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GPU: updated upsample, downsample functions, added pyrDown, pyrUp, added support of 16S filtering; put spherical warper on GPU (from opencv_stitching)

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This commit is contained in:
Alexey Spizhevoy 2011-06-30 14:39:48 +00:00
parent a44d6aacc8
commit 674b763395
19 changed files with 697 additions and 378 deletions
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17
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -622,6 +622,10 @@ namespace cv
//! Supports INTER_NEAREST, INTER_LINEAR, INTER_CUBIC
CV_EXPORTS void warpPerspective(const GpuMat& src, GpuMat& dst, const Mat& M, Size dsize, int flags = INTER_LINEAR, Stream& stream = Stream::Null());
//! builds spherical warping maps
CV_EXPORTS void buildWarpSphericalMaps(Size src_size, Rect dst_roi, const Mat& R, double f, double s,
GpuMat& map_x, GpuMat& map_y, Stream& stream = Stream::Null());
//! rotate 8bit single or four channel image
//! Supports INTER_NEAREST, INTER_LINEAR, INTER_CUBIC
//! supports CV_8UC1, CV_8UC4 types
@ -721,12 +725,21 @@ namespace cv
CV_EXPORTS void matchTemplate(const GpuMat& image, const GpuMat& templ, GpuMat& result, int method);
//! downsamples image
CV_EXPORTS void downsample(const GpuMat& src, GpuMat& dst, int k=2);
CV_EXPORTS void downsample(const GpuMat& src, GpuMat& dst);
//! upsamples image
CV_EXPORTS void upsample(const GpuMat& src, GpuMat &dst);
//! smoothes the source image and downsamples it
CV_EXPORTS void pyrDown(const GpuMat& src, GpuMat& dst);
//! upsamples the source image and then smoothes it
CV_EXPORTS void pyrUp(const GpuMat& src, GpuMat& dst);
//! performs linear blending of two images
//! to avoid accuracy errors sum of weigths shouldn't be very close to zero
CV_EXPORTS void blendLinear(const GpuMat& img1, const GpuMat& img2, const GpuMat& weights1, const GpuMat& weights2,
GpuMat& result, Stream& stream = Stream::Null());
GpuMat& result, Stream& stream = Stream::Null());
////////////////////////////// Matrix reductions //////////////////////////////

22
modules/gpu/src/cuda/element_operations.cu
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@ -647,4 +647,26 @@ namespace cv { namespace gpu { namespace mathfunc
template void threshold_gpu<int>(const DevMem2D& src, const DevMem2D& dst, int thresh, int maxVal, int type, cudaStream_t stream);
template void threshold_gpu<float>(const DevMem2D& src, const DevMem2D& dst, float thresh, float maxVal, int type, cudaStream_t stream);
template void threshold_gpu<double>(const DevMem2D& src, const DevMem2D& dst, double thresh, double maxVal, int type, cudaStream_t stream);
//////////////////////////////////////////////////////////////////////////
// subtract
template <typename T>
class SubtractOp
{
public:
__device__ __forceinline__ T operator()(const T& l, const T& r) const
{
return l - r;
}
};
template <typename T>
void subtractCaller(const DevMem2D src1, const DevMem2D src2, DevMem2D dst, cudaStream_t stream)
{
transform((DevMem2D_<T>)src1, (DevMem2D_<T>)src2, (DevMem2D_<T>)dst, SubtractOp<T>(), stream);
}
template void subtractCaller<short>(const DevMem2D src1, const DevMem2D src2, DevMem2D dst, cudaStream_t stream);
}}}

4
modules/gpu/src/cuda/filters.cu
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@ -224,6 +224,7 @@ namespace cv { namespace gpu { namespace filters
template void linearRowFilter_gpu<uchar4, float4>(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
template void linearRowFilter_gpu<short , float >(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
template void linearRowFilter_gpu<short2, float2>(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
template void linearRowFilter_gpu<short3, float3>(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
template void linearRowFilter_gpu<int , float >(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
template void linearRowFilter_gpu<float , float >(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
}}}
@ -275,7 +276,7 @@ namespace cv { namespace gpu { namespace filters
dim3 threads(BLOCK_DIM_X, BLOCK_DIM_Y);
dim3 grid(divUp(src.cols, BLOCK_DIM_X), divUp(src.rows, BLOCK_DIM_Y));
B<T> b(src.rows, src.step / src.elemSize());
B<T> b(src.rows, src.step);
if (!b.is_range_safe(-BLOCK_DIM_Y, (grid.y + 1) * BLOCK_DIM_Y - 1))
{
@ -364,6 +365,7 @@ namespace cv { namespace gpu { namespace filters
template void linearColumnFilter_gpu<float4, uchar4>(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
template void linearColumnFilter_gpu<float , short >(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
template void linearColumnFilter_gpu<float2, short2>(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
template void linearColumnFilter_gpu<float3, short3>(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
template void linearColumnFilter_gpu<float , int >(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
template void linearColumnFilter_gpu<float , float >(const DevMem2D& src, const DevMem2D& dst, const float kernel[], int ksize, int anchor, int brd_type, cudaStream_t stream);
}}}

10
modules/gpu/src/cuda/hog.cu
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@ -42,14 +42,6 @@
#include "internal_shared.hpp"
#ifndef CV_PI_F
#ifndef CV_PI
#define CV_PI_F 3.14159265f
#else
#define CV_PI_F ((float)CV_PI)
#endif
#endif
// Other values are not supported
#define CELL_WIDTH 8
#define CELL_HEIGHT 8
@ -776,4 +768,4 @@ static void resize_for_hog(const DevMem2D& src, DevMem2D dst, TEX& tex)
void resize_8UC1(const DevMem2D& src, DevMem2D dst) { resize_for_hog<uchar> (src, dst, resize8UC1_tex); }
void resize_8UC4(const DevMem2D& src, DevMem2D dst) { resize_for_hog<uchar4>(src, dst, resize8UC4_tex); }
}}}
}}}

181
modules/gpu/src/cuda/imgproc.cu
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@ -66,8 +66,8 @@ namespace cv { namespace gpu { namespace imgproc
}
}
__global__ void remap_3c(const uchar* src, size_t src_step, const float* mapx, const float* mapy, size_t map_step,
uchar* dst, size_t dst_step, int width, int height)
__global__ void remap_3c(const uchar* src, size_t src_step, const float* mapx, const float* mapy,
size_t map_step, uchar* dst, size_t dst_step, int width, int height)
{
const int x = blockDim.x * blockIdx.x + threadIdx.x;
const int y = blockDim.y * blockIdx.y + threadIdx.y;
@ -131,7 +131,7 @@ namespace cv { namespace gpu { namespace imgproc
grid.x = divUp(dst.cols, threads.x);
grid.y = divUp(dst.rows, threads.y);
tex_remap.filterMode = cudaFilterModeLinear;
tex_remap.filterMode = cudaFilterModeLinear;
tex_remap.addressMode[0] = tex_remap.addressMode[1] = cudaAddressModeWrap;
cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
cudaSafeCall( cudaBindTexture2D(0, tex_remap, src.data, desc, src.cols, src.rows, src.step) );
@ -139,7 +139,7 @@ namespace cv { namespace gpu { namespace imgproc
remap_1c<<<grid, threads>>>(xmap.data, ymap.data, xmap.step, dst.data, dst.step, dst.cols, dst.rows);
cudaSafeCall( cudaGetLastError() );
cudaSafeCall( cudaDeviceSynchronize() );
cudaSafeCall( cudaDeviceSynchronize() );
cudaSafeCall( cudaUnbindTexture(tex_remap) );
}
@ -151,9 +151,9 @@ namespace cv { namespace gpu { namespace imgproc
grid.y = divUp(dst.rows, threads.y);
remap_3c<<<grid, threads>>>(src.data, src.step, xmap.data, ymap.data, xmap.step, dst.data, dst.step, dst.cols, dst.rows);
cudaSafeCall( cudaGetLastError() );
cudaSafeCall( cudaDeviceSynchronize() );
cudaSafeCall( cudaGetLastError() );
cudaSafeCall( cudaDeviceSynchronize() );
}
/////////////////////////////////// MeanShiftfiltering ///////////////////////////////////////////////
@ -768,6 +768,7 @@ namespace cv { namespace gpu { namespace imgproc
cudaSafeCall( cudaDeviceSynchronize() );
}
//////////////////////////////////////////////////////////////////////////
// mulSpectrums
@ -796,6 +797,7 @@ namespace cv { namespace gpu { namespace imgproc
cudaSafeCall( cudaDeviceSynchronize() );
}
//////////////////////////////////////////////////////////////////////////
// mulSpectrums_CONJ
@ -825,6 +827,7 @@ namespace cv { namespace gpu { namespace imgproc
cudaSafeCall( cudaDeviceSynchronize() );
}
//////////////////////////////////////////////////////////////////////////
// mulAndScaleSpectrums
@ -855,6 +858,7 @@ namespace cv { namespace gpu { namespace imgproc
cudaSafeCall( cudaDeviceSynchronize() );
}
//////////////////////////////////////////////////////////////////////////
// mulAndScaleSpectrums_CONJ
@ -885,34 +889,173 @@ namespace cv { namespace gpu { namespace imgproc
cudaSafeCall( cudaDeviceSynchronize() );
}
/////////////////////////////////////////////////////////////////////////
// downsample
template <typename T>
__global__ void downsampleKernel(const PtrStep_<T> src, int rows, int cols, int k, PtrStep_<T> dst)
template <typename T, int cn>
__global__ void downsampleKernel(const PtrStep_<T> src, DevMem2D_<T> dst)
{
int x = blockIdx.x * blockDim.x + threadIdx.x;
int y = blockIdx.y * blockDim.y + threadIdx.y;
if (x < cols && y < rows)
dst.ptr(y)[x] = src.ptr(y * k)[x * k];
if (x < dst.cols && y < dst.rows)
{
int ch_x = x / cn;
dst.ptr(y)[x] = src.ptr(y*2)[ch_x*2*cn + x - ch_x*cn];
}
}
template <typename T>
void downsampleCaller(const PtrStep_<T> src, int rows, int cols, int k, PtrStep_<T> dst)
template <typename T, int cn>
void downsampleCaller(const DevMem2D src, DevMem2D dst)
{
dim3 threads(16, 16);
dim3 threads(32, 8);
dim3 grid(divUp(dst.cols, threads.x), divUp(dst.rows, threads.y));
downsampleKernel<T,cn><<<grid,threads>>>(DevMem2D_<T>(src), DevMem2D_<T>(dst));
cudaSafeCall(cudaGetLastError());
cudaSafeCall(cudaDeviceSynchronize());
}
template void downsampleCaller<uchar,1>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<uchar,2>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<uchar,3>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<uchar,4>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<short,1>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<short,2>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<short,3>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<short,4>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<float,1>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<float,2>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<float,3>(const DevMem2D src, DevMem2D dst);
template void downsampleCaller<float,4>(const DevMem2D src, DevMem2D dst);
//////////////////////////////////////////////////////////////////////////
// upsample
template <typename T, int cn>
__global__ void upsampleKernel(const PtrStep_<T> src, DevMem2D_<T> dst)
{
int x = blockIdx.x * blockDim.x + threadIdx.x;
int y = blockIdx.y * blockDim.y + threadIdx.y;
if (x < dst.cols && y < dst.rows)
{
int ch_x = x / cn;
T val = ((ch_x & 1) || (y & 1)) ? 0 : src.ptr(y/2)[ch_x/2*cn + x - ch_x*cn];
dst.ptr(y)[x] = val;
}
}
template <typename T, int cn>
void upsampleCaller(const DevMem2D src, DevMem2D dst)
{
dim3 threads(32, 8);
dim3 grid(divUp(dst.cols, threads.x), divUp(dst.rows, threads.y));
upsampleKernel<T,cn><<<grid,threads>>>(DevMem2D_<T>(src), DevMem2D_<T>(dst));
cudaSafeCall(cudaGetLastError());
cudaSafeCall(cudaDeviceSynchronize());
}
template void upsampleCaller<uchar,1>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<uchar,2>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<uchar,3>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<uchar,4>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<short,1>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<short,2>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<short,3>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<short,4>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<float,1>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<float,2>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<float,3>(const DevMem2D src, DevMem2D dst);
template void upsampleCaller<float,4>(const DevMem2D src, DevMem2D dst);
//////////////////////////////////////////////////////////////////////////
// buildWarpMaps
namespace build_warp_maps
{
__constant__ float cr[9];
__constant__ float crinv[9];
__constant__ float cf, cs;
__constant__ float chalf_w, chalf_h;
}
class SphericalMapper
{
public:
static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
{
using namespace build_warp_maps;
v /= cs;
u /= cs;
float sinv = sinf(v);
float x_ = sinv * sinf(u);
float y_ = -cosf(v);
float z_ = sinv * cosf(u);
float z;
x = crinv[0]*x_ + crinv[1]*y_ + crinv[2]*z_;
y = crinv[3]*x_ + crinv[4]*y_ + crinv[5]*z_;
z = crinv[6]*x_ + crinv[7]*y_ + crinv[8]*z_;
x = cf*x/z + chalf_w;
y = cf*y/z + chalf_h;
}
};
template <typename Mapper>
__global__ void buildWarpMapsKernel(int tl_u, int tl_v, int cols, int rows,
PtrStepf map_x, PtrStepf map_y)
{
int du = blockIdx.x * blockDim.x + threadIdx.x;
int dv = blockIdx.y * blockDim.y + threadIdx.y;
if (du < cols && dv < rows)
{
float u = tl_u + du;
float v = tl_v + dv;
float x, y;
Mapper::mapBackward(u, v, x, y);
map_x.ptr(dv)[du] = x;
map_y.ptr(dv)[du] = y;
}
}
void buildWarpSphericalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s,
float half_w, float half_h, cudaStream_t stream)
{
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr, r, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::crinv, rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cf, &f, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cs, &s, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_w, &half_w, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_h, &half_h, sizeof(float)));
int cols = map_x.cols;
int rows = map_x.rows;
dim3 threads(32, 8);
dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
downsampleKernel<<<grid, threads>>>(src, rows, cols, k, dst);
cudaSafeCall( cudaGetLastError() );
cudaSafeCall( cudaDeviceSynchronize() );
buildWarpMapsKernel<SphericalMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
cudaSafeCall(cudaGetLastError());
if (stream == 0)
cudaSafeCall(cudaDeviceSynchronize());
}
template void downsampleCaller(const PtrStep src, int rows, int cols, int k, PtrStep dst);
template void downsampleCaller(const PtrStepf src, int rows, int cols, int k, PtrStepf dst);
}}}

8
modules/gpu/src/cuda/internal_shared.hpp
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@ -49,6 +49,14 @@
#include "npp.h"
#include "NPP_staging.hpp"
#ifndef CV_PI_F
#ifndef CV_PI
#define CV_PI_F 3.14159265f
#else
#define CV_PI_F ((float)CV_PI)
#endif
#endif
namespace cv
{
namespace gpu

17
modules/gpu/src/element_operations.cpp
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@ -174,9 +174,22 @@ void cv::gpu::add(const GpuMat& src1, const GpuMat& src2, GpuMat& dst, Stream& s
nppArithmCaller(src1, src2, dst, nppiAdd_8u_C1RSfs, nppiAdd_8u_C4RSfs, nppiAdd_32s_C1R, nppiAdd_32f_C1R, StreamAccessor::getStream(stream));
}
namespace cv { namespace gpu { namespace mathfunc
{
template <typename T>
void subtractCaller(const DevMem2D src1, const DevMem2D src2, DevMem2D dst, cudaStream_t stream);
}}}
void cv::gpu::subtract(const GpuMat& src1, const GpuMat& src2, GpuMat& dst, Stream& stream)
{
nppArithmCaller(src2, src1, dst, nppiSub_8u_C1RSfs, nppiSub_8u_C4RSfs, nppiSub_32s_C1R, nppiSub_32f_C1R, StreamAccessor::getStream(stream));
if (src1.depth() == CV_16S && src2.depth() == CV_16S)
{
CV_Assert(src1.size() == src2.size());
dst.create(src1.size(), src1.type());
mathfunc::subtractCaller<short>(src1.reshape(1), src2.reshape(1), dst.reshape(1), StreamAccessor::getStream(stream));
}
else
nppArithmCaller(src2, src1, dst, nppiSub_8u_C1RSfs, nppiSub_8u_C4RSfs, nppiSub_32s_C1R, nppiSub_32f_C1R, StreamAccessor::getStream(stream));
}
void cv::gpu::multiply(const GpuMat& src1, const GpuMat& src2, GpuMat& dst, Stream& stream)
@ -755,4 +768,4 @@ double cv::gpu::threshold(const GpuMat& src, GpuMat& dst, double thresh, double
return thresh;
}
#endif
#endif

15
modules/gpu/src/filtering.cpp
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@ -192,7 +192,8 @@ namespace
Size src_size = src.size();
dst.create(src_size, dstType);
dstBuf.create(src_size, bufType);
ensureSizeIsEnough(src_size, bufType, dstBuf);
//dstBuf.create(src_size, bufType);
if (stream)
{
@ -717,7 +718,7 @@ Ptr<BaseRowFilter_GPU> cv::gpu::getLinearRowFilter_GPU(int srcType, int bufType,
CV_Assert(tryConvertToGpuBorderType(borderType, gpuBorderType));
CV_Assert(srcType == CV_8UC1 || srcType == CV_8UC4 || srcType == CV_16SC1 || srcType == CV_16SC2
|| srcType == CV_32SC1 || srcType == CV_32FC1);
|| srcType == CV_16SC3 || srcType == CV_32SC1 || srcType == CV_32FC1);
CV_Assert(CV_MAT_DEPTH(bufType) == CV_32F && CV_MAT_CN(srcType) == CV_MAT_CN(bufType));
@ -747,6 +748,9 @@ Ptr<BaseRowFilter_GPU> cv::gpu::getLinearRowFilter_GPU(int srcType, int bufType,
case CV_16SC2:
func = filters::linearRowFilter_gpu<short2, float2>;
break;
case CV_16SC3:
func = filters::linearRowFilter_gpu<short3, float3>;
break;
case CV_32SC1:
func = filters::linearRowFilter_gpu<int, float>;
break;
@ -827,8 +831,8 @@ Ptr<BaseColumnFilter_GPU> cv::gpu::getLinearColumnFilter_GPU(int bufType, int ds
int gpuBorderType;
CV_Assert(tryConvertToGpuBorderType(borderType, gpuBorderType));
CV_Assert(dstType == CV_8UC1 || dstType == CV_8UC4 || dstType == CV_16SC1 || dstType == CV_16SC2
|| dstType == CV_32SC1 || dstType == CV_32FC1);
CV_Assert(dstType == CV_8UC1 || dstType == CV_8UC4 || dstType == CV_16SC1 || dstType == CV_16SC2
|| dstType == CV_16SC3 || dstType == CV_32SC1 || dstType == CV_32FC1);
CV_Assert(CV_MAT_DEPTH(bufType) == CV_32F && CV_MAT_CN(dstType) == CV_MAT_CN(bufType));
@ -858,6 +862,9 @@ Ptr<BaseColumnFilter_GPU> cv::gpu::getLinearColumnFilter_GPU(int bufType, int ds
case CV_16SC2:
func = filters::linearColumnFilter_gpu<float2, short2>;
break;
case CV_16SC3:
func = filters::linearColumnFilter_gpu<float3, short3>;
break;
case CV_32SC1:
func = filters::linearColumnFilter_gpu<float, int>;
break;

128
modules/gpu/src/imgproc_gpu.cpp
View File

@ -56,6 +56,8 @@ void cv::gpu::resize(const GpuMat&, GpuMat&, Size, double, double, int, Stream&)
void cv::gpu::copyMakeBorder(const GpuMat&, GpuMat&, int, int, int, int, const Scalar&, Stream&) { throw_nogpu(); }
void cv::gpu::warpAffine(const GpuMat&, GpuMat&, const Mat&, Size, int, Stream&) { throw_nogpu(); }
void cv::gpu::warpPerspective(const GpuMat&, GpuMat&, const Mat&, Size, int, Stream&) { throw_nogpu(); }
void cv::gpu::buildWarpSphericalMaps(Size, Rect, const Mat&, double, double,
GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::rotate(const GpuMat&, GpuMat&, Size, double, double, double, int, Stream&) { throw_nogpu(); }
void cv::gpu::integral(const GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::integralBuffered(const GpuMat&, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
@ -76,7 +78,11 @@ void cv::gpu::dft(const GpuMat&, GpuMat&, Size, int) { throw_nogpu(); }
void cv::gpu::ConvolveBuf::create(Size, Size) { throw_nogpu(); }
void cv::gpu::convolve(const GpuMat&, const GpuMat&, GpuMat&, bool) { throw_nogpu(); }
void cv::gpu::convolve(const GpuMat&, const GpuMat&, GpuMat&, bool, ConvolveBuf&) { throw_nogpu(); }
void cv::gpu::downsample(const GpuMat&, GpuMat&, int) { throw_nogpu(); }
void cv::gpu::downsample(const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::upsample(const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::pyrDown(const GpuMat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::pyrUp(const GpuMat&, GpuMat&) { throw_nogpu(); }
#else /* !defined (HAVE_CUDA) */
@ -504,6 +510,30 @@ void cv::gpu::warpPerspective(const GpuMat& src, GpuMat& dst, const Mat& M, Size
nppWarpCaller(src, dst, coeffs, dsize, flags, npp_warpPerspective_8u, npp_warpPerspective_16u, npp_warpPerspective_32s, npp_warpPerspective_32f, StreamAccessor::getStream(s));
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpSphericalMaps
namespace cv { namespace gpu { namespace imgproc
{
void buildWarpSphericalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s,
float half_w, float half_h, cudaStream_t stream);
}}}
void cv::gpu::buildWarpSphericalMaps(Size src_size, Rect dst_roi, const Mat& R, double f, double s,
GpuMat& map_x, GpuMat& map_y, Stream& stream)
{
CV_Assert(R.size() == Size(3,3) && R.isContinuous() && R.type() == CV_32F);
Mat Rinv = R.inv();
CV_Assert(Rinv.isContinuous());
map_x.create(dst_roi.size(), CV_32F);
map_y.create(dst_roi.size(), CV_32F);
imgproc::buildWarpSphericalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, R.ptr<float>(), Rinv.ptr<float>(),
f, s, 0.5f*src_size.width, 0.5f*src_size.height, StreamAccessor::getStream(stream));
}
////////////////////////////////////////////////////////////////////////
// rotate
@ -1333,32 +1363,96 @@ void cv::gpu::convolve(const GpuMat& image, const GpuMat& templ, GpuMat& result,
cufftSafeCall(cufftDestroy(planC2R));
}
////////////////////////////////////////////////////////////////////
// downsample
namespace cv { namespace gpu { namespace imgproc
{
template <typename T>
void downsampleCaller(const PtrStep_<T> src, int rows, int cols, int k, PtrStep_<T> dst);
template <typename T, int cn>
void downsampleCaller(const DevMem2D src, DevMem2D dst);
}}}
void cv::gpu::downsample(const GpuMat& src, GpuMat& dst, int k)
void cv::gpu::downsample(const GpuMat& src, GpuMat& dst)
{
CV_Assert(src.channels() == 1);
CV_Assert(src.depth() < CV_64F && src.channels() <= 4);
dst.create((src.rows + k - 1) / k, (src.cols + k - 1) / k, src.type());
typedef void (*Caller)(const DevMem2D, DevMem2D);
static const Caller callers[6][4] =
{{imgproc::downsampleCaller<uchar,1>, imgproc::downsampleCaller<uchar,2>,
imgproc::downsampleCaller<uchar,3>, imgproc::downsampleCaller<uchar,4>},
{0,0,0,0}, {0,0,0,0},
{imgproc::downsampleCaller<short,1>, imgproc::downsampleCaller<short,2>,
imgproc::downsampleCaller<short,3>, imgproc::downsampleCaller<short,4>},
{0,0,0,0},
{imgproc::downsampleCaller<float,1>, imgproc::downsampleCaller<float,2>,
imgproc::downsampleCaller<float,3>, imgproc::downsampleCaller<float,4>}};
switch (src.depth())
{
case CV_8U:
imgproc::downsampleCaller<uchar>(src, dst.rows, dst.cols, k, dst);
break;
case CV_32F:
imgproc::downsampleCaller<float>(src, dst.rows, dst.cols, k, dst);
break;
default:
CV_Error(CV_StsUnsupportedFormat, "bad image depth in downsample function");
}
Caller caller = callers[src.depth()][src.channels()-1];
if (!caller)
CV_Error(CV_StsUnsupportedFormat, "bad number of channels");
dst.create((src.rows + 1) / 2, (src.cols + 1) / 2, src.type());
caller(src, dst.reshape(1));
}
//////////////////////////////////////////////////////////////////////////////
// upsample
namespace cv { namespace gpu { namespace imgproc
{
template <typename T, int cn>
void upsampleCaller(const DevMem2D src, DevMem2D dst);
}}}
void cv::gpu::upsample(const GpuMat& src, GpuMat& dst)
{
CV_Assert(src.depth() < CV_64F && src.channels() <= 4);
typedef void (*Caller)(const DevMem2D, DevMem2D);
static const Caller callers[6][5] =
{{imgproc::upsampleCaller<uchar,1>, imgproc::upsampleCaller<uchar,2>,
imgproc::upsampleCaller<uchar,3>, imgproc::upsampleCaller<uchar,4>},
{0,0,0,0}, {0,0,0,0},
{imgproc::upsampleCaller<short,1>, imgproc::upsampleCaller<short,2>,
imgproc::upsampleCaller<short,3>, imgproc::upsampleCaller<short,4>},
{0,0,0,0},
{imgproc::upsampleCaller<float,1>, imgproc::upsampleCaller<float,2>,
imgproc::upsampleCaller<float,3>, imgproc::upsampleCaller<float,4>}};
Caller caller = callers[src.depth()][src.channels()-1];
if (!caller)
CV_Error(CV_StsUnsupportedFormat, "bad number of channels");
dst.create(src.rows*2, src.cols*2, src.type());
caller(src, dst.reshape(1));
}
//////////////////////////////////////////////////////////////////////////////
// pyrDown
void cv::gpu::pyrDown(const GpuMat& src, GpuMat& dst)
{
Mat ker = getGaussianKernel(5, 0, std::max(CV_32F, src.depth()));
GpuMat buf;
sepFilter2D(src, buf, src.depth(), ker, ker);
downsample(buf, dst);
}
//////////////////////////////////////////////////////////////////////////////
// pyrUp
void cv::gpu::pyrUp(const GpuMat& src, GpuMat& dst)
{
GpuMat buf;
upsample(src, buf);
Mat ker = getGaussianKernel(5, 0, std::max(CV_32F, src.depth())) * 2;
sepFilter2D(buf, dst, buf.depth(), ker, ker);
}
#endif /* !defined (HAVE_CUDA) */

5
modules/gpu/src/matrix_operations.cpp
View File

@ -594,8 +594,9 @@ void cv::gpu::createContinuous(int rows, int cols, int type, GpuMat& m)
void cv::gpu::ensureSizeIsEnough(int rows, int cols, int type, GpuMat& m)
{
if (m.type() == type && m.rows >= rows && m.cols >= cols)
return;
m.create(rows, cols, type);
m = m(Rect(0, 0, cols, rows));
else
m.create(rows, cols, type);
}

31
modules/gpu/src/opencv2/gpu/device/border_interpolate.hpp
View File

@ -104,13 +104,13 @@ namespace cv { namespace gpu { namespace device
template <typename T>
__device__ __forceinline__ D at_low(int i, const T* data) const
{
return saturate_cast<D>(data[idx_low(i) * step]);
return saturate_cast<D>(*(const D*)((const char*)data + idx_low(i)*step));
}
template <typename T>
__device__ __forceinline__ D at_high(int i, const T* data) const
{
return saturate_cast<D>(data[idx_high(i) * step]);
return saturate_cast<D>(*(const D*)((const char*)data + idx_high(i)*step));
}
private:
@ -174,13 +174,13 @@ namespace cv { namespace gpu { namespace device
template <typename T>
__device__ __forceinline__ D at_low(int i, const T* data) const
{
return saturate_cast<D>(data[idx_low(i) * step]);
return saturate_cast<D>(*(const D*)((const char*)data + idx_low(i)*step));
}
template <typename T>
__device__ __forceinline__ D at_high(int i, const T* data) const
{
return saturate_cast<D>(data[idx_high(i) * step]);
return saturate_cast<D>(*(const D*)((const char*)data + idx_high(i)*step));
}
private:
@ -222,13 +222,13 @@ namespace cv { namespace gpu { namespace device
template <typename T>
__device__ __forceinline__ D at_low(int i, const T* data) const
{
return i >= 0 ? saturate_cast<D>(data[i * step]) : val;
return i >= 0 ? saturate_cast<D>(*(const D*)((const char*)data + i*step)) : val;
}
template <typename T>
__device__ __forceinline__ D at_high(int i, const T* data) const
{
return i < len ? saturate_cast<D>(data[i * step]) : val;
return i < len ? saturate_cast<D>(*(const D*)((const char*)data + i*step)) : val;
}
bool is_range_safe(int mini, int maxi) const
@ -241,6 +241,25 @@ namespace cv { namespace gpu { namespace device
int step;
D val;
};
template <typename OutT>
struct BrdConstant
{
BrdConstant(int w, int h, const OutT &val = VecTraits<OutT>::all(0)) : w(w), h(h), val(val) {}
__device__ __forceinline__ OutT at(int x, int y, const uchar* data, int step) const
{
if (x >= 0 && x <= w - 1 && y >= 0 && y <= h - 1)
return ((const OutT*)(data + y * step))[x];
return val;
}
private:
int w, h;
OutT val;
};
}}}
#endif // __OPENCV_GPU_BORDER_INTERPOLATE_HPP__

93
modules/gpu/test/test_imgproc.cpp
View File

@ -1372,99 +1372,6 @@ TEST_P(ReprojectImageTo3D, Accuracy)
INSTANTIATE_TEST_CASE_P(ImgProc, ReprojectImageTo3D, testing::ValuesIn(devices()));
////////////////////////////////////////////////////////////////////////////////
// Downsample
struct Downsample : testing::TestWithParam< std::tr1::tuple<cv::gpu::DeviceInfo, int> >
{
cv::gpu::DeviceInfo devInfo;
int k;
cv::Size size;
cv::Size dst_gold_size;
virtual void SetUp()
{
devInfo = std::tr1::get<0>(GetParam());
k = std::tr1::get<1>(GetParam());
cv::gpu::setDevice(devInfo.deviceID());
cv::RNG& rng = cvtest::TS::ptr()->get_rng();
size = cv::Size(200 + cvtest::randInt(rng) % 1000, 200 + cvtest::randInt(rng) % 1000);
dst_gold_size = cv::Size((size.width + k - 1) / k, (size.height + k - 1) / k);
}
};
TEST_P(Downsample, Accuracy8U)
{
PRINT_PARAM(devInfo);
PRINT_PARAM(size);
PRINT_PARAM(k);
cv::RNG& rng = cvtest::TS::ptr()->get_rng();
cv::Mat src = cvtest::randomMat(rng, size, CV_8U, 0, 255, false);
cv::Mat dst;
ASSERT_NO_THROW(
cv::gpu::GpuMat gpures;
cv::gpu::downsample(cv::gpu::GpuMat(src), gpures, k);
gpures.download(dst);
);
ASSERT_EQ(dst_gold_size, dst.size());
for (int y = 0; y < dst.rows; ++y)
{
for (int x = 0; x < dst.cols; ++x)
{
int gold = src.at<uchar>(y * k, x * k);
int res = dst.at<uchar>(y, x);
ASSERT_EQ(gold, res);
}
}
}
TEST_P(Downsample, Accuracy32F)
{
PRINT_PARAM(devInfo);
PRINT_PARAM(size);
PRINT_PARAM(k);
cv::RNG& rng = cvtest::TS::ptr()->get_rng();
cv::Mat src = cvtest::randomMat(rng, size, CV_32F, 0, 1.0, false);
cv::Mat dst;
ASSERT_NO_THROW(
cv::gpu::GpuMat gpures;
cv::gpu::downsample(cv::gpu::GpuMat(src), gpures, k);
gpures.download(dst);
);
ASSERT_EQ(dst_gold_size, dst.size());
for (int y = 0; y < dst.rows; ++y)
{
for (int x = 0; x < dst.cols; ++x)
{
float gold = src.at<float>(y * k, x * k);
float res = dst.at<float>(y, x);
ASSERT_FLOAT_EQ(gold, res);
}
}
}
INSTANTIATE_TEST_CASE_P(ImgProc, Downsample, testing::Combine(
testing::ValuesIn(devices()),
testing::Range(2, 6)));
////////////////////////////////////////////////////////////////////////////////
// meanShift

63
modules/stitching/blenders.cpp
View File

@ -47,14 +47,14 @@ using namespace cv;
static const float WEIGHT_EPS = 1e-5f;
Ptr<Blender> Blender::createDefault(int type)
Ptr<Blender> Blender::createDefault(int type, bool try_gpu)
{
if (type == NO)
return new Blender();
if (type == FEATHER)
return new FeatherBlender();
if (type == MULTI_BAND)
return new MultiBandBlender();
return new MultiBandBlender(try_gpu);
CV_Error(CV_StsBadArg, "unsupported blending method");
return NULL;
}
@ -153,6 +153,13 @@ void FeatherBlender::blend(Mat &dst, Mat &dst_mask)
}
MultiBandBlender::MultiBandBlender(int try_gpu, int num_bands)
{
setNumBands(num_bands);
can_use_gpu_ = try_gpu && gpu::getCudaEnabledDeviceCount();
}
void MultiBandBlender::prepare(Rect dst_roi)
{
dst_roi_final_ = dst_roi;
@ -222,14 +229,14 @@ void MultiBandBlender::feed(const Mat &img, const Mat &mask, Point tl)
int right = br_new.x - tl.x - img.cols;
// Create the source image Laplacian pyramid
vector<Mat> src_pyr_gauss(num_bands_ + 1);
copyMakeBorder(img, src_pyr_gauss[0], top, bottom, left, right,
Mat img_with_border;
copyMakeBorder(img, img_with_border, top, bottom, left, right,
BORDER_REFLECT);
for (int i = 0; i < num_bands_; ++i)
pyrDown(src_pyr_gauss[i], src_pyr_gauss[i + 1]);
vector<Mat> src_pyr_laplace;
createLaplacePyr(src_pyr_gauss, src_pyr_laplace);
src_pyr_gauss.clear();
if (can_use_gpu_)
createLaplacePyrGpu(img_with_border, num_bands_, src_pyr_laplace);
else
createLaplacePyr(img_with_border, num_bands_, src_pyr_laplace);
// Create the weight map Gaussian pyramid
Mat weight_map;
@ -267,7 +274,7 @@ void MultiBandBlender::feed(const Mat &img, const Mat &mask, Point tl)
}
x_tl /= 2; y_tl /= 2;
x_br /= 2; y_br /= 2;
}
}
}
@ -319,21 +326,43 @@ void createWeightMap(const Mat &mask, float sharpness, Mat &weight)
}
void createLaplacePyr(const vector<Mat> &pyr_gauss, vector<Mat> &pyr_laplace)
void createLaplacePyr(const Mat &img, int num_levels, vector<Mat> &pyr)
{
if (pyr_gauss.size() == 0)
return;
pyr_laplace.resize(pyr_gauss.size());
pyr.resize(num_levels + 1);
pyr[0] = img;
for (int i = 0; i < num_levels; ++i)
pyrDown(pyr[i], pyr[i + 1]);
Mat tmp;
for (size_t i = 0; i < pyr_laplace.size() - 1; ++i)
for (int i = 0; i < num_levels; ++i)
{
pyrUp(pyr_gauss[i + 1], tmp, pyr_gauss[i].size());
subtract(pyr_gauss[i], tmp, pyr_laplace[i]);
pyrUp(pyr[i + 1], tmp, pyr[i].size());
subtract(pyr[i], tmp, pyr[i]);
}
pyr_laplace[pyr_laplace.size() - 1] = pyr_gauss[pyr_laplace.size() - 1].clone();
}
void createLaplacePyrGpu(const Mat &img, int num_levels, vector<Mat> &pyr)
{
pyr.resize(num_levels + 1);
vector<gpu::GpuMat> gpu_pyr(num_levels + 1);
gpu_pyr[0] = img;
for (int i = 0; i < num_levels; ++i)
gpu::pyrDown(gpu_pyr[i], gpu_pyr[i + 1]);
gpu::GpuMat tmp;
for (int i = 0; i < num_levels; ++i)
{
gpu::pyrUp(gpu_pyr[i + 1], tmp);
gpu::subtract(gpu_pyr[i], tmp, gpu_pyr[i]);
pyr[i] = gpu_pyr[i];
}
pyr[num_levels] = gpu_pyr[num_levels];
}
void restoreImageFromLaplacePyr(vector<Mat> &pyr)
{
if (pyr.size() == 0)

150
modules/stitching/blenders.hpp
View File

@ -38,77 +38,79 @@
// 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*/
#ifndef __OPENCV_BLENDERS_HPP__
#define __OPENCV_BLENDERS_HPP__
#include "precomp.hpp"
// Simple blender which puts one image over another
class Blender
{
public:
enum { NO, FEATHER, MULTI_BAND };
static cv::Ptr<Blender> createDefault(int type);
void prepare(const std::vector<cv::Point> &corners, const std::vector<cv::Size> &sizes);
virtual void prepare(cv::Rect dst_roi);
virtual void feed(const cv::Mat &img, const cv::Mat &mask, cv::Point tl);
virtual void blend(cv::Mat &dst, cv::Mat &dst_mask);
protected:
cv::Mat dst_, dst_mask_;
cv::Rect dst_roi_;
};
class FeatherBlender : public Blender
{
public:
FeatherBlender(float sharpness = 0.02f) { setSharpness(sharpness); }
float sharpness() const { return sharpness_; }
void setSharpness(float val) { sharpness_ = val; }
void prepare(cv::Rect dst_roi);
void feed(const cv::Mat &img, const cv::Mat &mask, cv::Point tl);
void blend(cv::Mat &dst, cv::Mat &dst_mask);
private:
float sharpness_;
cv::Mat weight_map_;
cv::Mat dst_weight_map_;
};
class MultiBandBlender : public Blender
{
public:
MultiBandBlender(int num_bands = 5) { setNumBands(num_bands); }
int numBands() const { return actual_num_bands_; }
void setNumBands(int val) { actual_num_bands_ = val; }
void prepare(cv::Rect dst_roi);
void feed(const cv::Mat &img, const cv::Mat &mask, cv::Point tl);
void blend(cv::Mat &dst, cv::Mat &dst_mask);
private:
int actual_num_bands_, num_bands_;
std::vector<cv::Mat> dst_pyr_laplace_;
std::vector<cv::Mat> dst_band_weights_;
cv::Rect dst_roi_final_;
};
//////////////////////////////////////////////////////////////////////////////
// Auxiliary functions
void normalize(const cv::Mat& weight, cv::Mat& src);
void createWeightMap(const cv::Mat& mask, float sharpness, cv::Mat& weight);
void createLaplacePyr(const std::vector<cv::Mat>& pyr_gauss, std::vector<cv::Mat>& pyr_laplace);
// Restores source image in-place (result will be stored in pyr[0])
void restoreImageFromLaplacePyr(std::vector<cv::Mat>& pyr);
#endif // __OPENCV_BLENDERS_HPP__
//M*/
#ifndef __OPENCV_BLENDERS_HPP__
#define __OPENCV_BLENDERS_HPP__
#include "precomp.hpp"
// Simple blender which puts one image over another
class Blender
{
public:
enum { NO, FEATHER, MULTI_BAND };
static cv::Ptr<Blender> createDefault(int type, bool try_gpu = false);
void prepare(const std::vector<cv::Point> &corners, const std::vector<cv::Size> &sizes);
virtual void prepare(cv::Rect dst_roi);
virtual void feed(const cv::Mat &img, const cv::Mat &mask, cv::Point tl);
virtual void blend(cv::Mat &dst, cv::Mat &dst_mask);
protected:
cv::Mat dst_, dst_mask_;
cv::Rect dst_roi_;
};
class FeatherBlender : public Blender
{
public:
FeatherBlender(float sharpness = 0.02f) { setSharpness(sharpness); }
float sharpness() const { return sharpness_; }
void setSharpness(float val) { sharpness_ = val; }
void prepare(cv::Rect dst_roi);
void feed(const cv::Mat &img, const cv::Mat &mask, cv::Point tl);
void blend(cv::Mat &dst, cv::Mat &dst_mask);
private:
float sharpness_;
cv::Mat weight_map_;
cv::Mat dst_weight_map_;
};
class MultiBandBlender : public Blender
{
public:
MultiBandBlender(int try_gpu = false, int num_bands = 5);
int numBands() const { return actual_num_bands_; }
void setNumBands(int val) { actual_num_bands_ = val; }
void prepare(cv::Rect dst_roi);
void feed(const cv::Mat &img, const cv::Mat &mask, cv::Point tl);
void blend(cv::Mat &dst, cv::Mat &dst_mask);
private:
int actual_num_bands_, num_bands_;
std::vector<cv::Mat> dst_pyr_laplace_;
std::vector<cv::Mat> dst_band_weights_;
cv::Rect dst_roi_final_;
bool can_use_gpu_;
};
//////////////////////////////////////////////////////////////////////////////
// Auxiliary functions
void normalize(const cv::Mat& weight, cv::Mat& src);
void createWeightMap(const cv::Mat& mask, float sharpness, cv::Mat& weight);
void createLaplacePyr(const cv::Mat &img, int num_levels, std::vector<cv::Mat>& pyr);
void createLaplacePyrGpu(const cv::Mat &img, int num_levels, std::vector<cv::Mat>& pyr);
// Restores source image in-place (result will be stored in pyr[0])
void restoreImageFromLaplacePyr(std::vector<cv::Mat>& pyr);
#endif // __OPENCV_BLENDERS_HPP__

16
modules/stitching/main.cpp
View File

@ -40,7 +40,7 @@
//
//M*/
// We follow to methods described in these two papers:
// We follow to these papers:
// 1) Construction of panoramic mosaics with global and local alignment.
// Heung-Yeung Shum and Richard Szeliski. 2000.
// 2) Eliminating Ghosting and Exposure Artifacts in Image Mosaics.
@ -461,7 +461,7 @@ int main(int argc, char* argv[])
// Warp images and their masks
Ptr<Warper> warper = Warper::createByCameraFocal(static_cast<float>(warped_image_scale * seam_work_aspect),
warp_type);
warp_type, try_gpu);
for (int i = 0; i < num_images; ++i)
{
corners[i] = warper->warp(images[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
@ -522,7 +522,7 @@ int main(int argc, char* argv[])
// Update warped image scale
warped_image_scale *= static_cast<float>(compose_work_aspect);
warper = Warper::createByCameraFocal(warped_image_scale, warp_type);
warper = Warper::createByCameraFocal(warped_image_scale, warp_type, try_gpu);
// Update corners and sizes
for (int i = 0; i < num_images; ++i)
@ -565,19 +565,19 @@ int main(int argc, char* argv[])
img_warped.convertTo(img_warped_s, CV_16S);
img_warped.release();
img.release();
mask.release();
mask.release();
dilate(masks_warped[img_idx], dilated_mask, Mat());
resize(dilated_mask, seam_mask, mask_warped.size());
mask_warped = seam_mask & mask_warped;
if (static_cast<Blender*>(blender) == 0)
{
blender = Blender::createDefault(blend_type);
{
blender = Blender::createDefault(blend_type, try_gpu);
Size dst_sz = resultRoi(corners, sizes).size();
float blend_width = sqrt(static_cast<float>(dst_sz.area())) * blend_strength / 100.f;
if (blend_width < 1.f)
blender = Blender::createDefault(Blender::NO);
blender = Blender::createDefault(Blender::NO, try_gpu);
else if (blend_type == Blender::MULTI_BAND)
{
MultiBandBlender* mb = dynamic_cast<MultiBandBlender*>(static_cast<Blender*>(blender));
@ -594,7 +594,7 @@ int main(int argc, char* argv[])
}
// Blend the current image
blender->feed(img_warped_s, mask_warped, corners[img_idx]);
blender->feed(img_warped_s, mask_warped, corners[img_idx]);
}
Mat result, result_mask;

10
modules/stitching/matchers.cpp
View File

@ -257,15 +257,7 @@ void FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<
namespace
{
class PairLess
{
public:
bool operator()(const pair<int,int>& l, const pair<int,int>& r) const
{
return l.first < r.first || (l.first == r.first && l.second < r.second);
}
};
typedef set<pair<int,int>,PairLess> MatchesSet;
typedef set<pair<int,int> > MatchesSet;
// These two classes are aimed to find features matches only, not to
// estimate homography

238
modules/stitching/warpers.cpp
View File

@ -38,111 +38,133 @@
// 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 "warpers.hpp"
using namespace std;
using namespace cv;
Ptr<Warper> Warper::createByCameraFocal(float focal, int type)
{
if (type == PLANE)
return new PlaneWarper(focal);
if (type == CYLINDRICAL)
return new CylindricalWarper(focal);
if (type == SPHERICAL)
return new SphericalWarper(focal);
CV_Error(CV_StsBadArg, "unsupported warping type");
return NULL;
}
void ProjectorBase::setTransformation(const Mat &R)
{
CV_Assert(R.size() == Size(3, 3));
CV_Assert(R.type() == CV_32F);
r[0] = R.at<float>(0, 0); r[1] = R.at<float>(0, 1); r[2] = R.at<float>(0, 2);
r[3] = R.at<float>(1, 0); r[4] = R.at<float>(1, 1); r[5] = R.at<float>(1, 2);
r[6] = R.at<float>(2, 0); r[7] = R.at<float>(2, 1); r[8] = R.at<float>(2, 2);
Mat Rinv = R.inv();
rinv[0] = Rinv.at<float>(0, 0); rinv[1] = Rinv.at<float>(0, 1); rinv[2] = Rinv.at<float>(0, 2);
rinv[3] = Rinv.at<float>(1, 0); rinv[4] = Rinv.at<float>(1, 1); rinv[5] = Rinv.at<float>(1, 2);
rinv[6] = Rinv.at<float>(2, 0); rinv[7] = Rinv.at<float>(2, 1); rinv[8] = Rinv.at<float>(2, 2);
}
void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
{
float tl_uf = numeric_limits<float>::max();
float tl_vf = numeric_limits<float>::max();
float br_uf = -numeric_limits<float>::max();
float br_vf = -numeric_limits<float>::max();
float u, v;
projector_.mapForward(0, 0, u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
projector_.mapForward(0, static_cast<float>(src_size_.height - 1), u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
projector_.mapForward(static_cast<float>(src_size_.width - 1), 0, u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
projector_.mapForward(static_cast<float>(src_size_.width - 1), static_cast<float>(src_size_.height - 1), u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
dst_tl.x = static_cast<int>(tl_uf);
dst_tl.y = static_cast<int>(tl_vf);
dst_br.x = static_cast<int>(br_uf);
dst_br.y = static_cast<int>(br_vf);
}
void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
{
detectResultRoiByBorder(dst_tl, dst_br);
float tl_uf = static_cast<float>(dst_tl.x);
float tl_vf = static_cast<float>(dst_tl.y);
float br_uf = static_cast<float>(dst_br.x);
float br_vf = static_cast<float>(dst_br.y);
float x = projector_.rinv[1];
float y = projector_.rinv[4];
float z = projector_.rinv[7];
if (y > 0.f)
{
x = projector_.focal * x / z + src_size_.width * 0.5f;
y = projector_.focal * y / z + src_size_.height * 0.5f;
if (x > 0.f && x < src_size_.width && y > 0.f && y < src_size_.height)
{
tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(CV_PI * projector_.scale));
br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(CV_PI * projector_.scale));
}
}
x = projector_.rinv[1];
y = -projector_.rinv[4];
z = projector_.rinv[7];
if (y > 0.f)
{
x = projector_.focal * x / z + src_size_.width * 0.5f;
y = projector_.focal * y / z + src_size_.height * 0.5f;
if (x > 0.f && x < src_size_.width && y > 0.f && y < src_size_.height)
{
tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(0));
br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(0));
}
}
dst_tl.x = static_cast<int>(tl_uf);
dst_tl.y = static_cast<int>(tl_vf);
dst_br.x = static_cast<int>(br_uf);
dst_br.y = static_cast<int>(br_vf);
}
//M*/
#include "warpers.hpp"
using namespace std;
using namespace cv;
Ptr<Warper> Warper::createByCameraFocal(float focal, int type, bool try_gpu)
{
bool can_use_gpu = try_gpu && gpu::getCudaEnabledDeviceCount();
if (type == PLANE)
return new PlaneWarper(focal);
if (type == CYLINDRICAL)
return new CylindricalWarper(focal);
if (type == SPHERICAL)
return !can_use_gpu ? new SphericalWarper(focal) : new SphericalWarperGpu(focal);
CV_Error(CV_StsBadArg, "unsupported warping type");
return NULL;
}
void ProjectorBase::setTransformation(const Mat &R)
{
CV_Assert(R.size() == Size(3, 3));
CV_Assert(R.type() == CV_32F);
r[0] = R.at<float>(0, 0); r[1] = R.at<float>(0, 1); r[2] = R.at<float>(0, 2);
r[3] = R.at<float>(1, 0); r[4] = R.at<float>(1, 1); r[5] = R.at<float>(1, 2);
r[6] = R.at<float>(2, 0); r[7] = R.at<float>(2, 1); r[8] = R.at<float>(2, 2);
Mat Rinv = R.inv();
rinv[0] = Rinv.at<float>(0, 0); rinv[1] = Rinv.at<float>(0, 1); rinv[2] = Rinv.at<float>(0, 2);
rinv[3] = Rinv.at<float>(1, 0); rinv[4] = Rinv.at<float>(1, 1); rinv[5] = Rinv.at<float>(1, 2);
rinv[6] = Rinv.at<float>(2, 0); rinv[7] = Rinv.at<float>(2, 1); rinv[8] = Rinv.at<float>(2, 2);
}
void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
{
float tl_uf = numeric_limits<float>::max();
float tl_vf = numeric_limits<float>::max();
float br_uf = -numeric_limits<float>::max();
float br_vf = -numeric_limits<float>::max();
float u, v;
projector_.mapForward(0, 0, u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
projector_.mapForward(0, static_cast<float>(src_size_.height - 1), u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
projector_.mapForward(static_cast<float>(src_size_.width - 1), 0, u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
projector_.mapForward(static_cast<float>(src_size_.width - 1), static_cast<float>(src_size_.height - 1), u, v);
tl_uf = min(tl_uf, u); tl_vf = min(tl_vf, v);
br_uf = max(br_uf, u); br_vf = max(br_vf, v);
dst_tl.x = static_cast<int>(tl_uf);
dst_tl.y = static_cast<int>(tl_vf);
dst_br.x = static_cast<int>(br_uf);
dst_br.y = static_cast<int>(br_vf);
}
void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
{
detectResultRoiByBorder(dst_tl, dst_br);
float tl_uf = static_cast<float>(dst_tl.x);
float tl_vf = static_cast<float>(dst_tl.y);
float br_uf = static_cast<float>(dst_br.x);
float br_vf = static_cast<float>(dst_br.y);
float x = projector_.rinv[1];
float y = projector_.rinv[4];
float z = projector_.rinv[7];
if (y > 0.f)
{
x = projector_.focal * x / z + src_size_.width * 0.5f;
y = projector_.focal * y / z + src_size_.height * 0.5f;
if (x > 0.f && x < src_size_.width && y > 0.f && y < src_size_.height)
{
tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(CV_PI * projector_.scale));
br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(CV_PI * projector_.scale));
}
}
x = projector_.rinv[1];
y = -projector_.rinv[4];
z = projector_.rinv[7];
if (y > 0.f)
{
x = projector_.focal * x / z + src_size_.width * 0.5f;
y = projector_.focal * y / z + src_size_.height * 0.5f;
if (x > 0.f && x < src_size_.width && y > 0.f && y < src_size_.height)
{
tl_uf = min(tl_uf, 0.f); tl_vf = min(tl_vf, static_cast<float>(0));
br_uf = max(br_uf, 0.f); br_vf = max(br_vf, static_cast<float>(0));
}
}
dst_tl.x = static_cast<int>(tl_uf);
dst_tl.y = static_cast<int>(tl_vf);
dst_br.x = static_cast<int>(br_uf);
dst_br.y = static_cast<int>(br_vf);
}
Point SphericalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
int interp_mode, int border_mode)
{
src_size_ = src.size();
projector_.size = src.size();
projector_.focal = focal;
projector_.setTransformation(R);
cv::Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br);
gpu::buildWarpSphericalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
R, focal, projector_.scale, d_xmap_, d_ymap_);
dst.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type());
remap(src, dst, Mat(d_xmap_), Mat(d_ymap_), interp_mode, border_mode);
return dst_tl;
}

25
modules/stitching/warpers.hpp
View File

@ -1,4 +1,4 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
@ -48,7 +48,7 @@ class Warper
{
public:
enum { PLANE, CYLINDRICAL, SPHERICAL };
static cv::Ptr<Warper> createByCameraFocal(float focal, int type);
static cv::Ptr<Warper> createByCameraFocal(float focal, int type, bool try_gpu = false);
virtual ~Warper() {}
virtual cv::Point warp(const cv::Mat &src, float focal, const cv::Mat& R, cv::Mat &dst,
@ -73,10 +73,10 @@ template <class P>
class WarperBase : public Warper
{
public:
cv::Point warp(const cv::Mat &src, float focal, const cv::Mat &R, cv::Mat &dst,
int interp_mode, int border_mode);
virtual cv::Point warp(const cv::Mat &src, float focal, const cv::Mat &R, cv::Mat &dst,
int interp_mode, int border_mode);
cv::Rect warpRoi(const cv::Size &sz, float focal, const cv::Mat &R);
virtual cv::Rect warpRoi(const cv::Size &sz, float focal, const cv::Mat &R);
protected:
// Detects ROI of the destination image. It's correct for any projection.
@ -95,7 +95,6 @@ struct PlaneProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
float plane_dist;
};
@ -129,11 +128,23 @@ class SphericalWarper : public WarperBase<SphericalProjector>
public:
SphericalWarper(float scale = 300.f) { projector_.scale = scale; }
private:
protected:
void detectResultRoi(cv::Point &dst_tl, cv::Point &dst_br);
};
class SphericalWarperGpu : public SphericalWarper
{
public:
SphericalWarperGpu(float scale = 300.f) : SphericalWarper(scale) {}
cv::Point warp(const cv::Mat &src, float focal, const cv::Mat &R, cv::Mat &dst,
int interp_mode, int border_mode);
private:
cv::gpu::GpuMat d_xmap_, d_ymap_, d_dst_;
};
struct CylindricalProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);

42
samples/gpu/performance/tests.cpp
View File

@ -824,3 +824,45 @@ TEST(solvePnPRansac)
GPU_OFF;
}
}
TEST(GaussianBlur)
{
for (int size = 1000; size < 10000; size += 3000)
{
SUBTEST << "16SC3, size " << size;
Mat src; gen(src, size, size, CV_16SC3, 0, 256);
Mat dst(src.size(), src.type());
CPU_ON;
GaussianBlur(src, dst, Size(5,5), 0);
CPU_OFF;
gpu::GpuMat d_src(src);
gpu::GpuMat d_dst(src.size(), src.type());
GPU_ON;
gpu::GaussianBlur(d_src, d_dst, Size(5,5), 0);
GPU_OFF;
}
for (int size = 1000; size < 10000; size += 3000)
{
SUBTEST << "8UC4, size " << size;
Mat src; gen(src, size, size, CV_8UC4, 0, 256);
Mat dst(src.size(), src.type());
CPU_ON;
GaussianBlur(src, dst, Size(5,5), 0);
CPU_OFF;
gpu::GpuMat d_src(src);
gpu::GpuMat d_dst(src.size(), src.type());
GPU_ON;
gpu::GaussianBlur(d_src, d_dst, Size(5,5), 0);
GPU_OFF;
}
}