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added OpenCL accelerated warpers
This commit is contained in:
Ilya Lavrenov
@@ -0,0 +1,263 @@
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Images Warping
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==============
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.. highlight:: cpp
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detail::RotationWarper
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----------------------
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.. ocv:class:: detail::RotationWarper
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Rotation-only model image warper interface. ::
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class CV_EXPORTS RotationWarper
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{
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public:
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virtual ~RotationWarper() {}
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virtual Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R) = 0;
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virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap) = 0;
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virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
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Mat &dst) = 0;
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virtual void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
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Size dst_size, Mat &dst) = 0;
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virtual Rect warpRoi(Size src_size, const Mat &K, const Mat &R) = 0;
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};
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detail::RotationWarper::warpPoint
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---------------------------------
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Projects the image point.
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.. ocv:function:: Point2f detail::RotationWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R)
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:param pt: Source point
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:param K: Camera intrinsic parameters
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:param R: Camera rotation matrix
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:return: Projected point
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detail::RotationWarper::buildMaps
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---------------------------------
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Builds the projection maps according to the given camera data.
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.. ocv:function:: Rect detail::RotationWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
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:param src_size: Source image size
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:param K: Camera intrinsic parameters
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:param R: Camera rotation matrix
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:param xmap: Projection map for the x axis
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:param ymap: Projection map for the y axis
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:return: Projected image minimum bounding box
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detail::RotationWarper::warp
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----------------------------
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Projects the image.
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.. ocv:function:: Point detail::RotationWarper::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst)
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:param src: Source image
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:param K: Camera intrinsic parameters
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:param R: Camera rotation matrix
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:param interp_mode: Interpolation mode
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:param border_mode: Border extrapolation mode
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:param dst: Projected image
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:return: Project image top-left corner
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detail::RotationWarper::warpBackward
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------------------------------------
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Projects the image backward.
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.. ocv:function:: void detail::RotationWarper::warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Size dst_size, Mat &dst)
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:param src: Projected image
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:param K: Camera intrinsic parameters
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:param R: Camera rotation matrix
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:param interp_mode: Interpolation mode
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:param border_mode: Border extrapolation mode
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:param dst_size: Backward-projected image size
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:param dst: Backward-projected image
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detail::RotationWarper::warpRoi
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-------------------------------
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.. ocv:function:: Rect detail::RotationWarper::warpRoi(Size src_size, const Mat &K, const Mat &R)
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:param src_size: Source image bounding box
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:param K: Camera intrinsic parameters
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:param R: Camera rotation matrix
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:return: Projected image minimum bounding box
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detail::ProjectorBase
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---------------------
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.. ocv:struct:: detail::ProjectorBase
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Base class for warping logic implementation. ::
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struct CV_EXPORTS ProjectorBase
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{
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void setCameraParams(const Mat &K = Mat::eye(3, 3, CV_32F),
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const Mat &R = Mat::eye(3, 3, CV_32F),
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const Mat &T = Mat::zeros(3, 1, CV_32F));
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float scale;
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float k[9];
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float rinv[9];
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float r_kinv[9];
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float k_rinv[9];
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float t[3];
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};
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detail::RotationWarperBase
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--------------------------
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.. ocv:class:: detail::RotationWarperBase
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Base class for rotation-based warper using a `detail::ProjectorBase`_ derived class. ::
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template <class P>
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class CV_EXPORTS RotationWarperBase : public RotationWarper
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{
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public:
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Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R);
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Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap);
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Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
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Mat &dst);
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void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
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Size dst_size, Mat &dst);
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Rect warpRoi(Size src_size, const Mat &K, const Mat &R);
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protected:
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// Detects ROI of the destination image. It's correct for any projection.
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virtual void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
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// Detects ROI of the destination image by walking over image border.
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// Correctness for any projection isn't guaranteed.
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void detectResultRoiByBorder(Size src_size, Point &dst_tl, Point &dst_br);
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P projector_;
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};
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detail::PlaneWarper
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-------------------
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.. ocv:class:: detail::PlaneWarper : public detail::RotationWarperBase<PlaneProjector>
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Warper that maps an image onto the z = 1 plane. ::
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class CV_EXPORTS PlaneWarper : public RotationWarperBase<PlaneProjector>
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{
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public:
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PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
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void setScale(float scale) { projector_.scale = scale; }
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Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R, const Mat &T);
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Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap);
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Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
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Mat &dst);
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Rect warpRoi(Size src_size, const Mat &K, const Mat &R, const Mat &T);
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protected:
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void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
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};
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.. seealso:: :ocv:class:`detail::RotationWarper`
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detail::PlaneWarper::PlaneWarper
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--------------------------------
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Construct an instance of the plane warper class.
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.. ocv:function:: void detail::PlaneWarper::PlaneWarper(float scale = 1.f)
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:param scale: Projected image scale multiplier
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detail::SphericalWarper
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-----------------------
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.. ocv:class:: detail::SphericalWarper : public detail::RotationWarperBase<SphericalProjector>
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Warper that maps an image onto the unit sphere located at the origin. ::
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class CV_EXPORTS SphericalWarper : public RotationWarperBase<SphericalProjector>
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{
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public:
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SphericalWarper(float scale) { projector_.scale = scale; }
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protected:
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void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);
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};
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.. seealso:: :ocv:class:`detail::RotationWarper`
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detail::SphericalWarper::SphericalWarper
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----------------------------------------
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Construct an instance of the spherical warper class.
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.. ocv:function:: void detail::SphericalWarper::SphericalWarper(float scale)
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:param scale: Projected image scale multiplier
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detail::CylindricalWarper
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-------------------------
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.. ocv:class:: detail::CylindricalWarper : public detail::RotationWarperBase<CylindricalProjector>
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Warper that maps an image onto the x*x + z*z = 1 cylinder. ::
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class CV_EXPORTS CylindricalWarper : public RotationWarperBase<CylindricalProjector>
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{
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public:
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CylindricalWarper(float scale) { projector_.scale = scale; }
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protected:
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void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
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{
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RotationWarperBase<CylindricalProjector>::detectResultRoiByBorder(src_size, dst_tl, dst_br);
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}
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};
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.. seealso:: :ocv:class:`detail::RotationWarper`
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detail::CylindricalWarper::CylindricalWarper
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--------------------------------------------
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Construct an instance of the cylindrical warper class.
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.. ocv:function:: void detail::CylindricalWarper::CylindricalWarper(float scale)
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:param scale: Projected image scale multiplier
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@@ -134,9 +134,9 @@ public:
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Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R, const Mat &T);
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Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap);
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virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap);
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Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
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virtual Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
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Mat &dst);
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Rect warpRoi(Size src_size, const Mat &K, const Mat &R, const Mat &T);
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@@ -503,6 +503,45 @@ protected:
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}
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};
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/////////////////////////////////////// OpenCL Accelerated Warpers /////////////////////////////////////
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class CV_EXPORTS PlaneWarperOcl : public PlaneWarper
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{
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public:
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PlaneWarperOcl(float scale = 1.f) : PlaneWarper(scale) { }
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virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
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{
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return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32FC1), xmap, ymap);
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}
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virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst)
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{
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return warp(src, K, R, Mat::zeros(3, 1, CV_32FC1), interp_mode, border_mode, dst);
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}
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virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap);
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virtual Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode, Mat &dst);
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};
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class CV_EXPORTS SphericalWarperOcl : public SphericalWarper
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{
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public:
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SphericalWarperOcl(float scale) : SphericalWarper(scale) { }
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virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap);
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virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst);
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};
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class CV_EXPORTS CylindricalWarperOcl : public CylindricalWarper
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{
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public:
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CylindricalWarperOcl(float scale) : CylindricalWarper(scale) { }
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virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap);
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virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst);
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};
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} // namespace detail
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} // namespace cv
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@@ -167,6 +167,24 @@ public:
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};
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#endif
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class PlaneWarperOcl: public WarperCreator
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{
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public:
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Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::PlaneWarperOcl>(scale); }
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};
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class SphericalWarperOcl: public WarperCreator
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{
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public:
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Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::SphericalWarperOcl>(scale); }
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};
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class CylindricalWarperOcl: public WarperCreator
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{
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public:
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Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::CylindricalWarperOcl>(scale); }
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};
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} // namespace cv
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#endif // __OPENCV_STITCHING_WARPER_CREATORS_HPP__
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@@ -0,0 +1,148 @@
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/*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,
|
||||
// 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,
|
||||
__constant float * ck_rinv, int tl_u, int tl_v, float scale)
|
||||
{
|
||||
int du = get_global_id(0);
|
||||
int dv = get_global_id(1);
|
||||
|
||||
if (du < cols && dv < rows)
|
||||
{
|
||||
__global float * xmap = (__global float *)(xmapptr + mad24(dv, xmap_step, xmap_offset + du * (int)sizeof(float)));
|
||||
__global float * ymap = (__global float *)(ymapptr + mad24(dv, ymap_step, ymap_offset + du * (int)sizeof(float)));
|
||||
|
||||
float u = tl_u + du;
|
||||
float v = tl_v + dv;
|
||||
float x, y;
|
||||
|
||||
v /= scale;
|
||||
u /= scale;
|
||||
|
||||
float sinv = sin(v);
|
||||
float x_ = sinv * sin(u);
|
||||
float y_ = -cos(v);
|
||||
float z_ = sinv * cos(u);
|
||||
|
||||
float z;
|
||||
x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
|
||||
y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
|
||||
z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
|
||||
|
||||
if (z > 0) x /= z, y /= z;
|
||||
else x = y = -1;
|
||||
|
||||
xmap[0] = x;
|
||||
ymap[0] = y;
|
||||
}
|
||||
}
|
||||
@@ -53,6 +53,7 @@
|
||||
#include <sstream>
|
||||
#include <cmath>
|
||||
#include "opencv2/core.hpp"
|
||||
#include "opencv2/core/ocl.hpp"
|
||||
#include "opencv2/core/utility.hpp"
|
||||
#include "opencv2/stitching.hpp"
|
||||
#include "opencv2/stitching/detail/autocalib.hpp"
|
||||
|
||||
@@ -0,0 +1,184 @@
|
||||
/*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, const Mat & K, const Mat & R, const Mat & T, Mat & xmap, Mat & ymap)
|
||||
{
|
||||
projector_.setCameraParams(K, R);
|
||||
|
||||
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())
|
||||
{
|
||||
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
|
||||
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
|
||||
|
||||
Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv), t(1, 3, CV_32FC1, projector_.t);
|
||||
UMat uxmap = xmap.getUMat(ACCESS_WRITE), uymap = ymap.getUMat(ACCESS_WRITE),
|
||||
ur_kinv = r_kinv.getUMat(ACCESS_READ), ut = t.getUMat(ACCESS_READ);
|
||||
|
||||
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
|
||||
ocl::KernelArg::PtrReadOnly(ur_kinv), ocl::KernelArg::PtrReadOnly(ut),
|
||||
dst_tl.x, dst_tl.y, projector_.scale);
|
||||
|
||||
size_t globalsize[2] = { xmap.cols, xmap.rows };
|
||||
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(const Mat & src, const Mat & K, const Mat & R, const Mat & T, int interp_mode, int border_mode, Mat & dst)
|
||||
{
|
||||
Mat 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(ACCESS_WRITE);
|
||||
remap(src, udst, uxmap, uymap, interp_mode, border_mode);
|
||||
|
||||
return dst_roi.tl();
|
||||
}
|
||||
|
||||
/////////////////////////////////////////// SphericalWarperOcl ////////////////////////////////////////
|
||||
|
||||
Rect SphericalWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat &R, Mat & xmap, Mat & 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())
|
||||
{
|
||||
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
|
||||
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
|
||||
|
||||
Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv);
|
||||
UMat uxmap = xmap.getUMat(ACCESS_WRITE), uymap = ymap.getUMat(ACCESS_WRITE), ur_kinv = r_kinv.getUMat(ACCESS_READ);
|
||||
|
||||
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
|
||||
ocl::KernelArg::PtrReadOnly(ur_kinv), dst_tl.x, dst_tl.y, projector_.scale);
|
||||
|
||||
size_t globalsize[2] = { xmap.cols, xmap.rows };
|
||||
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(const Mat & src, const Mat & K, const Mat & R, int interp_mode, int border_mode, Mat & dst)
|
||||
{
|
||||
Mat 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(ACCESS_WRITE);
|
||||
remap(src, udst, uxmap, uymap, interp_mode, border_mode);
|
||||
|
||||
return dst_roi.tl();
|
||||
}
|
||||
|
||||
/////////////////////////////////////////// CylindricalWarperOcl ////////////////////////////////////////
|
||||
|
||||
Rect CylindricalWarperOcl::buildMaps(Size src_size, const Mat & K, const Mat & R, Mat & xmap, Mat & 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())
|
||||
{
|
||||
xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
|
||||
ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32FC1);
|
||||
|
||||
Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv);
|
||||
UMat uxmap = xmap.getUMat(ACCESS_WRITE), uymap = ymap.getUMat(ACCESS_WRITE), ur_kinv = r_kinv.getUMat(ACCESS_READ);
|
||||
|
||||
k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
|
||||
ocl::KernelArg::PtrReadOnly(ur_kinv), dst_tl.x, dst_tl.y, projector_.scale);
|
||||
|
||||
size_t globalsize[2] = { xmap.cols, xmap.rows };
|
||||
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(const Mat & src, const Mat & K, const Mat & R, int interp_mode, int border_mode, Mat & dst)
|
||||
{
|
||||
Mat 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(ACCESS_WRITE);
|
||||
remap(src, udst, uxmap, uymap, interp_mode, border_mode);
|
||||
|
||||
return dst_roi.tl();
|
||||
}
|
||||
|
||||
} // namespace detail
|
||||
} // namespace cv
|
||||
@@ -0,0 +1,149 @@
|
||||
/*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) 2010-2013, Advanced Micro Devices, 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 OpenCV Foundation 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 "test_precomp.hpp"
|
||||
#include "opencv2/ts/ocl_test.hpp"
|
||||
#include "opencv2/stitching/warpers.hpp"
|
||||
|
||||
#ifdef HAVE_OPENCL
|
||||
|
||||
namespace cvtest {
|
||||
namespace ocl {
|
||||
|
||||
///////////////////////// WarperTestBase ///////////////////////////
|
||||
|
||||
struct WarperTestBase :
|
||||
public Test, public TestUtils
|
||||
{
|
||||
Mat src, dst, xmap, ymap;
|
||||
Mat udst, uxmap, uymap;
|
||||
Mat K, R;
|
||||
|
||||
virtual void generateTestData()
|
||||
{
|
||||
Size size = randomSize(1, MAX_VALUE);
|
||||
|
||||
src = randomMat(size, CV_32FC1, -500, 500);
|
||||
|
||||
K = Mat::eye(3, 3, CV_32FC1);
|
||||
R = Mat::eye(3, 3, CV_32FC1);
|
||||
}
|
||||
|
||||
void Near(double threshold = 0.)
|
||||
{
|
||||
EXPECT_MAT_NEAR(xmap, uxmap, threshold);
|
||||
EXPECT_MAT_NEAR(ymap, uymap, threshold);
|
||||
EXPECT_MAT_NEAR(dst, udst, threshold);
|
||||
}
|
||||
};
|
||||
|
||||
//////////////////////////////// SphericalWarperOcl /////////////////////////////////////////////////
|
||||
|
||||
typedef WarperTestBase SphericalWarperOclTest;
|
||||
|
||||
OCL_TEST_F(SphericalWarperOclTest, Mat)
|
||||
{
|
||||
for (int j = 0; j < test_loop_times; j++)
|
||||
{
|
||||
generateTestData();
|
||||
|
||||
Ptr<WarperCreator> creator = makePtr<SphericalWarperOcl>();
|
||||
Ptr<detail::RotationWarper> warper = creator->create(2.0);
|
||||
|
||||
OCL_OFF(warper->buildMaps(src.size(), K, R, xmap, ymap));
|
||||
OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap));
|
||||
|
||||
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst));
|
||||
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst));
|
||||
|
||||
Near(1e-5);
|
||||
}
|
||||
}
|
||||
|
||||
//////////////////////////////// CylindricalWarperOcl /////////////////////////////////////////////////
|
||||
|
||||
typedef WarperTestBase CylindricalWarperOclTest;
|
||||
|
||||
OCL_TEST_F(CylindricalWarperOclTest, Mat)
|
||||
{
|
||||
for (int j = 0; j < test_loop_times; j++)
|
||||
{
|
||||
generateTestData();
|
||||
|
||||
Ptr<WarperCreator> creator = makePtr<CylindricalWarperOcl>();
|
||||
Ptr<detail::RotationWarper> warper = creator->create(2.0);
|
||||
|
||||
OCL_OFF(warper->buildMaps(src.size(), K, R, xmap, ymap));
|
||||
OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap));
|
||||
|
||||
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst));
|
||||
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst));
|
||||
|
||||
Near(1e-5);
|
||||
}
|
||||
}
|
||||
|
||||
//////////////////////////////// PlaneWarperOcl /////////////////////////////////////////////////
|
||||
|
||||
typedef WarperTestBase PlaneWarperOclTest;
|
||||
|
||||
OCL_TEST_F(PlaneWarperOclTest, Mat)
|
||||
{
|
||||
for (int j = 0; j < test_loop_times; j++)
|
||||
{
|
||||
generateTestData();
|
||||
|
||||
Ptr<WarperCreator> creator = makePtr<PlaneWarperOcl>();
|
||||
Ptr<detail::RotationWarper> warper = creator->create(2.0);
|
||||
|
||||
OCL_OFF(warper->buildMaps(src.size(), K, R, xmap, ymap));
|
||||
OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap));
|
||||
|
||||
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst));
|
||||
OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst));
|
||||
|
||||
Near(1e-5);
|
||||
}
|
||||
}
|
||||
|
||||
} } // namespace cvtest::ocl
|
||||
|
||||
#endif // HAVE_OPENCL
|
||||
Reference in New Issue
Block a user