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Merge branch 4.x

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This commit is contained in:
Alexander Smorkalov
2026-02-11 13:54:39 +03:00
committed by Alexander Smorkalov
parent 1719aa1339 a6c10358a4
commit 82ff8e45e9
468 changed files with 16647 additions and 11284 deletions
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modules/stitching/src/cuda/build_warp_maps.cu
+58 -32
View File
@@ -54,23 +54,23 @@ namespace cv { namespace cuda { namespace device
{
// TODO use intrinsics like __sinf and so on
namespace build_warp_maps
struct WarpParams
{
__constant__ float ck_rinv[9];
__constant__ float cr_kinv[9];
__constant__ float ct[3];
__constant__ float cscale;
}
float k_rinv[9];
float r_kinv[9];
float t[3];
float scale;
};
class PlaneMapper
{
public:
static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y,
const WarpParams& params)
{
using namespace build_warp_maps;
const float *ck_rinv = params.k_rinv;
const float *ct = params.t;
const float cscale = params.scale;
float x_ = u / cscale - ct[0];
float y_ = v / cscale - ct[1];
@@ -88,10 +88,11 @@ namespace cv { namespace cuda { namespace device
class CylindricalMapper
{
public:
static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y,
const WarpParams& params)
{
using namespace build_warp_maps;
const float *ck_rinv = params.k_rinv;
const float cscale = params.scale;
u /= cscale;
float x_ = ::sinf(u);
float y_ = v / cscale;
@@ -111,10 +112,11 @@ namespace cv { namespace cuda { namespace device
class SphericalMapper
{
public:
static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y,
const WarpParams& params)
{
using namespace build_warp_maps;
const float *ck_rinv = params.k_rinv;
const float cscale = params.scale;
v /= cscale;
u /= cscale;
@@ -136,7 +138,8 @@ namespace cv { namespace cuda { namespace device
template <typename Mapper>
__global__ void buildWarpMapsKernel(int tl_u, int tl_v, int cols, int rows,
PtrStepf map_x, PtrStepf map_y)
PtrStepf map_x, PtrStepf map_y,
const WarpParams params)
{
int du = blockIdx.x * blockDim.x + threadIdx.x;
int dv = blockIdx.y * blockDim.y + threadIdx.y;
@@ -145,7 +148,7 @@ namespace cv { namespace cuda { namespace device
float u = tl_u + du;
float v = tl_v + dv;
float x, y;
Mapper::mapBackward(u, v, x, y);
Mapper::mapBackward(u, v, x, y, params);
map_x.ptr(dv)[du] = x;
map_y.ptr(dv)[du] = y;
}
@@ -156,10 +159,16 @@ namespace cv { namespace cuda { namespace device
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)));
WarpParams params;
for (int i = 0; i < 9; ++i)
{
params.k_rinv[i] = k_rinv[i];
params.r_kinv[i] = r_kinv[i];
}
params.t[0] = t[0];
params.t[1] = t[1];
params.t[2] = t[2];
params.scale = scale;
int cols = map_x.cols;
int rows = map_x.rows;
@@ -167,7 +176,8 @@ namespace cv { namespace cuda { namespace device
dim3 threads(32, 8);
dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
buildWarpMapsKernel<PlaneMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
buildWarpMapsKernel<PlaneMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows,
map_x, map_y, params);
cudaSafeCall(cudaGetLastError());
if (stream == 0)
cudaSafeCall(cudaDeviceSynchronize());
@@ -178,9 +188,16 @@ namespace cv { namespace cuda { namespace device
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)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
WarpParams params;
for (int i = 0; i < 9; ++i)
{
params.k_rinv[i] = k_rinv[i];
params.r_kinv[i] = r_kinv[i];
}
params.t[0] = 0.f;
params.t[1] = 0.f;
params.t[2] = 0.f;
params.scale = scale;
int cols = map_x.cols;
int rows = map_x.rows;
@@ -188,7 +205,8 @@ namespace cv { namespace cuda { namespace device
dim3 threads(32, 8);
dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
buildWarpMapsKernel<CylindricalMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
buildWarpMapsKernel<CylindricalMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows,
map_x, map_y, params);
cudaSafeCall(cudaGetLastError());
if (stream == 0)
cudaSafeCall(cudaDeviceSynchronize());
@@ -199,9 +217,16 @@ namespace cv { namespace cuda { namespace device
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)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
WarpParams params;
for (int i = 0; i < 9; ++i)
{
params.k_rinv[i] = k_rinv[i];
params.r_kinv[i] = r_kinv[i];
}
params.t[0] = 0.f;
params.t[1] = 0.f;
params.t[2] = 0.f;
params.scale = scale;
int cols = map_x.cols;
int rows = map_x.rows;
@@ -209,7 +234,8 @@ namespace cv { namespace cuda { namespace device
dim3 threads(32, 8);
dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
buildWarpMapsKernel<SphericalMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
buildWarpMapsKernel<SphericalMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows,
map_x, map_y, params);
cudaSafeCall(cudaGetLastError());
if (stream == 0)
cudaSafeCall(cudaDeviceSynchronize());
modules/stitching/src/seam_finders.cpp
+5 -5
View File
@@ -338,8 +338,8 @@ void DpSeamFinder::findComponents()
states_.push_back(SECOND);
floodFill(labels_, Point(x, y), ++ncomps_);
tls_.push_back(Point(x, y));
brs_.push_back(Point(x+1, y+1));
tls_.emplace_back(x,y);
brs_.emplace_back(x+1, y+1);
contours_.push_back(std::vector<Point>());
}
@@ -356,7 +356,7 @@ void DpSeamFinder::findComponents()
if ((x == 0 || labels_(y, x-1) != l) || (x == unionSize_.width-1 || labels_(y, x+1) != l) ||
(y == 0 || labels_(y-1, x) != l) || (y == unionSize_.height-1 || labels_(y+1, x) != l))
{
contours_[ci].push_back(Point(x, y));
contours_[ci].emplace_back(x,y);
}
}
}
@@ -517,7 +517,7 @@ void DpSeamFinder::resolveConflicts(
if ((x == 0 || labels_(y, x-1) != l[i]) || (x == unionSize_.width-1 || labels_(y, x+1) != l[i]) ||
(y == 0 || labels_(y-1, x) != l[i]) || (y == unionSize_.height-1 || labels_(y+1, x) != l[i]))
{
contours_[c[i]].push_back(Point(x, y));
contours_[c[i]].emplace_back(x,y);
}
}
}
@@ -637,7 +637,7 @@ bool DpSeamFinder::getSeamTips(int comp1, int comp2, Point &p1, Point &p2)
(x < unionSize_.width-1 && labels_(y, x+1) == l2) ||
(y < unionSize_.height-1 && labels_(y+1, x) == l2)))
{
specialPoints.push_back(Point(x, y));
specialPoints.emplace_back(x,y);
}
}