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added gpu::buildWarpPlaneMaps and gpu::buildWarpCylindricalMaps functions, integrated into stitching

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This commit is contained in:
Alexey Spizhevoy
2011-07-01 07:07:54 +00:00
parent 68f5a5a904
commit ad454d83b9
8 changed files with 229 additions and 12 deletions
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95
modules/gpu/src/cuda/imgproc.cu
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@@ -986,9 +986,54 @@ namespace cv { namespace gpu { namespace imgproc
__constant__ float crinv[9];
__constant__ float cf, cs;
__constant__ float chalf_w, chalf_h;
__constant__ float cdist;
}
class PlaneMapper
{
public:
static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
{
using namespace build_warp_maps;
float x_ = u / cs;
float y_ = v / cs;
float z;
x = crinv[0]*x_ + crinv[1]*y_ + crinv[2]*cdist;
y = crinv[3]*x_ + crinv[4]*y_ + crinv[5]*cdist;
z = crinv[6]*x_ + crinv[7]*y_ + crinv[8]*cdist;
x = cf*x/z + chalf_w;
y = cf*y/z + chalf_h;
}
};
class CylindricalMapper
{
public:
static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
{
using namespace build_warp_maps;
u /= cs;
float x_ = sinf(u);
float y_ = v / cs;
float z_ = 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;
}
};
class SphericalMapper
{
public:
@@ -1033,6 +1078,55 @@ namespace cv { namespace gpu { namespace imgproc
}
void buildWarpPlaneMaps(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 dist,
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)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cdist, &dist, 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));
buildWarpMapsKernel<PlaneMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
cudaSafeCall(cudaGetLastError());
if (stream == 0)
cudaSafeCall(cudaDeviceSynchronize());
}
void buildWarpCylindricalMaps(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));
buildWarpMapsKernel<CylindricalMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
cudaSafeCall(cudaGetLastError());
if (stream == 0)
cudaSafeCall(cudaDeviceSynchronize());
}
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)
@@ -1059,3 +1153,4 @@ namespace cv { namespace gpu { namespace imgproc
}}}

51
modules/gpu/src/imgproc_gpu.cpp
View File

@@ -56,8 +56,9 @@ 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::buildWarpPlaneMaps(Size, Rect, const Mat&, double, double, double, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::buildWarpCylindricalMaps(Size, Rect, const Mat&, double, double, GpuMat&, GpuMat&, 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(); }
@@ -510,6 +511,52 @@ 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));
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpPlaneMaps
namespace cv { namespace gpu { namespace imgproc
{
void buildWarpPlaneMaps(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 dist,
float half_w, float half_h, cudaStream_t stream);
}}}
void cv::gpu::buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat& R, double f, double s,
double dist, 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::buildWarpPlaneMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, R.ptr<float>(), Rinv.ptr<float>(),
f, s, dist, 0.5f*src_size.width, 0.5f*src_size.height, StreamAccessor::getStream(stream));
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpCylyndricalMaps
namespace cv { namespace gpu { namespace imgproc
{
void buildWarpCylindricalMaps(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::buildWarpCylindricalMaps(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::buildWarpCylindricalMaps(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));
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpSphericalMaps