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Updated GPU warpers interface

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This commit is contained in:
Alexey Spizhevoy
2011-10-03 07:10:15 +00:00
parent 404e9cb9d5
commit 607a7fd2c2
2 changed files with 168 additions and 94 deletions
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120
modules/stitching/src/warpers.cpp
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@@ -159,39 +159,6 @@ void PlaneWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
}
#ifndef ANDROID
Point PlaneWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
}
Point PlaneWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
Mat &dst)
{
projector_.setCameraParams(K, R, T);
Point dst_tl, dst_br;
detectResultRoi(src.size(), dst_tl, dst_br);
gpu::buildWarpPlaneMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, d_xmap_, d_ymap_);
gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_);
d_src_.upload(src);
gpu::ensureSizeIsEnough(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type(), d_dst_);
gpu::remap(d_src_, d_dst_, d_xmap_, d_ymap_, interp_mode, border_mode);
d_dst_.download(dst);
return dst_tl;
}
#endif
void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
detectResultRoiByBorder(src_size, dst_tl, dst_br);
@@ -237,51 +204,86 @@ void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_b
#ifndef ANDROID
Point SphericalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R);
return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap);
}
Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R, T);
Point dst_tl, dst_br;
detectResultRoi(src.size(), dst_tl, dst_br);
detectResultRoi(src_size, dst_tl, dst_br);
gpu::buildWarpSphericalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, d_xmap_, d_ymap_);
gpu::buildWarpPlaneMaps(src_size, Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, xmap, ymap);
gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_);
d_src_.upload(src);
return Rect(dst_tl, dst_br);
}
gpu::ensureSizeIsEnough(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type(), d_dst_);
gpu::remap(d_src_, d_dst_, d_xmap_, d_ymap_, interp_mode, border_mode);
d_dst_.download(dst);
return dst_tl;
Point PlaneWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
}
Point CylindricalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
Point PlaneWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
Rect dst_roi = buildMaps(src.size(), K, R, T, d_xmap_, d_ymap_);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
Rect SphericalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src.size(), dst_tl, dst_br);
detectResultRoi(src_size, dst_tl, dst_br);
gpu::buildWarpCylindricalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, d_xmap_, d_ymap_);
gpu::buildWarpSphericalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
K, R, projector_.scale, xmap, ymap);
gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_);
d_src_.upload(src);
return Rect(dst_tl, dst_br);
}
gpu::ensureSizeIsEnough(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type(), d_dst_);
gpu::remap(d_src_, d_dst_, d_xmap_, d_ymap_, interp_mode, border_mode);
Point SphericalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
d_dst_.download(dst);
return dst_tl;
Rect CylindricalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
gpu::buildWarpCylindricalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
K, R, projector_.scale, xmap, ymap);
return Rect(dst_tl, dst_br);
}
Point CylindricalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
#endif