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move buildWarp*Maps to stitching
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Vladislav Vinogradov
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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) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage 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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// Redistribution and use in source and binary forms, with or without modification,
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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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// * 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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// 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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// 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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#if !defined CUDA_DISABLER
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#include "opencv2/core/cuda/common.hpp"
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#include "opencv2/core/cuda/vec_traits.hpp"
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#include "opencv2/core/cuda/vec_math.hpp"
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#include "opencv2/core/cuda/saturate_cast.hpp"
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#include "opencv2/core/cuda/border_interpolate.hpp"
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namespace cv { namespace cuda { namespace device
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{
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namespace imgproc
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{
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// TODO use intrinsics like __sinf and so on
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namespace build_warp_maps
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{
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__constant__ float ck_rinv[9];
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__constant__ float cr_kinv[9];
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__constant__ float ct[3];
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__constant__ float cscale;
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}
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class PlaneMapper
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{
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public:
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static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
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{
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using namespace build_warp_maps;
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float x_ = u / cscale - ct[0];
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float y_ = v / cscale - 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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}
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};
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class CylindricalMapper
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{
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public:
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static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
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{
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using namespace build_warp_maps;
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u /= cscale;
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float x_ = ::sinf(u);
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float y_ = v / cscale;
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float z_ = ::cosf(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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}
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};
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class SphericalMapper
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{
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public:
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static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
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{
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using namespace build_warp_maps;
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v /= cscale;
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u /= cscale;
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float sinv = ::sinf(v);
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float x_ = sinv * ::sinf(u);
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float y_ = -::cosf(v);
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float z_ = sinv * ::cosf(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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}
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};
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template <typename Mapper>
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__global__ void buildWarpMapsKernel(int tl_u, int tl_v, int cols, int rows,
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PtrStepf map_x, PtrStepf map_y)
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{
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int du = blockIdx.x * blockDim.x + threadIdx.x;
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int dv = blockIdx.y * blockDim.y + threadIdx.y;
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if (du < cols && dv < rows)
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{
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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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Mapper::mapBackward(u, v, x, y);
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map_x.ptr(dv)[du] = x;
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map_y.ptr(dv)[du] = y;
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}
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}
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void buildWarpPlaneMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
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const float k_rinv[9], const float r_kinv[9], const float t[3],
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float scale, cudaStream_t stream)
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{
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cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
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cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
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cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ct, t, 3*sizeof(float)));
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cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
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int cols = map_x.cols;
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int rows = map_x.rows;
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dim3 threads(32, 8);
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dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
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buildWarpMapsKernel<PlaneMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
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cudaSafeCall(cudaGetLastError());
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if (stream == 0)
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cudaSafeCall(cudaDeviceSynchronize());
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}
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void buildWarpCylindricalMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
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const float k_rinv[9], const float r_kinv[9], float scale,
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cudaStream_t stream)
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{
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cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
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cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
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cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
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int cols = map_x.cols;
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int rows = map_x.rows;
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dim3 threads(32, 8);
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dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
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buildWarpMapsKernel<CylindricalMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
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cudaSafeCall(cudaGetLastError());
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if (stream == 0)
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cudaSafeCall(cudaDeviceSynchronize());
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}
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void buildWarpSphericalMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
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const float k_rinv[9], const float r_kinv[9], float scale,
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cudaStream_t stream)
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{
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cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
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cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
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cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
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int cols = map_x.cols;
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int rows = map_x.rows;
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dim3 threads(32, 8);
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dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
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buildWarpMapsKernel<SphericalMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
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cudaSafeCall(cudaGetLastError());
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if (stream == 0)
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cudaSafeCall(cudaDeviceSynchronize());
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}
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} // namespace imgproc
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}}} // namespace cv { namespace cuda { namespace cudev {
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#endif /* CUDA_DISABLER */
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