149 lines
5.7 KiB
Common Lisp
149 lines
5.7 KiB
Common Lisp
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
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// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// @Authors
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// Peng Xiao, pengxiao@multicorewareinc.com
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors as is and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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__kernel void buildWarpPlaneMaps(__global uchar * xmapptr, int xmap_step, int xmap_offset,
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__global uchar * ymapptr, int ymap_step, int ymap_offset, int rows, int cols,
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__constant float * ck_rinv, __constant float * ct,
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int tl_u, int tl_v, float scale)
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{
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int du = get_global_id(0);
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int dv = get_global_id(1);
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if (du < cols && dv < rows)
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{
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__global float * xmap = (__global float *)(xmapptr + mad24(dv, xmap_step, xmap_offset + du * (int)sizeof(float)));
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__global float * ymap = (__global float *)(ymapptr + mad24(dv, ymap_step, ymap_offset + du * (int)sizeof(float)));
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float u = tl_u + du;
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float v = tl_v + dv;
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float x, y;
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float x_ = u / scale - ct[0];
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float y_ = v / scale - ct[1];
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float z;
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x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * (1 - ct[2]);
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y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * (1 - ct[2]);
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z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * (1 - ct[2]);
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x /= z;
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y /= z;
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xmap[0] = x;
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ymap[0] = y;
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}
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}
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__kernel void buildWarpCylindricalMaps(__global uchar * xmapptr, int xmap_step, int xmap_offset,
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__global uchar * ymapptr, int ymap_step, int ymap_offset, int rows, int cols,
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__constant float * ck_rinv, int tl_u, int tl_v, float scale)
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{
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int du = get_global_id(0);
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int dv = get_global_id(1);
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if (du < cols && dv < rows)
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{
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__global float * xmap = (__global float *)(xmapptr + mad24(dv, xmap_step, xmap_offset + du * (int)sizeof(float)));
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__global float * ymap = (__global float *)(ymapptr + mad24(dv, ymap_step, ymap_offset + du * (int)sizeof(float)));
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float u = tl_u + du;
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float v = tl_v + dv;
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float x, y;
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u /= scale;
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float x_ = sin(u);
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float y_ = v / scale;
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float z_ = cos(u);
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float z;
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x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
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y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
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z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
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if (z > 0) x /= z, y /= z;
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else x = y = -1;
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xmap[0] = x;
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ymap[0] = y;
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}
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}
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__kernel void buildWarpSphericalMaps(__global uchar * xmapptr, int xmap_step, int xmap_offset,
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__global uchar * ymapptr, int ymap_step, int ymap_offset, int rows, int cols,
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__constant float * ck_rinv, int tl_u, int tl_v, float scale)
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{
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int du = get_global_id(0);
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int dv = get_global_id(1);
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if (du < cols && dv < rows)
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{
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__global float * xmap = (__global float *)(xmapptr + mad24(dv, xmap_step, xmap_offset + du * (int)sizeof(float)));
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__global float * ymap = (__global float *)(ymapptr + mad24(dv, ymap_step, ymap_offset + du * (int)sizeof(float)));
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float u = tl_u + du;
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float v = tl_v + dv;
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float x, y;
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v /= scale;
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u /= scale;
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float sinv = sin(v);
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float x_ = sinv * sin(u);
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float y_ = -cos(v);
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float z_ = sinv * cos(u);
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float z;
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x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
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y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
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z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
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if (z > 0) x /= z, y /= z;
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else x = y = -1;
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xmap[0] = x;
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ymap[0] = y;
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}
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}
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