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Merge pull request #3359 from akarsakov:ocl_buildMaps

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Alexander Alekhin 2014-10-28 09:18:31 +00:00
commit 30222c7be8
3 changed files with 30 additions and 27 deletions
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1
modules/stitching/include/opencv2/stitching/detail/warpers.hpp
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@ -135,6 +135,7 @@ public:
Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R, InputArray T);
virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap);
Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
virtual Point warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
OutputArray dst);

45
modules/stitching/src/opencl/warpers.cl
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@ -56,25 +56,27 @@ __kernel void buildWarpPlaneMaps(__global uchar * xmapptr, int xmap_step, int xm
int xmap_index = mad24(dv0, xmap_step, mad24(du, (int)sizeof(float), xmap_offset));
int ymap_index = mad24(dv0, ymap_step, mad24(du, (int)sizeof(float), ymap_offset));
float u = tl_u + du;
float x_ = fma(u, scale, -ct[0]);
float ct1 = 1 - ct[2];
for (int dv = dv0, dv1 = min(rows, dv0 + rowsPerWI); dv < dv1; ++dv, xmap_index += xmap_step,
ymap_index += ymap_step)
{
__global float * xmap = (__global float *)(xmapptr + xmap_index);
__global float * ymap = (__global float *)(ymapptr + ymap_index);
float u = tl_u + du;
float v = tl_v + dv;
float y_ = fma(v, scale, -ct[1]);
float x_ = u / scale - ct[0];
float y_ = v / scale - ct[1];
float ct1 = 1 - ct[2];
float x = fma(ck_rinv[0], x_, fma(ck_rinv[1], y_, ck_rinv[2] * ct1));
float y = fma(ck_rinv[3], x_, fma(ck_rinv[4], y_, ck_rinv[5] * ct1));
float z = fma(ck_rinv[6], x_, fma(ck_rinv[7], y_, ck_rinv[8] * ct1));
x /= z;
y /= z;
if (z != 0)
x /= z, y /= z;
else
x = y = -1;
xmap[0] = x;
ymap[0] = y;
@ -94,22 +96,19 @@ __kernel void buildWarpCylindricalMaps(__global uchar * xmapptr, int xmap_step,
int xmap_index = mad24(dv0, xmap_step, mad24(du, (int)sizeof(float), xmap_offset));
int ymap_index = mad24(dv0, ymap_step, mad24(du, (int)sizeof(float), ymap_offset));
float u = (tl_u + du) * scale;
float x_, z_;
x_ = sincos(u, &z_);
for (int dv = dv0, dv1 = min(rows, dv0 + rowsPerWI); dv < dv1; ++dv, xmap_index += xmap_step,
ymap_index += ymap_step)
{
__global float * xmap = (__global float *)(xmapptr + xmap_index);
__global float * ymap = (__global float *)(ymapptr + ymap_index);
float u = tl_u + du;
float v = tl_v + dv;
float x, y;
float y_ = (tl_v + dv) * scale;
u /= scale;
float x_, y_, z_;
x_ = sincos(u, &z_);
y_ = v / scale;
float z;
float x, y, z;
x = fma(ck_rinv[0], x_, fma(ck_rinv[1], y_, ck_rinv[2] * z_));
y = fma(ck_rinv[3], x_, fma(ck_rinv[4], y_, ck_rinv[5] * z_));
z = fma(ck_rinv[6], x_, fma(ck_rinv[7], y_, ck_rinv[8] * z_));
@ -137,25 +136,23 @@ __kernel void buildWarpSphericalMaps(__global uchar * xmapptr, int xmap_step, in
int xmap_index = mad24(dv0, xmap_step, mad24(du, (int)sizeof(float), xmap_offset));
int ymap_index = mad24(dv0, ymap_step, mad24(du, (int)sizeof(float), ymap_offset));
float u = (tl_u + du) * scale;
float cosu, sinu = sincos(u, &cosu);
for (int dv = dv0, dv1 = min(rows, dv0 + rowsPerWI); dv < dv1; ++dv, xmap_index += xmap_step,
ymap_index += ymap_step)
{
__global float * xmap = (__global float *)(xmapptr + xmap_index);
__global float * ymap = (__global float *)(ymapptr + ymap_index);
float u = tl_u + du;
float v = tl_v + dv;
float x, y;
float v = (tl_v + dv) * scale;
v /= scale;
u /= scale;
float cosv, sinv = sincos(v, &cosv), cosu, sinu = sincos(u, &cosu);
float cosv, sinv = sincos(v, &cosv);
float x_ = sinv * sinu;
float y_ = -cosv;
float z_ = sinv * cosu;
float z;
float x, y, z;
x = fma(ck_rinv[0], x_, fma(ck_rinv[1], y_, ck_rinv[2] * z_));
y = fma(ck_rinv[3], x_, fma(ck_rinv[4], y_, ck_rinv[5] * z_));
z = fma(ck_rinv[6], x_, fma(ck_rinv[7], y_, ck_rinv[8] * z_));

11
modules/stitching/src/warpers.cpp
View File

@ -87,6 +87,11 @@ Point2f PlaneWarper::warpPoint(const Point2f &pt, InputArray K, InputArray R, In
return uv;
}
Rect PlaneWarper::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{
return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32FC1), xmap, ymap);
}
Rect PlaneWarper::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray _xmap, OutputArray _ymap)
{
projector_.setCameraParams(K, R, T);
@ -110,7 +115,7 @@ Rect PlaneWarper::buildMaps(Size src_size, InputArray K, InputArray R, InputArra
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(uk_rinv), ocl::KernelArg::PtrReadOnly(ut),
dst_tl.x, dst_tl.y, projector_.scale, rowsPerWI);
dst_tl.x, dst_tl.y, 1/projector_.scale, rowsPerWI);
size_t globalsize[2] = { dsize.width, (dsize.height + rowsPerWI - 1) / rowsPerWI };
if (k.run(2, globalsize, NULL, true))
@ -388,7 +393,7 @@ Rect SphericalWarper::buildMaps(Size src_size, InputArray K, InputArray R, Outpu
UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(), uk_rinv = k_rinv.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(uk_rinv), dst_tl.x, dst_tl.y, projector_.scale, rowsPerWI);
ocl::KernelArg::PtrReadOnly(uk_rinv), dst_tl.x, dst_tl.y, 1/projector_.scale, rowsPerWI);
size_t globalsize[2] = { dsize.width, (dsize.height + rowsPerWI - 1) / rowsPerWI };
if (k.run(2, globalsize, NULL, true))
@ -436,7 +441,7 @@ Rect CylindricalWarper::buildMaps(Size src_size, InputArray K, InputArray R, Out
UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(), uk_rinv = k_rinv.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(uk_rinv), dst_tl.x, dst_tl.y, projector_.scale,
ocl::KernelArg::PtrReadOnly(uk_rinv), dst_tl.x, dst_tl.y, 1/projector_.scale,
rowsPerWI);
size_t globalsize[2] = { dsize.width, (dsize.height + rowsPerWI - 1) / rowsPerWI };