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added OpenCL accelerated warpers

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This commit is contained in:
Ilya Lavrenov
2014-01-01 23:46:19 +04:00
parent 5a9900481a
commit 118709fd9f
9 changed files with 1152 additions and 16 deletions
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148
modules/stitching/src/opencl/warpers.cl Normal file
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@@ -0,0 +1,148 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// @Authors
// Peng Xiao, pengxiao@multicorewareinc.com
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors as is and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
__kernel void buildWarpPlaneMaps(__global uchar * xmapptr, int xmap_step, int xmap_offset,
__global uchar * ymapptr, int ymap_step, int ymap_offset, int rows, int cols,
__constant float * ck_rinv, __constant float * ct,
int tl_u, int tl_v, float scale)
{
int du = get_global_id(0);
int dv = get_global_id(1);
if (du < cols && dv < rows)
{
__global float * xmap = (__global float *)(xmapptr + mad24(dv, xmap_step, xmap_offset + du * (int)sizeof(float)));
__global float * ymap = (__global float *)(ymapptr + mad24(dv, ymap_step, ymap_offset + du * (int)sizeof(float)));
float u = tl_u + du;
float v = tl_v + dv;
float x, y;
float x_ = u / scale - ct[0];
float y_ = v / scale - ct[1];
float z;
x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * (1 - ct[2]);
y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * (1 - ct[2]);
z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * (1 - ct[2]);
x /= z;
y /= z;
xmap[0] = x;
ymap[0] = y;
}
}
__kernel void buildWarpCylindricalMaps(__global uchar * xmapptr, int xmap_step, int xmap_offset,
__global uchar * ymapptr, int ymap_step, int ymap_offset, int rows, int cols,
__constant float * ck_rinv, int tl_u, int tl_v, float scale)
{
int du = get_global_id(0);
int dv = get_global_id(1);
if (du < cols && dv < rows)
{
__global float * xmap = (__global float *)(xmapptr + mad24(dv, xmap_step, xmap_offset + du * (int)sizeof(float)));
__global float * ymap = (__global float *)(ymapptr + mad24(dv, ymap_step, ymap_offset + du * (int)sizeof(float)));
float u = tl_u + du;
float v = tl_v + dv;
float x, y;
u /= scale;
float x_ = sin(u);
float y_ = v / scale;
float z_ = cos(u);
float z;
x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
if (z > 0) x /= z, y /= z;
else x = y = -1;
xmap[0] = x;
ymap[0] = y;
}
}
__kernel void buildWarpSphericalMaps(__global uchar * xmapptr, int xmap_step, int xmap_offset,
__global uchar * ymapptr, int ymap_step, int ymap_offset, int rows, int cols,
__constant float * ck_rinv, int tl_u, int tl_v, float scale)
{
int du = get_global_id(0);
int dv = get_global_id(1);
if (du < cols && dv < rows)
{
__global float * xmap = (__global float *)(xmapptr + mad24(dv, xmap_step, xmap_offset + du * (int)sizeof(float)));
__global float * ymap = (__global float *)(ymapptr + mad24(dv, ymap_step, ymap_offset + du * (int)sizeof(float)));
float u = tl_u + du;
float v = tl_v + dv;
float x, y;
v /= scale;
u /= scale;
float sinv = sin(v);
float x_ = sinv * sin(u);
float y_ = -cos(v);
float z_ = sinv * cos(u);
float z;
x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
if (z > 0) x /= z, y /= z;
else x = y = -1;
xmap[0] = x;
ymap[0] = y;
}
}

1
modules/stitching/src/precomp.hpp
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@@ -53,6 +53,7 @@
#include <sstream>
#include <cmath>
#include "opencv2/core.hpp"
#include "opencv2/core/ocl.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/stitching.hpp"
#include "opencv2/stitching/detail/autocalib.hpp"

184
modules/stitching/src/warpers_ocl.cpp Normal file
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include "opencl_kernels.hpp"
namespace cv {
namespace detail {
/////////////////////////////////////////// PlaneWarperOcl ////////////////////////////////////////////
Rect PlaneWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat & R, const Mat & T, Mat & xmap, Mat & ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
if (ocl::useOpenCL())
{
ocl::Kernel k("buildWarpPlaneMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty())
{
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv), t(1, 3, CV_32FC1, projector_.t);
UMat uxmap = xmap.getUMat(ACCESS_WRITE), uymap = ymap.getUMat(ACCESS_WRITE),
ur_kinv = r_kinv.getUMat(ACCESS_READ), ut = t.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(ur_kinv), ocl::KernelArg::PtrReadOnly(ut),
dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { xmap.cols, xmap.rows };
if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br);
}
}
return PlaneWarper::buildMaps(src_size, K, R, T, xmap, ymap);
}
Point PlaneWarperOcl::warp(const Mat & src, const Mat & K, const Mat & R, const Mat & T, int interp_mode, int border_mode, Mat & dst)
{
Mat uxmap, uymap;
Rect dst_roi = buildMaps(src.size(), K, R, T, uxmap, uymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
UMat udst = dst.getUMat(ACCESS_WRITE);
remap(src, udst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl();
}
/////////////////////////////////////////// SphericalWarperOcl ////////////////////////////////////////
Rect SphericalWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat &R, Mat & xmap, Mat & ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
if (ocl::useOpenCL())
{
ocl::Kernel k("buildWarpSphericalMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty())
{
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv);
UMat uxmap = xmap.getUMat(ACCESS_WRITE), uymap = ymap.getUMat(ACCESS_WRITE), ur_kinv = r_kinv.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(ur_kinv), dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { xmap.cols, xmap.rows };
if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br);
}
}
return SphericalWarper::buildMaps(src_size, K, R, xmap, ymap);
}
Point SphericalWarperOcl::warp(const Mat & src, const Mat & K, const Mat & R, int interp_mode, int border_mode, Mat & dst)
{
Mat uxmap, uymap;
Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
UMat udst = dst.getUMat(ACCESS_WRITE);
remap(src, udst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl();
}
/////////////////////////////////////////// CylindricalWarperOcl ////////////////////////////////////////
Rect CylindricalWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat & R, Mat & xmap, Mat & ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
if (ocl::useOpenCL())
{
ocl::Kernel k("buildWarpCylindricalMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty())
{
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv);
UMat uxmap = xmap.getUMat(ACCESS_WRITE), uymap = ymap.getUMat(ACCESS_WRITE), ur_kinv = r_kinv.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(ur_kinv), dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { xmap.cols, xmap.rows };
if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br);
}
}
return CylindricalWarper::buildMaps(src_size, K, R, xmap, ymap);
}
Point CylindricalWarperOcl::warp(const Mat & src, const Mat & K, const Mat & R, int interp_mode, int border_mode, Mat & dst)
{
Mat uxmap, uymap;
Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
UMat udst = dst.getUMat(ACCESS_WRITE);
remap(src, udst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl();
}
} // namespace detail
} // namespace cv