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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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2
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -671,7 +671,7 @@ namespace cv
CV_EXPORTS void warpPerspective(const GpuMat& src, GpuMat& dst, const Mat& M, Size dsize, int flags = INTER_LINEAR, Stream& stream = Stream::Null()); CV_EXPORTS void warpPerspective(const GpuMat& src, GpuMat& dst, const Mat& M, Size dsize, int flags = INTER_LINEAR, Stream& stream = Stream::Null());
//! builds plane warping maps //! builds plane warping maps
CV_EXPORTS void buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat& R, float scale, CV_EXPORTS void buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat& R, const Mat &T, float scale,
GpuMat& map_x, GpuMat& map_y, Stream& stream = Stream::Null()); GpuMat& map_x, GpuMat& map_y, Stream& stream = Stream::Null());
//! builds cylindrical warping maps //! builds cylindrical warping maps

2
modules/gpu/perf/perf_imgproc.cpp
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@ -367,7 +367,7 @@ PERF_TEST_P(DevInfo_Size, buildWarpPlaneMaps, testing::Combine(testing::ValuesIn
SIMPLE_TEST_CYCLE() SIMPLE_TEST_CYCLE()
{ {
buildWarpPlaneMaps(size, Rect(0, 0, size.width, size.height), Mat::eye(3, 3, CV_32FC1), buildWarpPlaneMaps(size, Rect(0, 0, size.width, size.height), Mat::eye(3, 3, CV_32FC1),
Mat::ones(3, 3, CV_32FC1), 1.0, map_x, map_y); Mat::ones(3, 3, CV_32FC1), Mat::zeros(1, 3, CV_32F), 1.0, map_x, map_y);
} }
Mat map_x_host(map_x); Mat map_x_host(map_x);

16
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 ck_rinv[9];
__constant__ float cr_kinv[9]; __constant__ float cr_kinv[9];
__constant__ float ct[3];
__constant__ float cscale; __constant__ float cscale;
} }
@ -805,13 +806,13 @@ namespace cv { namespace gpu { namespace imgproc
{ {
using namespace build_warp_maps; using namespace build_warp_maps;
float x_ = u / cscale; float x_ = u / cscale - ct[0];
float y_ = v / cscale; float y_ = v / cscale - ct[1];
float z; float z;
x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2]; 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]; 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]; z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * (1 - ct[2]);
x /= z; x /= z;
y /= 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, 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, const float k_rinv[9], const float r_kinv[9], const float t[3],
cudaStream_t stream) float scale, cudaStream_t stream)
{ {
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float))); 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::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))); cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
int cols = map_x.cols; int cols = map_x.cols;

11
modules/gpu/src/imgproc.cpp
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@ -56,7 +56,7 @@ void cv::gpu::resize(const GpuMat&, GpuMat&, Size, double, double, int, Stream&)
void cv::gpu::copyMakeBorder(const GpuMat&, GpuMat&, int, int, int, int, int, const Scalar&, Stream&) { throw_nogpu(); } void cv::gpu::copyMakeBorder(const GpuMat&, GpuMat&, int, 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::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::warpPerspective(const GpuMat&, GpuMat&, const Mat&, Size, int, Stream&) { throw_nogpu(); }
void cv::gpu::buildWarpPlaneMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); } void cv::gpu::buildWarpPlaneMaps(Size, Rect, const Mat&, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::buildWarpCylindricalMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); } void cv::gpu::buildWarpCylindricalMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::buildWarpSphericalMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); } void cv::gpu::buildWarpSphericalMaps(Size, Rect, const Mat&, const Mat&, float, GpuMat&, GpuMat&, Stream&) { throw_nogpu(); }
void cv::gpu::rotate(const GpuMat&, GpuMat&, Size, double, double, double, int, Stream&) { throw_nogpu(); } void cv::gpu::rotate(const GpuMat&, GpuMat&, Size, double, double, double, int, Stream&) { throw_nogpu(); }
@ -623,15 +623,16 @@ void cv::gpu::warpPerspective(const GpuMat& src, GpuMat& dst, const Mat& M, Size
namespace cv { namespace gpu { namespace imgproc namespace cv { namespace gpu { namespace imgproc
{ {
void buildWarpPlaneMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y, 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, const float k_rinv[9], const float r_kinv[9], const float t[3], float scale,
cudaStream_t stream); cudaStream_t stream);
}}} }}}
void cv::gpu::buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat& R, float scale, void cv::gpu::buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat &K, const Mat& R, const Mat &T,
GpuMat& map_x, GpuMat& map_y, Stream& stream) float scale, GpuMat& map_x, GpuMat& map_y, Stream& stream)
{ {
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(3,1) || T.size() == Size(1,3)) && T.type() == CV_32F && T.isContinuous());
Mat K_Rinv = K * R.t(); Mat K_Rinv = K * R.t();
Mat R_Kinv = R * K.inv(); Mat R_Kinv = R * K.inv();
@ -641,7 +642,7 @@ void cv::gpu::buildWarpPlaneMaps(Size src_size, Rect dst_roi, const Mat &K, cons
map_x.create(dst_roi.size(), CV_32F); map_x.create(dst_roi.size(), CV_32F);
map_y.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, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(), imgproc::buildWarpPlaneMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(),
scale, StreamAccessor::getStream(stream)); T.ptr<float>(), scale, StreamAccessor::getStream(stream));
} }
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////

4
modules/stitching/src/warpers.cpp
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@ -216,8 +216,8 @@ Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, const
Point dst_tl, dst_br; Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br); detectResultRoi(src_size, dst_tl, dst_br);
gpu::buildWarpPlaneMaps(src_size, Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)), gpu::buildWarpPlaneMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
K, R, projector_.scale, xmap, ymap); K, R, T, projector_.scale, xmap, ymap);
return Rect(dst_tl, dst_br); return Rect(dst_tl, dst_br);
} }