Edge refactor

• Refactor edge detection pipeline sample.
• Add bench for edge detection pipeline.

juno_samples/edge_detection/src/lib.rs

+#![feature(concat_idents)]
+
+mod edge_detection_rust;
+
+use hercules_rt::{runner, HerculesImmBox, HerculesImmBoxTo, HerculesMutBox};
+
+use std::slice::from_raw_parts;
+
+use clap::Parser;
+
+use opencv::core::{Mat, Size, CV_32F, CV_8U};
+use opencv::highgui::{imshow, wait_key};
+use opencv::imgproc::{cvt_color_def, ColorConversionCodes};
+use opencv::prelude::{MatTraitConst, VideoCaptureTrait, VideoCaptureTraitConst};
+use opencv::videoio::{VideoCapture, VideoCaptureProperties, VideoWriter, VideoWriterTrait};
+
+juno_build::juno!("edge_detection");
+
+#[derive(Parser)]
+#[clap(author, version, about, long_about = None)]
+pub struct EdgeDetectionInputs {
+    pub input: String,
+    #[clap(short, long)]
+    pub display: bool,
+    #[clap(short, long, value_name = "PATH")]
+    pub output: Option<String>,
+    #[clap(short, long)]
+    pub verify: bool,
+    #[clap(long = "display-verify")]
+    pub display_verify: bool,
+    #[clap(long = "output-verify", value_name = "PATH")]
+    pub output_verify: Option<String>,
+    #[clap(short, long, value_name = "COUNT")]
+    pub frames: Option<usize>,
+}
+
+fn load_frame(video: &mut VideoCapture) -> Mat {
+    let mut frame = Mat::default();
+
+    let Ok(true) = video.read(&mut frame) else {
+        panic!("Failed to load frame");
+    };
+    let result = if frame.channels() == 3 {
+        let mut converted = Mat::default();
+        let () = cvt_color_def(
+            &frame,
+            &mut converted,
+            ColorConversionCodes::COLOR_BGR2GRAY.into(),
+        )
+        .expect("Failure in conversion to grayscale");
+        let mut result = Mat::default();
+        let () = converted
+            .convert_to(&mut result, CV_32F, 1.0 / 255.0, 0.0)
+            .expect("Failure in conversion to f32");
+        result
+    } else if frame.channels() == 1 {
+        let mut result = Mat::default();
+        let () = frame
+            .convert_to(&mut result, CV_32F, 1.0 / 255.0, 0.0)
+            .expect("Failure in conversion to f32");
+        result
+    } else {
+        panic!("Expected either RGB or grayscale image");
+    };
+
+    assert!(result.is_continuous());
+    result
+}
+
+fn frame_from_slice(frame: &[f32], height: usize, width: usize) -> Mat {
+    let result = Mat::from_slice(frame)
+        .expect("Failed to create matrix from result")
+        .reshape(1, height as i32)
+        .expect("Failed to reshape result matrix")
+        .clone_pointee();
+    assert!(result.cols() == width as i32);
+
+    // Convert to u8 since the VideoWriter seems to require that
+    let mut converted = Mat::default();
+    let () = result
+        .convert_to(&mut converted, CV_8U, 255.0, 0.0)
+        .expect("Failure in conversion to u8");
+
+    converted
+}
+
+pub fn edge_detection_harness(args: EdgeDetectionInputs) {
+    let EdgeDetectionInputs {
+        input,
+        display,
+        output,
+        verify,
+        display_verify,
+        output_verify,
+        frames,
+    } = args;
+
+    let gs: usize = 7;
+    let gaussian_filter: Vec<f32> = vec![
+        0.000036, 0.000363, 0.001446, 0.002291, 0.001446, 0.000363, 0.000036, 0.000363, 0.003676,
+        0.014662, 0.023226, 0.014662, 0.003676, 0.000363, 0.001446, 0.014662, 0.058488, 0.092651,
+        0.058488, 0.014662, 0.001446, 0.002291, 0.023226, 0.092651, 0.146768, 0.092651, 0.023226,
+        0.002291, 0.001446, 0.014662, 0.058488, 0.092651, 0.058488, 0.014662, 0.001446, 0.000363,
+        0.003676, 0.014662, 0.023226, 0.014662, 0.003676, 0.000363, 0.000036, 0.000363, 0.001446,
+        0.002291, 0.001446, 0.000363, 0.000036,
+    ];
+    let gaussian_filter_h = HerculesImmBox::from(gaussian_filter.as_slice());
+
+    let sz: usize = 3;
+    let structure: Vec<f32> = vec![1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0];
+    let structure_h = HerculesImmBox::from(structure.as_slice());
+
+    let sb: usize = 3;
+    let sx: Vec<f32> = vec![-1.0, 0.0, 1.0, -2.0, 0.0, 2.0, -1.0, 0.0, 1.0];
+    let sx_h = HerculesImmBox::from(sx.as_slice());
+
+    let sy: Vec<f32> = vec![-1.0, -2.0, -1.0, 0.0, 0.0, 0.0, 1.0, 2.0, 1.0];
+    let sy_h = HerculesImmBox::from(sy.as_slice());
+
+    let theta: f32 = 0.1;
+
+    let mut video = VideoCapture::from_file_def(&input).expect("Error loading video");
+    assert!(video.is_opened().unwrap());
+
+    let fps = video
+        .get(VideoCaptureProperties::CAP_PROP_FPS.into())
+        .expect("Error getting fps");
+
+    let num_frames = video
+        .get(VideoCaptureProperties::CAP_PROP_FRAME_COUNT.into())
+        .expect("Error getting number of frames") as usize;
+    let width = video
+        .get(VideoCaptureProperties::CAP_PROP_FRAME_WIDTH.into())
+        .expect("Error getting width") as usize;
+    let height = video
+        .get(VideoCaptureProperties::CAP_PROP_FRAME_HEIGHT.into())
+        .expect("Error getting height") as usize;
+
+    let num_frames = if let Some(frames) = frames {
+        usize::min(frames, num_frames)
+    } else {
+        num_frames
+    };
+
+    let mut r = runner!(edge_detection);
+
+    let mut output = output.map(|filename| {
+        VideoWriter::new(
+            &filename,
+            VideoWriter::fourcc('m', 'p', '4', 'v').unwrap(),
+            fps,
+            Size {
+                width: width as i32,
+                height: height as i32,
+            },
+            false,
+        )
+        .expect("Error opening output video")
+    });
+
+    let mut output_verify = output_verify.map(|filename| {
+        VideoWriter::new(
+            &filename,
+            VideoWriter::fourcc('m', 'p', '4', 'v').unwrap(),
+            fps,
+            Size {
+                width: width as i32,
+                height: height as i32,
+            },
+            false,
+        )
+        .expect("Error opening output video")
+    });
+
+    for i in 0..num_frames {
+        let frame = load_frame(&mut video);
+        let ptr = frame.ptr_def().unwrap() as *const f32;
+
+        assert!(frame.rows() as usize == height);
+        assert!(frame.cols() as usize == width);
+
+        let input = unsafe { from_raw_parts(ptr, height * width) };
+
+        let input_h = HerculesImmBox::from(input);
+
+        let result = async_std::task::block_on(async {
+            HerculesMutBox::from(
+                r.run(
+                    height as u64,
+                    width as u64,
+                    gs as u64,
+                    sz as u64,
+                    sb as u64,
+                    input_h.to(),
+                    gaussian_filter_h.to(),
+                    structure_h.to(),
+                    sx_h.to(),
+                    sy_h.to(),
+                    theta,
+                )
+                .await,
+            )
+        })
+        .as_slice()
+        .to_vec();
+
+        if display {
+            let result = frame_from_slice(&result, height, width);
+            let () = imshow("Juno", &result).expect("Failure in displaying image");
+        }
+        if let Some(ref mut output) = output {
+            let result = frame_from_slice(&result, height, width);
+            let () = output.write(&result).expect("Failure in writing frame");
+        }
+
+        if verify {
+            let rust_result = edge_detection_rust::edge_detection(
+                height,
+                width,
+                gs,
+                sz,
+                sb,
+                input,
+                &gaussian_filter,
+                &structure,
+                &sx,
+                &sy,
+                theta,
+            );
+
+            assert_eq!(result, rust_result);
+            println!("Frames {} match", i);
+
+            if display_verify {
+                let rust_result = frame_from_slice(&rust_result, height, width);
+                let () = imshow("Rust", &rust_result).expect("Failure in displaying image");
+            }
+            if let Some(ref mut output) = output_verify {
+                let result = frame_from_slice(&rust_result, height, width);
+                let () = output.write(&result).expect("Failure in writing frame");
+            }
+        }
+
+        if display || (verify && display_verify) {
+            let _ = wait_key(0);
+        }
+    }
+
+    if let Some(mut output) = output {
+        let () = output.release().expect("Failure releasing output video");
+    }
+    if let Some(mut output) = output_verify {
+        let () = output.release().expect("Failure releasing output video");
+    }
+}