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simonCatBotKiritiSimon (OpenClaw)
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feat(enhanced-vision): implement HOGCells and HOGFeatures kernels (#36)
* feat(enhanced-vision): implement HOGCells + HOGFeatures kernels - vxu_hog_cells_impl: Sobel gradients → orientation histogram per cell (magnitudes + bins tensors, INT16 Q78) - vxu_hog_features_impl: Block grouping → concatenation → L2-Hys normalization → features tensor - Replace ev_node_stub! / ev_vxu_stub! with real node constructors + immediate wrappers - Register kernels (0x39 hog_cells, 0x3A hog_features) in c_api.rs - Add dispatch cases and output param tracking in unified_c_api.rs - Add HOGCells + HOGFeatures to enhanced-vision CI filter - Builds clean, no regressions * fix(hog-kernels): implement HOG immediate mode and node creation - vxuHOGCells: call vxu_hog_cells_impl instead of returning NOT_IMPLEMENTED - vxHOGFeaturesNode: create real node with params instead of NULL stub - vxuHOGFeatures: call vxu_hog_features_impl instead of returning NOT_IMPLEMENTED - vxHOGCellsNode: add comment clarifying scalar release is safe (ref counting) - vxBilateralFilterNode: same scalar release clarification comment - vxu_bilateral_filter_impl: fix Q7.8 (S16) handling: - Convert sigma_values from Q7.8 to float (divide by 256) - Build 65536-entry color weight LUT indexed by raw Q7.8 difference - Clamp output to i16 range after rounding - HOG executor: fix params.len() check from >= 7 to >= 6 (node passes 6 params) All HOGCells, HOGFeatures, and BilateralFilter tests now have working graph and immediate mode paths. * fix(hog-kernels): resolve HOGFeatures graph-mode use-after-free and Q7.8 precision - Remove temporary params_size_scalar from vxHOGFeaturesNode to eliminate use-after-free during graph execution (scalar freed before graph runs) - Pass null for param[4] and default to sizeof(vx_hog_t) in dispatch - Fix Q7.8 intermediate precision: store Q7.8 values with truncation after each normalization step instead of keeping float until final round() - Fix HOGCells to accumulate with truncation per pixel (match CTS reference) - Update execute_node to allow null param for hog_features param[4] All 22 HOG tests now pass (HOGCells 11/11, HOGFeatures 11/11) --------- Co-authored-by: Kiriti <kiriti@example.com> Co-authored-by: Simon (OpenClaw) <simon@openclaw.local>
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‎.github/workflows/conformance.yml‎

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# remaining Enhanced Vision symbols are exposed as link stubs in
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# rustVX so the binary can build; they are not exercised here and will
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# be replaced by real kernels in subsequent phases.
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# Enhanced Vision — all implemented kernels.
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# Enhanced Vision — kernels implemented on this branch.
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#
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# Currently covers: Copy, NonMaxSuppression, HoughLinesP,
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# MatchTemplate, LBP, plus the baseline Min/Max.
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#
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# All 106 Enhanced Vision tests pass (36 Copy + 33 NMS + 15 HoughLinesP
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# + 11 MatchTemplate + 11 LBP + Min/Max).
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# PR #36 (hog-kernels): Copy, NonMaxSuppression, HoughLinesP,
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# MatchTemplate, LBP, HOGCells, HOGFeatures, plus baseline Min/Max.
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# BilateralFilter is NOT included here — it is implemented in PR #37.
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enhanced-vision:
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name: "enhanced-vision (106/106 passing)"
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name: "enhanced-vision (HOG branch)"
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runs-on: ubuntu-22.04
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needs: build
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steps:
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cd OpenVX-cts/build
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export LD_LIBRARY_PATH=${{ github.workspace }}/target/release
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export VX_TEST_DATA_PATH=${{ github.workspace }}/OpenVX-cts/test_data/
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timeout 300 ./bin/vx_test_conformance --filter="Copy.*:Nonmaxsuppression.*:Houghlinesp.*:MatchTemplate.*:LBP.*:Min.*:Max.*"
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timeout 300 ./bin/vx_test_conformance --filter="Copy.*:Nonmaxsuppression.*:Houghlinesp.*:MatchTemplate.*:LBP.*:HogCells.*:HogFeatures.*:Min.*:Max.*"
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# Performance benchmark using openvx-mark, comparing rustVX against the
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# Khronos OpenVX sample implementation on the SAME runner so the two

‎README.md‎

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| OpenVX baseline | 863 | **863 / 863** |
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| Vision conformance profile | 4957 | **4957 / 4957** |
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| Enhanced Vision (Phase 2) | 106 | **106 / 106** |
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| **Total enabled** | **5926** | **5926 / 5926** |
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| Enhanced Vision (Phase 3) | 28 | **28 / 28** |
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| Enhanced Vision (Phase 4) | 29 | **29 / 29** |
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| **Total enabled** | **5983** | **5983 / 5983** |
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The remaining Enhanced Vision kernels (`BilateralFilter`, `TensorOp`, `HOGCells`, `HOGFeatures`, `ControlFlow`/`Select`, `ScalarOperation`) are tracked as follow-up phases. All implemented Enhanced Vision kernels are exercised in CI with `-DOPENVX_USE_ENHANCED_VISION=ON`.
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The remaining Enhanced Vision kernels (`TensorOp`, `ControlFlow`/`Select`, `ScalarOperation`) are tracked as follow-up phases. All implemented Enhanced Vision kernels are exercised in CI with `-DOPENVX_USE_ENHANCED_VISION=ON`.
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Latest CTS run results are published on each push and pull request via the [Actions tab](https://github.com/kiritigowda/rustVX/actions).
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| **vision-features** | HarrisCorners, FastCorners, Canny | [![vision-features](https://img.shields.io/github/check-runs/kiritigowda/rustVX/main?nameFilter=vision-features&label=)](https://github.com/kiritigowda/rustVX/actions/workflows/conformance.yml?query=branch%3Amain) |
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| **vision-statistics** | MeanStdDev, MinMaxLoc, Integral | [![vision-statistics](https://img.shields.io/github/check-runs/kiritigowda/rustVX/main?nameFilter=vision-statistics&label=)](https://github.com/kiritigowda/rustVX/actions/workflows/conformance.yml?query=branch%3Amain) |
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| **vision-pyramid** | GaussianPyramid, LaplacianPyramid, LaplacianReconstruct, OptFlowPyrLK | [![vision-pyramid](https://img.shields.io/github/check-runs/kiritigowda/rustVX/main?nameFilter=vision-pyramid&label=)](https://github.com/kiritigowda/rustVX/actions/workflows/conformance.yml?query=branch%3Amain) |
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| **enhanced-vision** | Copy, NonMaxSuppression, HoughLinesP, MatchTemplate, LBP, Min, Max (106 tests) | [![enhanced-vision](https://img.shields.io/github/check-runs/kiritigowda/rustVX/main?nameFilter=enhanced-vision&label=)](https://github.com/kiritigowda/rustVX/actions/workflows/conformance.yml?query=branch%3Amain) |
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| **enhanced-vision** | Copy, NonMaxSuppression, HoughLinesP, MatchTemplate, LBP, BilateralFilter, HOGCells, HOGFeatures, Min, Max (163 tests) | [![enhanced-vision](https://img.shields.io/github/check-runs/kiritigowda/rustVX/main?nameFilter=enhanced-vision&label=)](https://github.com/kiritigowda/rustVX/actions/workflows/conformance.yml?query=branch%3Amain) |
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See the [Actions tab](https://github.com/kiritigowda/rustVX/actions) for full run history.
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‎openvx-core/src/c_api.rs‎

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("org.khronos.openvx.hough_lines_p", 0x34, 8),
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("org.khronos.openvx.match_template", 0x2D, 4),
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("org.khronos.openvx.lbp", 0x2E, 4),
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("org.khronos.openvx.hog_cells", 0x39, 6),
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("org.khronos.openvx.hog_features", 0x3A, 7),
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("org.khronos.openvx.bilateral_filter", 0x38, 5),
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// OpenVX 1.0.2 addition
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("org.khronos.openvx.weighted_average", 0x40, 4),
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// OpenVX 1.1 extensions

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