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Fixed support of translation in the GPU-based plane warper

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This commit is contained in:
Alexey Spizhevoy
2011-10-03 07:42:16 +00:00
parent 607a7fd2c2
commit dce50b67fc
5 changed files with 24 additions and 21 deletions
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24
modules/gpu/src/cuda/imgproc.cu
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@@ -794,6 +794,7 @@ namespace cv { namespace gpu { namespace imgproc
__constant__ float ck_rinv[9];
__constant__ float cr_kinv[9];
__constant__ float ct[3];
__constant__ float cscale;
}
@@ -805,13 +806,13 @@ namespace cv { namespace gpu { namespace imgproc
{
using namespace build_warp_maps;
float x_ = u / cscale;
float y_ = v / cscale;
float x_ = u / cscale - ct[0];
float y_ = v / cscale - ct[1];
float z;
x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2];
y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5];
z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8];
x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * (1 - ct[2]);
y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * (1 - ct[2]);
z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * (1 - ct[2]);
x /= z;
y /= z;
@@ -887,11 +888,12 @@ namespace cv { namespace gpu { namespace imgproc
void buildWarpPlaneMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float k_rinv[9], const float r_kinv[9], float scale,
cudaStream_t stream)
const float k_rinv[9], const float r_kinv[9], const float t[3],
float scale, cudaStream_t stream)
{
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ct, t, 3*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
int cols = map_x.cols;
@@ -908,8 +910,8 @@ namespace cv { namespace gpu { namespace imgproc
void buildWarpCylindricalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float k_rinv[9], const float r_kinv[9], float scale,
cudaStream_t stream)
const float k_rinv[9], const float r_kinv[9], float scale,
cudaStream_t stream)
{
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
@@ -929,8 +931,8 @@ namespace cv { namespace gpu { namespace imgproc
void buildWarpSphericalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float k_rinv[9], const float r_kinv[9], float scale,
cudaStream_t stream)
const float k_rinv[9], const float r_kinv[9], float scale,
cudaStream_t stream)
{
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));