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TAPI: stitching: improve warpers

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This commit is contained in:
Alexander Alekhin
2014-03-12 14:54:22 +04:00
committed by Andrey Pavlenko
parent 89e3e448f5
commit c1ea6f3c42
11 changed files with 149 additions and 325 deletions
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1
modules/stitching/src/precomp.hpp
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@@ -51,6 +51,7 @@
#include <set>
#include <functional>
#include <sstream>
#include <iostream>
#include <cmath>
#include "opencv2/core.hpp"
#include "opencv2/core/ocl.hpp"

8
modules/stitching/src/stitcher.cpp
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@@ -309,9 +309,7 @@ Stitcher::Status Stitcher::composePanorama(InputArrayOfArrays images, OutputArra
// Preliminary result is in CV_16SC3 format, but all values are in [0,255] range,
// so convert it to avoid user confusing
result.convertTo(pano_, CV_8U);
pano.assign(pano_);
result.convertTo(pano, CV_8U);
return OK;
}
@@ -456,7 +454,7 @@ Stitcher::Status Stitcher::estimateCameraParams()
Mat R;
cameras_[i].R.convertTo(R, CV_32F);
cameras_[i].R = R;
LOGLN("Initial intrinsic parameters #" << indices_[i] + 1 << ":\n " << cameras_[i].K());
//LOGLN("Initial intrinsic parameters #" << indices_[i] + 1 << ":\n " << cameras_[i].K());
}
bundle_adjuster_->setConfThresh(conf_thresh_);
@@ -467,7 +465,7 @@ Stitcher::Status Stitcher::estimateCameraParams()
std::vector<double> focals;
for (size_t i = 0; i < cameras_.size(); ++i)
{
LOGLN("Camera #" << indices_[i] + 1 << ":\n" << cameras_[i].K());
//LOGLN("Camera #" << indices_[i] + 1 << ":\n" << cameras_[i].K());
focals.push_back(cameras_[i].focal);
}

121
modules/stitching/src/warpers.cpp
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@@ -41,6 +41,7 @@
//M*/
#include "precomp.hpp"
#include "opencl_kernels.hpp"
namespace cv {
namespace detail {
@@ -86,7 +87,6 @@ Point2f PlaneWarper::warpPoint(const Point2f &pt, InputArray K, InputArray R, In
return uv;
}
Rect PlaneWarper::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray _xmap, OutputArray _ymap)
{
projector_.setCameraParams(K, R, T);
@@ -94,8 +94,29 @@ Rect PlaneWarper::buildMaps(Size src_size, InputArray K, InputArray R, InputArra
Point 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);
_ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
_xmap.create(dsize, CV_32FC1);
_ymap.create(dsize, CV_32FC1);
if (ocl::useOpenCL()) // TODO !!!!! check T
{
ocl::Kernel k("buildWarpPlaneMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty())
{
Mat k_rinv(1, 9, CV_32FC1, projector_.k_rinv), t(1, 3, CV_32FC1, projector_.t);
UMat uxmap = _xmap.getUMat(), uymap = _ymap.getUMat(),
uk_rinv = k_rinv.getUMat(ACCESS_READ), ut = t.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(uk_rinv), ocl::KernelArg::PtrReadOnly(ut),
dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { dsize.width, dsize.height };
if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br);
}
}
Mat xmap = _xmap.getMat(), ymap = _ymap.getMat();
@@ -117,11 +138,11 @@ Rect PlaneWarper::buildMaps(Size src_size, InputArray K, InputArray R, InputArra
Point PlaneWarper::warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
OutputArray dst)
{
Mat xmap, ymap;
Rect dst_roi = buildMaps(src.size(), K, R, T, xmap, ymap);
UMat 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());
remap(src, dst, xmap, ymap, interp_mode, border_mode);
remap(src, dst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl();
}
@@ -341,5 +362,93 @@ void SphericalPortraitWarper::detectResultRoi(Size src_size, Point &dst_tl, Poin
dst_br.y = static_cast<int>(br_vf);
}
/////////////////////////////////////////// SphericalWarper ////////////////////////////////////////
Rect SphericalWarper::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{
if (ocl::useOpenCL())
{
ocl::Kernel k("buildWarpSphericalMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty())
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
xmap.create(dsize, CV_32FC1);
ymap.create(dsize, CV_32FC1);
Mat k_rinv(1, 9, CV_32FC1, projector_.k_rinv);
UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(), uk_rinv = k_rinv.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(uk_rinv), dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { dsize.width, dsize.height };
if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br);
}
}
return RotationWarperBase<SphericalProjector>::buildMaps(src_size, K, R, xmap, ymap);
}
Point SphericalWarper::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst)
{
UMat uxmap, uymap;
Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
remap(src, dst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl();
}
/////////////////////////////////////////// CylindricalWarper ////////////////////////////////////////
Rect CylindricalWarper::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{
if (ocl::useOpenCL())
{
ocl::Kernel k("buildWarpCylindricalMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty())
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
xmap.create(dsize, CV_32FC1);
ymap.create(dsize, CV_32FC1);
Mat k_rinv(1, 9, CV_32FC1, projector_.k_rinv);
UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(), uk_rinv = k_rinv.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(uk_rinv), dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { dsize.width, dsize.height };
if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br);
}
}
return RotationWarperBase<CylindricalProjector>::buildMaps(src_size, K, R, xmap, ymap);
}
Point CylindricalWarper::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst)
{
UMat uxmap, uymap;
Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
remap(src, dst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl();
}
} // namespace detail
} // namespace cv

187
modules/stitching/src/warpers_ocl.cpp
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@@ -1,187 +0,0 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// 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 "precomp.hpp"
#include "opencl_kernels.hpp"
namespace cv {
namespace detail {
/////////////////////////////////////////// PlaneWarperOcl ////////////////////////////////////////////
Rect PlaneWarperOcl::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap)
{
projector_.setCameraParams(K, R, T);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
if (ocl::useOpenCL())
{
ocl::Kernel k("buildWarpPlaneMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty())
{
Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
xmap.create(dsize, CV_32FC1);
ymap.create(dsize, CV_32FC1);
Mat k_rinv(1, 9, CV_32FC1, projector_.k_rinv), t(1, 3, CV_32FC1, projector_.t);
UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(),
uk_rinv = k_rinv.getUMat(ACCESS_READ), ut = t.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(uk_rinv), ocl::KernelArg::PtrReadOnly(ut),
dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { dsize.width, dsize.height };
if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br);
}
}
return PlaneWarper::buildMaps(src_size, K, R, T, xmap, ymap);
}
Point PlaneWarperOcl::warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode, OutputArray dst)
{
UMat 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());
UMat udst = dst.getUMat();
remap(src, udst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl();
}
/////////////////////////////////////////// SphericalWarperOcl ////////////////////////////////////////
Rect SphericalWarperOcl::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
if (ocl::useOpenCL())
{
ocl::Kernel k("buildWarpSphericalMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty())
{
Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
xmap.create(dsize, CV_32FC1);
ymap.create(dsize, CV_32FC1);
Mat k_rinv(1, 9, CV_32FC1, projector_.k_rinv);
UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(), uk_rinv = k_rinv.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(uk_rinv), dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { dsize.width, dsize.height };
if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br);
}
}
return SphericalWarper::buildMaps(src_size, K, R, xmap, ymap);
}
Point SphericalWarperOcl::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst)
{
UMat uxmap, uymap;
Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
UMat udst = dst.getUMat();
remap(src, udst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl();
}
/////////////////////////////////////////// CylindricalWarperOcl ////////////////////////////////////////
Rect CylindricalWarperOcl::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
if (ocl::useOpenCL())
{
ocl::Kernel k("buildWarpCylindricalMaps", ocl::stitching::warpers_oclsrc);
if (!k.empty())
{
Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
xmap.create(dsize, CV_32FC1);
ymap.create(dsize, CV_32FC1);
Mat k_rinv(1, 9, CV_32FC1, projector_.k_rinv);
UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(), uk_rinv = k_rinv.getUMat(ACCESS_READ);
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
ocl::KernelArg::PtrReadOnly(uk_rinv), dst_tl.x, dst_tl.y, projector_.scale);
size_t globalsize[2] = { dsize.width, dsize.height };
if (k.run(2, globalsize, NULL, true))
return Rect(dst_tl, dst_br);
}
}
return CylindricalWarper::buildMaps(src_size, K, R, xmap, ymap);
}
Point CylindricalWarperOcl::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst)
{
UMat uxmap, uymap;
Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
UMat udst = dst.getUMat();
remap(src, udst, uxmap, uymap, interp_mode, border_mode);
return dst_roi.tl();
}
} // namespace detail
} // namespace cv