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Add canny, scharr and sobel for riscv-rvv hal. #27378

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Add canny, scharr and sobel for riscv-rvv hal. #27378

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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

@fengyuentau fengyuentau self-requested a review May 29, 2025 04:48
@fengyuentau fengyuentau requested a review from asmorkalov May 29, 2025 04:49
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The PR triggers oom killer on Muse Pi v30 board:

[ 3229.557656] opencv_perf_img invoked oom-killer: gfp_mask=0x140cca(GFP_HIGHUSER_MOVABLE|__GFP_COMP), order=0, oom_score_adj=0
[ 3229.557700] CPU: 5 PID: 2190 Comm: opencv_perf_img Not tainted 6.6.36 #2.0.3.2
[ 3229.557711] Hardware name: spacemit k1-x MUSE-Pi board (DT)
[ 3229.557716] Call Trace:
[ 3229.557722] [<ffffffff8000688e>] dump_backtrace+0x1c/0x24
[ 3229.557745] [<ffffffff80f48540>] show_stack+0x2c/0x38
[ 3229.557757] [<ffffffff80f62804>] dump_stack_lvl+0x3c/0x54
[ 3229.557769] [<ffffffff80f62830>] dump_stack+0x14/0x1c
[ 3229.557777] [<ffffffff80f49a68>] dump_header+0x38/0x20a
[ 3229.557784] [<ffffffff801930fe>] oom_kill_process+0x1de/0x1e0
[ 3229.557795] [<ffffffff8019381a>] out_of_memory+0x142/0x2be
[ 3229.557802] [<ffffffff801edd88>] __alloc_pages+0xbea/0xe6e
[ 3229.557813] [<ffffffff801ee51e>] __folio_alloc+0x18/0x42
[ 3229.557821] [<ffffffff801cdd60>] __handle_mm_fault+0x4d4/0xc1e
[ 3229.557833] [<ffffffff801ce614>] handle_mm_fault+0x16a/0x254
[ 3229.557842] [<ffffffff8000d2d8>] handle_page_fault+0xbc/0x42c
[ 3229.557851] [<ffffffff80f63316>] do_page_fault+0x1e/0x36
[ 3229.557859] [<ffffffff80f6ca42>] ret_from_exception+0x0/0x6e
[ 3229.557875] Mem-Info:
[ 3229.557884] active_anon:3937100 inactive_anon:52305 isolated_anon:0
                active_file:107 inactive_file:66 isolated_file:0
                unevictable:0 dirty:0 writeback:0
                slab_reclaimable:5574 slab_unreclaimable:16172
                mapped:409 shmem:1715 pagetables:9826
                sec_pagetables:0 bounce:0
                kernel_misc_reclaimable:0
                free:25196 free_pcp:436 free_cma:7664
[ 3229.557901] Node 0 active_anon:15748400kB inactive_anon:209220kB active_file:428kB inactive_file:264kB unevictable:0kB isolated(anon):0kB isolated(file):0kB mapped:1636kB dirty:0kB writeback:0kB shmem:6860kB shmem_thp:0kB shmem_pmdmapped:0kB anon_thp:0kB writeback_tmp:0kB kernel_stack:7504kB pagetables:39304kB sec_pagetables:0kB all_unreclaimable? no
[ 3229.557916] DMA32 free:61096kB boost:0kB min:5256kB low:7152kB high:9048kB reserved_highatomic:0KB active_anon:1821824kB inactive_anon:13644kB active_file:128kB inactive_file:304kB unevictable:0kB writepending:0kB present:2097152kB managed:1912480kB mlocked:0kB bounce:0kB free_pcp:508kB local_pcp:0kB free_cma:30656kB
[ 3229.557928] lowmem_reserve[]: 0 14018 14018
[ 3229.557941] Normal free:39688kB boost:0kB min:39796kB low:54148kB high:68500kB reserved_highatomic:0KB active_anon:13926296kB inactive_anon:195932kB active_file:328kB inactive_file:508kB unevictable:0kB writepending:0kB present:14680064kB managed:14355228kB mlocked:0kB bounce:0kB free_pcp:1236kB local_pcp:0kB free_cma:0kB
[ 3229.557952] lowmem_reserve[]: 0 0 0
[ 3229.557962] DMA32: 30*4kB (UMEC) 20*8kB (UME) 30*16kB (UME) 51*32kB (UMEC) 35*64kB (UEC) 15*128kB (UEC) 7*256kB (UEC) 3*512kB (UMC) 4*1024kB (UMEC) 1*2048kB (E) 3*4096kB (UEC) 4*8192kB (MC) = 61080kB
[ 3229.558025] Normal: 497*4kB (UE) 190*8kB (UE) 177*16kB (UE) 195*32kB (UE) 72*64kB (UE) 52*128kB (UE) 31*256kB (UME) 6*512kB (UM) 4*1024kB (U) 0*2048kB 0*4096kB 0*8192kB = 38948kB
[ 3229.558080] Node 0 hugepages_total=0 hugepages_free=0 hugepages_surp=0 hugepages_size=1048576kB
[ 3229.558086] Node 0 hugepages_total=0 hugepages_free=0 hugepages_surp=0 hugepages_size=64kB
[ 3229.558091] Node 0 hugepages_total=0 hugepages_free=0 hugepages_surp=0 hugepages_size=2048kB
[ 3229.558095] 1918 total pagecache pages
[ 3229.558099] 0 pages in swap cache
[ 3229.558102] Free swap  = 0kB
[ 3229.558105] Total swap = 0kB
[ 3229.558107] 4194304 pages RAM
[ 3229.558110] 0 pages HighMem/MovableOnly
[ 3229.558112] 127377 pages reserved
[ 3229.558115] 98304 pages cma reserved
[ 3229.558118] Tasks state (memory values in pages):
[ 3229.558121] [  pid  ]   uid  tgid total_vm      rss pgtables_bytes swapents oom_score_adj name
[ 3229.558219] [    333]     0   333    13867      258    81920        0          -250 systemd-journal
[ 3229.558231] [    370]     0   370     6135      881    53248        0         -1000 systemd-udevd
[ 3229.558245] [    615]   120   615     1623      192    40960        0             0 rpcbind
[ 3229.558254] [    626]   990   626     3568      192    53248        0          -900 systemd-oomd
[ 3229.558265] [    629]   992   629     4520      608    61440        0             0 systemd-resolve
[ 3229.558274] [    638]   997   638    21908      288    61440        0             0 systemd-timesyn
[ 3229.558284] [    667]   106   667     1681      128    40960        0             0 avahi-daemon
[ 3229.558294] [    670]   101   670     2255      512    40960        0          -900 dbus-daemon
[ 3229.558302] [    682]   988   682    90066      694   143360        0             0 gnome-remote-de
[ 3229.558312] [    688]     0   688    56825      224    57344        0             0 adbd
[ 3229.558322] [    698]   987   698    95610      769    94208        0             0 polkitd
[ 3229.558332] [    708]     0   708    78682      256    86016        0             0 power-profiles-
[ 3229.558341] [    724]     0   724     3696      416    53248        0             0 systemd-logind
[ 3229.558351] [    728]     0   728    78719      288    86016        0             0 accounts-daemon
[ 3229.558360] [    732]     0   732     2888       96    40960        0             0 cron
[ 3229.558369] [    737]     0   737    77918      288    81920        0             0 switcheroo-cont
[ 3229.558379] [    743]     0   743   116231      448   118784        0             0 udisksd
[ 3229.558389] [    759]   106   759     1633      163    40960        0             0 avahi-daemon
[ 3229.558399] [    764]     0   764    83959      796   135168        0             0 NetworkManager
[ 3229.558408] [    768]     0   768     3061      224    36864        0             0 realtek_bt.sh
[ 3229.558418] [    770]     0   770     3621      352    53248        0             0 wpa_supplicant
[ 3229.558427] [    835]     0   835    29334     2624   110592        0             0 unattended-upgr
[ 3229.558436] [    836]   102   836    55146      288    61440        0             0 rsyslogd
[ 3229.558445] [    841]     0   841    97679      958   110592        0             0 ModemManager
[ 3229.558454] [    843]   105   843     2694      169    45056        0             0 kerneloops
[ 3229.558463] [    859]   105   859     2694      201    45056        0             0 kerneloops
[ 3229.558473] [    868]     0   868    79012      320    90112        0             0 gdm3
[ 3229.558483] [    880]     0   880    60815      416    90112        0             0 gdm-session-wor
[ 3229.558492] [    894]   117   894     4457      896    65536        0           100 systemd
[ 3229.558502] [    896]   117   896     4415      424    53248        0           100 (sd-pam)
[ 3229.558511] [    962]   117   962    28238      736    81920        0           200 pipewire
[ 3229.558521] [    963]   117   963    24680      224    57344        0           200 pipewire
[ 3229.558530] [    964]   117   964   102000     1312   131072        0           200 wireplumber
[ 3229.558539] [    965]   117   965    27732      640    77824        0           200 pipewire-pulse
[ 3229.558548] [    966]   117   966     1827      256    36864        0           200 dbus-daemon
[ 3229.558558] [    984]   117   984    59463      192    77824        0             0 gdm-wayland-ses
[ 3229.558568] [    998]   117   998     1274      160    36864        0             0 dbus-run-sessio
[ 3229.558577] [    999]   114   999     5383       96    36864        0             0 rtkit-daemon
[ 3229.558586] [   1001]   117  1001     1941      320    36864        0             0 dbus-daemon
[ 3229.558595] [   1014]   117  1014   148603      704   163840        0             0 gnome-session-b
[ 3229.558606] [   1057]   117  1057   357500    10232   503808        0             0 gnome-shell
[ 3229.558619] [   1090]   117  1090    95292      192    90112        0             0 at-spi-bus-laun
[ 3229.558629] [   1096]   117  1096     1794      224    36864        0             0 dbus-daemon
[ 3229.558637] [   1098]   117  1098     9096     1242    90112        0             0 Xwayland
[ 3229.558647] [   1102]     0  1102      545      160    28672        0             0 rtk_hciattach
[ 3229.558657] [   1108]   117  1108    58501      288    69632        0             0 at-spi2-registr
[ 3229.558666] [   1109]   115  1109    80359     1314   102400        0             0 colord
[ 3229.558678] [   1138]     0  1138     2782      320    40960        0             0 bluetoothd
[ 3229.558687] [   1163]     0  1163    79264      416    90112        0             0 upowerd
[ 3229.558696] [   1179]   117  1179    78578      288    90112        0             0 xdg-permission-
[ 3229.558706] [   1203]   117  1203   174334     1282   200704        0             0 gjs
[ 3229.558715] [   1228]   117  1228   136115      416   131072        0             0 gsd-sharing
[ 3229.558723] [   1232]   117  1232   121295      960   155648        0             0 gsd-wacom
[ 3229.558796] [   1235]   117  1235   103036      830   143360        0             0 gsd-color
[ 3229.558809] [   1238]   117  1238   102659      797   139264        0             0 gsd-keyboard
[ 3229.558820] [   1244]   117  1244    81096      448   106496        0             0 gsd-print-notif
[ 3229.558831] [   1249]   117  1249   133309      256   114688        0             0 gsd-rfkill
[ 3229.558844] [   1251]   117  1251    97043      320    94208        0             0 gsd-smartcard
[ 3229.558857] [   1258]   117  1258   108047      416   126976        0             0 gsd-datetime
[ 3229.558867] [   1263]   117  1263   184843      957   196608        0             0 gsd-media-keys
[ 3229.558876] [   1270]   117  1270    77889      256    81920        0             0 gsd-screensaver
[ 3229.558885] [   1274]   117  1274    98674      320   110592        0             0 gsd-sound
[ 3229.558895] [   1286]   117  1286    96497      256    94208        0             0 gsd-a11y-settin
[ 3229.558904] [   1293]   117  1293   115263      256   110592        0             0 gsd-housekeepin
[ 3229.558912] [   1300]   117  1300   148888     1120   184320        0             0 gsd-power
[ 3229.558922] [   1350]   117  1350   104010      608   143360        0             0 gsd-printer
[ 3229.558931] [   1382]   117  1382   179269    15149   610304        0             0 mutter-x11-fram
[ 3229.558941] [   1394]   117  1394   176405     1211   200704        0             0 gjs
[ 3229.558951] [   1438]     0  1438     2683      160    36864        0             0 agetty
[ 3229.558961] [   1462]     0  1462    10221      564    81920        0             0 cupsd
[ 3229.558970] [   1464]   112  1464    90325     1082   151552        0             0 cups-browsed
[ 3229.558979] [   1478]     7  1478     3618      320    49152        0             0 dbus
[ 3229.558988] [   1504]     0  1504     2381      384    40960        0         -1000 sshd
[ 3229.558997] [   1512]  1000  1512     4461      896    61440        0           100 systemd
[ 3229.559006] [   1514]  1000  1514     4415      457    53248        0           100 (sd-pam)
[ 3229.559015] [   1526]  1000  1526    27534      640    73728        0           200 pipewire
[ 3229.559023] [   1527]  1000  1527    24680      288    61440        0           200 pipewire
[ 3229.559032] [   1530]  1000  1530   101617      981   118784        0           200 wireplumber
[ 3229.559042] [   1531]  1000  1531    27592      480    81920        0           200 pipewire-pulse
[ 3229.559051] [   1553]  1000  1553     1832      224    36864        0           200 dbus-daemon
[ 3229.559060] [   1689]     0  1689     3008      464    45056        0             0 sshd
[ 3229.559068] [   1731]  1000  1731     3041      435    45056        0             0 sshd
[ 3229.559077] [   1732]  1000  1732     4647      793    53248        0             0 zsh
[ 3229.559086] [   1998]     0  1998   119007     1584   204800        0             0 fwupd
[ 3229.559104] [   2190]  1000  2190  4067941  3923143 31764480        0             0 opencv_perf_img
[ 3229.559117] oom-kill:constraint=CONSTRAINT_NONE,nodemask=(null),cpuset=/,mems_allowed=0,global_oom,task_memcg=/user.slice/user-1000.slice/session-6.scope,task=opencv_perf_img,pid=2190,uid=1000
[ 3229.559213] Out of memory: Killed process 2190 (opencv_perf_img) total-vm:16271764kB, anon-rss:15692316kB, file-rss:256kB, shmem-rss:0kB, UID:1000 pgtables:31020kB oom_score_adj:0
[ 3233.796303] oom_reaper: reaped process 2190 (opencv_perf_img), now anon-rss:0kB, file-rss:256kB, shmem-rss:0kB

The issue is stable.

@asmorkalov
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[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/24, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 3, false, (50, 100))
[ PERFSTAT ]    (samples=10   mean=9.30   median=9.29   min=9.25   stddev=0.04 (0.4%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/24 (152 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/25, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 3, false, (0, 50))
[ PERFSTAT ]    (samples=10   mean=10.69   median=10.60   min=10.49   stddev=0.24 (2.2%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/25 (162 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/26, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 3, false, (100, 120))
[ PERFSTAT ]    (samples=10   mean=8.64   median=8.66   min=8.40   stddev=0.10 (1.2%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/26 (141 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/27, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 3, true, (50, 100))
[ PERFSTAT ]    (samples=10   mean=9.02   median=8.99   min=8.85   stddev=0.11 (1.2%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/27 (145 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/28, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 3, true, (0, 50))
[ PERFSTAT ]    (samples=22   mean=10.71   median=10.65   min=10.44   stddev=0.32 (3.0%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/28 (293 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/29, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 3, true, (100, 120))
[ PERFSTAT ]    (samples=10   mean=8.53   median=8.51   min=8.37   stddev=0.13 (1.6%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/29 (140 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/30, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 5, false, (50, 100))
[ PERFSTAT ]    (samples=13   mean=10.70   median=10.68   min=10.63   stddev=0.08 (0.7%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/30 (196 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/31, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 5, false, (0, 50))
[ PERFSTAT ]    (samples=100   mean=10.39   median=10.23   min=10.04   stddev=0.38 (3.6%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/31 (1118 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/32, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 5, false, (100, 120))
[ PERFSTAT ]    (samples=13   mean=9.97   median=9.94   min=9.87   stddev=0.10 (1.0%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/32 (186 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/33, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 5, true, (50, 100))
[ PERFSTAT ]    (samples=10   mean=10.17   median=10.12   min=10.00   stddev=0.23 (2.2%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/33 (156 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/34, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 5, true, (0, 50))
[ PERFSTAT ]    (samples=100   mean=10.25   median=10.18   min=10.05   stddev=0.31 (3.0%))
[       OK ] Img_Aperture_L2_thresholds_canny.canny/34 (1105 ms)
[ RUN      ] Img_Aperture_L2_thresholds_canny.canny/35, where GetParam() = ("cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png", 5, true, (100, 120))
[1]    2190 killed     ./opencv_perf_imgproc --gtest_output=xml:../perf-canny-sobel/patched-3.xml

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@fengyuentau fengyuentau Awaiting requested review from fengyuentau

@asmorkalov asmorkalov Awaiting requested review from asmorkalov

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@damon-spacemit @asmorkalov @fengyuentau
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