RELATIVE_URL)
+  if(res)
+    set(HAVE_FASTCV TRUE CACHE BOOL "FastCV status")
+  else()
+    message(WARNING "FastCV: package download failed!")
+  endif()
+
+endfunction()
diff --git a/3rdparty/fastcv/include/fastcv_hal_core.hpp b/3rdparty/fastcv/include/fastcv_hal_core.hpp
@@ -0,0 +1,222 @@
+/*
+ * Copyright (c) 2024 Qualcomm Innovation Center, Inc. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+*/
+
+#ifndef OPENCV_FASTCV_HAL_CORE_HPP_INCLUDED
+#define OPENCV_FASTCV_HAL_CORE_HPP_INCLUDED
+
+#include <opencv2/core/base.hpp>
+
+#undef  cv_hal_lut
+#define cv_hal_lut                  fastcv_hal_lut
+#undef  cv_hal_normHammingDiff8u
+#define cv_hal_normHammingDiff8u    fastcv_hal_normHammingDiff8u
+#undef  cv_hal_mul8u16u
+#define cv_hal_mul8u16u             fastcv_hal_mul8u16u
+#undef  cv_hal_sub8u32f
+#define cv_hal_sub8u32f             fastcv_hal_sub8u32f
+#undef  cv_hal_transpose2d
+#define cv_hal_transpose2d          fastcv_hal_transpose2d
+#undef  cv_hal_meanStdDev
+#define cv_hal_meanStdDev           fastcv_hal_meanStdDev
+#undef  cv_hal_flip
+#define cv_hal_flip                 fastcv_hal_flip
+#undef  cv_hal_rotate90
+#define cv_hal_rotate90             fastcv_hal_rotate
+#undef  cv_hal_addWeighted8u
+#define cv_hal_addWeighted8u        fastcv_hal_addWeighted8u
+#undef  cv_hal_mul8u
+#define cv_hal_mul8u                fastcv_hal_mul8u
+#undef  cv_hal_mul16s
+#define cv_hal_mul16s               fastcv_hal_mul16s
+#undef  cv_hal_mul32f
+#define cv_hal_mul32f               fastcv_hal_mul32f
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// @brief look-up table transform of an array.
+/// @param src_data Source image data
+/// @param src_step Source image step
+/// @param src_type Source image type
+/// @param lut_data Pointer to lookup table
+/// @param lut_channel_size Size of each channel in bytes
+/// @param lut_channels Number of channels in lookup table
+/// @param dst_data Destination data
+/// @param dst_step Destination step
+/// @param width Width of images
+/// @param height Height of images
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_lut(
+    const uchar*    src_data,
+    size_t          src_step,
+    size_t          src_type,
+    const uchar*    lut_data,
+    size_t          lut_channel_size,
+    size_t          lut_channels,
+    uchar*          dst_data,
+    size_t          dst_step,
+    int             width,
+    int             height);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// @brief Hamming distance between two vectors
+/// @param a pointer to first vector data
+/// @param b pointer to second vector data
+/// @param n length of vectors
+/// @param cellSize how many bits of the vectors will be added and treated as a single bit, can be 1 (standard Hamming distance), 2 or 4
+/// @param result pointer to result output
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_normHammingDiff8u(const uchar* a, const uchar* b, int n, int cellSize, int* result);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_mul8u16u(
+    const uchar    * src1_data,
+    size_t           src1_step,
+    const uchar    * src2_data,
+    size_t           src2_step,
+    ushort         * dst_data,
+    size_t           dst_step,
+    int              width,
+    int              height,
+    double           scale);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_sub8u32f(
+    const uchar     *src1_data,
+    size_t           src1_step,
+    const uchar     *src2_data,
+    size_t           src2_step,
+    float           *dst_data,
+    size_t           dst_step,
+    int              width,
+    int              height);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_transpose2d(
+    const uchar*     src_data,
+    size_t           src_step,
+    uchar*           dst_data,
+    size_t           dst_step,
+    int              src_width,
+    int              src_height,
+    int              element_size);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_meanStdDev(
+    const uchar     * src_data,
+    size_t            src_step,
+    int               width,
+    int               height,
+    int               src_type,
+    double          * mean_val,
+    double          * stddev_val,
+    uchar           * mask,
+    size_t            mask_step);
+
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// @brief Flips a 2D array around vertical, horizontal, or both axes
+/// @param src_type source and destination image type
+/// @param src_data source image data
+/// @param src_step source image step
+/// @param src_width source and destination image width
+/// @param src_height source and destination image height
+/// @param dst_data destination image data
+/// @param dst_step destination image step
+/// @param flip_mode 0 flips around x-axis, 1 around y-axis, -1 both
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_flip(
+    int             src_type,
+    const uchar*    src_data,
+    size_t          src_step,
+    int             src_width,
+    int             src_height,
+    uchar*          dst_data,
+    size_t          dst_step,
+    int             flip_mode);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// @brief Rotates a 2D array in multiples of 90 degrees.
+/// @param src_type source and destination image type
+/// @param src_data source image data
+/// @param src_step source image step
+/// @param src_width source image width
+///   @If angle has value [180] it is also destination image width
+///   If angle has values [90, 270] it is also destination image height
+/// @param src_height source and destination image height (destination image width for angles [90, 270])
+///   If angle has value [180] it is also destination image height
+///   If angle has values [90, 270] it is also destination image width
+/// @param dst_data destination image data
+/// @param dst_step destination image step
+/// @param angle clockwise angle for rotation in degrees from set [90, 180, 270]
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_rotate(
+    int             src_type,
+    const uchar*    src_data,
+    size_t          src_step,
+    int             src_width,
+    int             src_height,
+    uchar*          dst_data,
+    size_t          dst_step,
+    int             angle);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/// @brief weighted sum of two arrays using formula: dst[i] = a * src1[i] + b * src2[i]
+/// @param src1_data first source image data
+/// @param src1_step first source image step
+/// @param src2_data second source image data
+/// @param src2_step second source image step
+/// @param dst_data  destination image data
+/// @param dst_step  destination image step
+/// @param width     width of the images
+/// @param height    height of the images
+/// @param scalars   numbers a, b, and c
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_addWeighted8u(
+    const uchar*    src1_data,
+    size_t          src1_step,
+    const uchar*    src2_data,
+    size_t          src2_step,
+    uchar*          dst_data,
+    size_t          dst_step,
+    int             width,
+    int             height,
+    const double    scalars[3]);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_mul8u(
+    const uchar     *src1_data,
+    size_t          src1_step,
+    const uchar     *src2_data,
+    size_t          src2_step,
+    uchar           *dst_data,
+    size_t          dst_step,
+    int             width,
+    int             height,
+    double          scale);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_mul16s(
+    const short     *src1_data,
+    size_t          src1_step,
+    const short     *src2_data,
+    size_t          src2_step,
+    short           *dst_data,
+    size_t          dst_step,
+    int             width,
+    int             height,
+    double          scale);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+int fastcv_hal_mul32f(
+    const float    *src1_data,
+    size_t          src1_step,
+    const float    *src2_data,
+    size_t          src2_step,
+    float          *dst_data,
+    size_t          dst_step,
+    int             width,
+    int             height,
+    double          scale);
+
+#endif