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replaced Mat by Input/Output arrays

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This commit is contained in:
Ilya Lavrenov 2014-01-09 15:21:07 +04:00
parent 118709fd9f
commit 8f9ccc099b
5 changed files with 124 additions and 113 deletions
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100
modules/stitching/include/opencv2/stitching/detail/warpers.hpp
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@ -56,17 +56,17 @@ class CV_EXPORTS RotationWarper
public: public:
virtual ~RotationWarper() {} virtual ~RotationWarper() {}
virtual Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R) = 0; virtual Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) = 0;
virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap) = 0; virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) = 0;
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, virtual Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Mat &dst) = 0; OutputArray dst) = 0;
virtual void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, virtual void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Size dst_size, Mat &dst) = 0; Size dst_size, OutputArray dst) = 0;
virtual Rect warpRoi(Size src_size, const Mat &K, const Mat &R) = 0; virtual Rect warpRoi(Size src_size, InputArray K, InputArray R) = 0;
virtual float getScale() const { return 1.f; } virtual float getScale() const { return 1.f; }
virtual void setScale(float) {} virtual void setScale(float) {}
@ -75,9 +75,9 @@ public:
struct CV_EXPORTS ProjectorBase struct CV_EXPORTS ProjectorBase
{ {
void setCameraParams(const Mat &K = Mat::eye(3, 3, CV_32F), void setCameraParams(InputArray K = Mat::eye(3, 3, CV_32F),
const Mat &R = Mat::eye(3, 3, CV_32F), InputArray R = Mat::eye(3, 3, CV_32F),
const Mat &T = Mat::zeros(3, 1, CV_32F)); InputArray T = Mat::zeros(3, 1, CV_32F));
float scale; float scale;
float k[9]; float k[9];
@ -92,17 +92,17 @@ template <class P>
class CV_EXPORTS RotationWarperBase : public RotationWarper class CV_EXPORTS RotationWarperBase : public RotationWarper
{ {
public: public:
Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R); Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R);
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap); Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Mat &dst); OutputArray dst);
void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Size dst_size, Mat &dst); Size dst_size, OutputArray dst);
Rect warpRoi(Size src_size, const Mat &K, const Mat &R); Rect warpRoi(Size src_size, InputArray K, InputArray R);
float getScale() const { return projector_.scale; } float getScale() const { return projector_.scale; }
void setScale(float val) { projector_.scale = val; } void setScale(float val) { projector_.scale = val; }
@ -132,14 +132,14 @@ class CV_EXPORTS PlaneWarper : public RotationWarperBase<PlaneProjector>
public: public:
PlaneWarper(float scale = 1.f) { projector_.scale = scale; } PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R, const Mat &T); Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R, InputArray T);
virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap); virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap);
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode, virtual Point warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
Mat &dst); OutputArray dst);
Rect warpRoi(Size src_size, const Mat &K, const Mat &R, const Mat &T); Rect warpRoi(Size src_size, InputArray K, InputArray R, InputArray T);
protected: protected:
void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br); void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
@ -333,7 +333,7 @@ class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
public: public:
PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {} PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap) Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{ {
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_); Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap); d_xmap_.download(xmap);
@ -341,7 +341,7 @@ public:
return result; return result;
} }
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap) Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap)
{ {
Rect result = buildMaps(src_size, K, R, T, d_xmap_, d_ymap_); Rect result = buildMaps(src_size, K, R, T, d_xmap_, d_ymap_);
d_xmap_.download(xmap); d_xmap_.download(xmap);
@ -349,8 +349,8 @@ public:
return result; return result;
} }
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Mat &dst) OutputArray dst)
{ {
d_src_.upload(src); d_src_.upload(src);
Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_); Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
@ -358,8 +358,8 @@ public:
return result; return result;
} }
Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode, Point warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
Mat &dst) OutputArray dst)
{ {
d_src_.upload(src); d_src_.upload(src);
Point result = warp(d_src_, K, R, T, interp_mode, border_mode, d_dst_); Point result = warp(d_src_, K, R, T, interp_mode, border_mode, d_dst_);
@ -367,14 +367,14 @@ public:
return result; return result;
} }
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, cuda::GpuMat &xmap, cuda::GpuMat &ymap); Rect buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, cuda::GpuMat &xmap, cuda::GpuMat &ymap); Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
Point warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
cuda::GpuMat & dst); cuda::GpuMat & dst);
Point warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode, Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
cuda::GpuMat & dst); cuda::GpuMat & dst);
private: private:
@ -387,7 +387,7 @@ class CV_EXPORTS SphericalWarperGpu : public SphericalWarper
public: public:
SphericalWarperGpu(float scale) : SphericalWarper(scale) {} SphericalWarperGpu(float scale) : SphericalWarper(scale) {}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap) Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{ {
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_); Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap); d_xmap_.download(xmap);
@ -395,8 +395,8 @@ public:
return result; return result;
} }
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Mat &dst) OutputArray dst)
{ {
d_src_.upload(src); d_src_.upload(src);
Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_); Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
@ -404,9 +404,9 @@ public:
return result; return result;
} }
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, cuda::GpuMat &xmap, cuda::GpuMat &ymap); Rect buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
Point warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
cuda::GpuMat & dst); cuda::GpuMat & dst);
private: private:
@ -419,7 +419,7 @@ class CV_EXPORTS CylindricalWarperGpu : public CylindricalWarper
public: public:
CylindricalWarperGpu(float scale) : CylindricalWarper(scale) {} CylindricalWarperGpu(float scale) : CylindricalWarper(scale) {}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap) Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{ {
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_); Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap); d_xmap_.download(xmap);
@ -427,8 +427,8 @@ public:
return result; return result;
} }
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Mat &dst) OutputArray dst)
{ {
d_src_.upload(src); d_src_.upload(src);
Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_); Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
@ -436,9 +436,9 @@ public:
return result; return result;
} }
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, cuda::GpuMat &xmap, cuda::GpuMat &ymap); Rect buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap);
Point warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
cuda::GpuMat & dst); cuda::GpuMat & dst);
private: private:
@ -510,18 +510,18 @@ class CV_EXPORTS PlaneWarperOcl : public PlaneWarper
public: public:
PlaneWarperOcl(float scale = 1.f) : PlaneWarper(scale) { } PlaneWarperOcl(float scale = 1.f) : PlaneWarper(scale) { }
virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap) virtual Rect 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); return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32FC1), xmap, ymap);
} }
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst) virtual Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst)
{ {
return warp(src, K, R, Mat::zeros(3, 1, CV_32FC1), interp_mode, border_mode, dst); return warp(src, K, R, Mat::zeros(3, 1, CV_32FC1), interp_mode, border_mode, dst);
} }
virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap); virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap);
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode, Mat &dst); virtual Point warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode, OutputArray dst);
}; };
class CV_EXPORTS SphericalWarperOcl : public SphericalWarper class CV_EXPORTS SphericalWarperOcl : public SphericalWarper
@ -529,8 +529,8 @@ class CV_EXPORTS SphericalWarperOcl : public SphericalWarper
public: public:
SphericalWarperOcl(float scale) : SphericalWarper(scale) { } SphericalWarperOcl(float scale) : SphericalWarper(scale) { }
virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap); virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst); virtual Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst);
}; };
class CV_EXPORTS CylindricalWarperOcl : public CylindricalWarper class CV_EXPORTS CylindricalWarperOcl : public CylindricalWarper
@ -538,8 +538,8 @@ class CV_EXPORTS CylindricalWarperOcl : public CylindricalWarper
public: public:
CylindricalWarperOcl(float scale) : CylindricalWarper(scale) { } CylindricalWarperOcl(float scale) : CylindricalWarper(scale) { }
virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap); virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst); virtual Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst);
}; };
} // namespace detail } // namespace detail

24
modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
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@ -51,7 +51,7 @@ namespace cv {
namespace detail { namespace detail {
template <class P> template <class P>
Point2f RotationWarperBase<P>::warpPoint(const Point2f &pt, const Mat &K, const Mat &R) Point2f RotationWarperBase<P>::warpPoint(const Point2f &pt, InputArray K, InputArray R)
{ {
projector_.setCameraParams(K, R); projector_.setCameraParams(K, R);
Point2f uv; Point2f uv;
@ -61,15 +61,17 @@ Point2f RotationWarperBase<P>::warpPoint(const Point2f &pt, const Mat &K, const
template <class P> template <class P>
Rect RotationWarperBase<P>::buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap) Rect RotationWarperBase<P>::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray _xmap, OutputArray _ymap)
{ {
projector_.setCameraParams(K, R); projector_.setCameraParams(K, R);
Point dst_tl, dst_br; Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br); detectResultRoi(src_size, dst_tl, dst_br);
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F); _xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F); _ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
Mat xmap = _xmap.getMat(), ymap = _ymap.getMat();
float x, y; float x, y;
for (int v = dst_tl.y; v <= dst_br.y; ++v) for (int v = dst_tl.y; v <= dst_br.y; ++v)
@ -87,8 +89,8 @@ Rect RotationWarperBase<P>::buildMaps(Size src_size, const Mat &K, const Mat &R,
template <class P> template <class P>
Point RotationWarperBase<P>::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point RotationWarperBase<P>::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Mat &dst) OutputArray dst)
{ {
Mat xmap, ymap; Mat xmap, ymap;
Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap); Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap);
@ -101,14 +103,16 @@ Point RotationWarperBase<P>::warp(const Mat &src, const Mat &K, const Mat &R, in
template <class P> template <class P>
void RotationWarperBase<P>::warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, void RotationWarperBase<P>::warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
Size dst_size, Mat &dst) Size dst_size, OutputArray dst)
{ {
projector_.setCameraParams(K, R); projector_.setCameraParams(K, R);
Point src_tl, src_br; Point src_tl, src_br;
detectResultRoi(dst_size, src_tl, src_br); detectResultRoi(dst_size, src_tl, src_br);
CV_Assert(src_br.x - src_tl.x + 1 == src.cols && src_br.y - src_tl.y + 1 == src.rows);
Size size = src.size();
CV_Assert(src_br.x - src_tl.x + 1 == size.width && src_br.y - src_tl.y + 1 == size.height);
Mat xmap(dst_size, CV_32F); Mat xmap(dst_size, CV_32F);
Mat ymap(dst_size, CV_32F); Mat ymap(dst_size, CV_32F);
@ -130,7 +134,7 @@ void RotationWarperBase<P>::warpBackward(const Mat &src, const Mat &K, const Mat
template <class P> template <class P>
Rect RotationWarperBase<P>::warpRoi(Size src_size, const Mat &K, const Mat &R) Rect RotationWarperBase<P>::warpRoi(Size src_size, InputArray K, InputArray R)
{ {
projector_.setCameraParams(K, R); projector_.setCameraParams(K, R);

36
modules/stitching/src/warpers.cpp
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@ -45,8 +45,10 @@
namespace cv { namespace cv {
namespace detail { namespace detail {
void ProjectorBase::setCameraParams(const Mat &K, const Mat &R, const Mat &T) void ProjectorBase::setCameraParams(InputArray _K, InputArray _R, InputArray _T)
{ {
Mat K = _K.getMat(), R = _R.getMat(), T = _T.getMat();
CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F); CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F); CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
CV_Assert((T.size() == Size(1, 3) || T.size() == Size(3, 1)) && T.type() == CV_32F); CV_Assert((T.size() == Size(1, 3) || T.size() == Size(3, 1)) && T.type() == CV_32F);
@ -76,7 +78,7 @@ void ProjectorBase::setCameraParams(const Mat &K, const Mat &R, const Mat &T)
} }
Point2f PlaneWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R, const Mat &T) Point2f PlaneWarper::warpPoint(const Point2f &pt, InputArray K, InputArray R, InputArray T)
{ {
projector_.setCameraParams(K, R, T); projector_.setCameraParams(K, R, T);
Point2f uv; Point2f uv;
@ -85,15 +87,17 @@ Point2f PlaneWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R, co
} }
Rect PlaneWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap) Rect PlaneWarper::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray _xmap, OutputArray _ymap)
{ {
projector_.setCameraParams(K, R, T); projector_.setCameraParams(K, R, T);
Point dst_tl, dst_br; Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br); detectResultRoi(src_size, dst_tl, dst_br);
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F); _xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F); _ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
Mat xmap = _xmap.getMat(), ymap = _ymap.getMat();
float x, y; float x, y;
for (int v = dst_tl.y; v <= dst_br.y; ++v) for (int v = dst_tl.y; v <= dst_br.y; ++v)
@ -110,8 +114,8 @@ Rect PlaneWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat
} }
Point PlaneWarper::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode, Point PlaneWarper::warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
Mat &dst) OutputArray dst)
{ {
Mat xmap, ymap; Mat xmap, ymap;
Rect dst_roi = buildMaps(src.size(), K, R, T, xmap, ymap); Rect dst_roi = buildMaps(src.size(), K, R, T, xmap, ymap);
@ -123,7 +127,7 @@ Point PlaneWarper::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T
} }
Rect PlaneWarper::warpRoi(Size src_size, const Mat &K, const Mat &R, const Mat &T) Rect PlaneWarper::warpRoi(Size src_size, InputArray K, InputArray R, InputArray T)
{ {
projector_.setCameraParams(K, R, T); projector_.setCameraParams(K, R, T);
@ -211,12 +215,12 @@ void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_b
#ifdef HAVE_OPENCV_CUDAWARPING #ifdef HAVE_OPENCV_CUDAWARPING
Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, cuda::GpuMat &xmap, cuda::GpuMat &ymap) Rect PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
{ {
return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap); 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, cuda::GpuMat &xmap, cuda::GpuMat &ymap) Rect PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
{ {
projector_.setCameraParams(K, R, T); projector_.setCameraParams(K, R, T);
@ -229,14 +233,14 @@ Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, const
return Rect(dst_tl, dst_br); return Rect(dst_tl, dst_br);
} }
Point PlaneWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point PlaneWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
cuda::GpuMat & dst) cuda::GpuMat & dst)
{ {
return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst); return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
} }
Point PlaneWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode, Point PlaneWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
cuda::GpuMat & dst) cuda::GpuMat & dst)
{ {
Rect dst_roi = buildMaps(src.size(), K, R, T, d_xmap_, d_ymap_); Rect dst_roi = buildMaps(src.size(), K, R, T, d_xmap_, d_ymap_);
@ -246,7 +250,7 @@ Point PlaneWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat &R,
} }
Rect SphericalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, cuda::GpuMat &xmap, cuda::GpuMat &ymap) Rect SphericalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
{ {
projector_.setCameraParams(K, R); projector_.setCameraParams(K, R);
@ -260,7 +264,7 @@ Rect SphericalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, cu
} }
Point SphericalWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point SphericalWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
cuda::GpuMat & dst) cuda::GpuMat & dst)
{ {
Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_); Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
@ -270,7 +274,7 @@ Point SphericalWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat
} }
Rect CylindricalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, cuda::GpuMat &xmap, cuda::GpuMat &ymap) Rect CylindricalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
{ {
projector_.setCameraParams(K, R); projector_.setCameraParams(K, R);
@ -284,7 +288,7 @@ Rect CylindricalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R,
} }
Point CylindricalWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Point CylindricalWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
cuda::GpuMat & dst) cuda::GpuMat & dst)
{ {
Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_); Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);

51
modules/stitching/src/warpers_ocl.cpp
View File

@ -48,7 +48,7 @@ namespace detail {
/////////////////////////////////////////// PlaneWarperOcl //////////////////////////////////////////// /////////////////////////////////////////// PlaneWarperOcl ////////////////////////////////////////////
Rect PlaneWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat & R, const Mat & T, Mat & xmap, Mat & ymap) Rect PlaneWarperOcl::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap)
{ {
projector_.setCameraParams(K, R); projector_.setCameraParams(K, R);
@ -60,18 +60,19 @@ Rect PlaneWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat & R, cons
ocl::Kernel k("buildWarpPlaneMaps", ocl::stitching::warpers_oclsrc); ocl::Kernel k("buildWarpPlaneMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty()) if (!k.empty())
{ {
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1); Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1); xmap.create(dsize, CV_32FC1);
ymap.create(dsize, CV_32FC1);
Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv), t(1, 3, CV_32FC1, projector_.t); 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), UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(),
ur_kinv = r_kinv.getUMat(ACCESS_READ), ut = t.getUMat(ACCESS_READ); ur_kinv = r_kinv.getUMat(ACCESS_READ), ut = t.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap), k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(ur_kinv), ocl::KernelArg::PtrReadOnly(ut), ocl::KernelArg::PtrReadOnly(ur_kinv), ocl::KernelArg::PtrReadOnly(ut),
dst_tl.x, dst_tl.y, projector_.scale); dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { xmap.cols, xmap.rows }; size_t globalsize[2] = { dsize.width, dsize.height };
if (k.run(2, globalsize, NULL, true)) if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br); return Rect(dst_tl, dst_br);
} }
@ -80,13 +81,13 @@ Rect PlaneWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat & R, cons
return PlaneWarper::buildMaps(src_size, K, R, T, xmap, ymap); 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) Point PlaneWarperOcl::warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode, OutputArray dst)
{ {
Mat uxmap, uymap; UMat uxmap, uymap;
Rect dst_roi = buildMaps(src.size(), K, R, T, 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()); dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
UMat udst = dst.getUMat(ACCESS_WRITE); UMat udst = dst.getUMat();
remap(src, udst, uxmap, uymap, interp_mode, border_mode); remap(src, udst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl(); return dst_roi.tl();
@ -94,7 +95,7 @@ Point PlaneWarperOcl::warp(const Mat & src, const Mat & K, const Mat & R, const
/////////////////////////////////////////// SphericalWarperOcl //////////////////////////////////////// /////////////////////////////////////////// SphericalWarperOcl ////////////////////////////////////////
Rect SphericalWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat &R, Mat & xmap, Mat & ymap) Rect SphericalWarperOcl::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{ {
projector_.setCameraParams(K, R); projector_.setCameraParams(K, R);
@ -106,16 +107,17 @@ Rect SphericalWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat &R, M
ocl::Kernel k("buildWarpSphericalMaps", ocl::stitching::warpers_oclsrc); ocl::Kernel k("buildWarpSphericalMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty()) if (!k.empty())
{ {
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1); Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1); xmap.create(dsize, CV_32FC1);
ymap.create(dsize, CV_32FC1);
Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv); 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); UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(), ur_kinv = r_kinv.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap), k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(ur_kinv), dst_tl.x, dst_tl.y, projector_.scale); ocl::KernelArg::PtrReadOnly(ur_kinv), dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { xmap.cols, xmap.rows }; size_t globalsize[2] = { dsize.width, dsize.height };
if (k.run(2, globalsize, NULL, true)) if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br); return Rect(dst_tl, dst_br);
} }
@ -124,13 +126,13 @@ Rect SphericalWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat &R, M
return SphericalWarper::buildMaps(src_size, K, R, xmap, ymap); 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) Point SphericalWarperOcl::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst)
{ {
Mat uxmap, uymap; UMat uxmap, uymap;
Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap); Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type()); dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
UMat udst = dst.getUMat(ACCESS_WRITE); UMat udst = dst.getUMat();
remap(src, udst, uxmap, uymap, interp_mode, border_mode); remap(src, udst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl(); return dst_roi.tl();
@ -138,7 +140,7 @@ Point SphericalWarperOcl::warp(const Mat & src, const Mat & K, const Mat & R, in
/////////////////////////////////////////// CylindricalWarperOcl //////////////////////////////////////// /////////////////////////////////////////// CylindricalWarperOcl ////////////////////////////////////////
Rect CylindricalWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat & R, Mat & xmap, Mat & ymap) Rect CylindricalWarperOcl::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{ {
projector_.setCameraParams(K, R); projector_.setCameraParams(K, R);
@ -150,16 +152,17 @@ Rect CylindricalWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat & R
ocl::Kernel k("buildWarpCylindricalMaps", ocl::stitching::warpers_oclsrc); ocl::Kernel k("buildWarpCylindricalMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty()) if (!k.empty())
{ {
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1); Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1); xmap.create(dsize, CV_32FC1);
ymap.create(dsize, CV_32FC1);
Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv); 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); UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(), ur_kinv = r_kinv.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap), k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(ur_kinv), dst_tl.x, dst_tl.y, projector_.scale); ocl::KernelArg::PtrReadOnly(ur_kinv), dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { xmap.cols, xmap.rows }; size_t globalsize[2] = { dsize.width, dsize.height };
if (k.run(2, globalsize, NULL, true)) if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br); return Rect(dst_tl, dst_br);
} }
@ -168,13 +171,13 @@ Rect CylindricalWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat & R
return CylindricalWarper::buildMaps(src_size, K, R, xmap, ymap); 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) Point CylindricalWarperOcl::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst)
{ {
Mat uxmap, uymap; UMat uxmap, uymap;
Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap); Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type()); dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
UMat udst = dst.getUMat(ACCESS_WRITE); UMat udst = dst.getUMat();
remap(src, udst, uxmap, uymap, interp_mode, border_mode); remap(src, udst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl(); return dst_roi.tl();

10
modules/stitching/test/ocl/test_warpers.cpp
View File

@ -92,9 +92,9 @@ OCL_TEST_F(SphericalWarperOclTest, Mat)
OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap)); OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap));
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst)); OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst));
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst)); OCL_ON(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst));
Near(1e-5); Near(1e-4);
} }
} }
@ -115,9 +115,9 @@ OCL_TEST_F(CylindricalWarperOclTest, Mat)
OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap)); OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap));
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst)); OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst));
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst)); OCL_ON(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst));
Near(1e-5); Near(1e-4);
} }
} }
@ -138,7 +138,7 @@ OCL_TEST_F(PlaneWarperOclTest, Mat)
OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap)); OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap));
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst)); OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst));
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst)); OCL_ON(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst));
Near(1e-5); Near(1e-5);
} }