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added projectPoints and transformPoints into GPU module

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pull/13383/head
Alexey Spizhevoy 14 years ago
parent e3b3982de6
commit 289af671ee
7 changed files with 333 additions and 2 deletions
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  1. 4
      modules/gpu/CMakeLists.txt
  2. 8
      modules/gpu/include/opencv2/gpu/gpu.hpp
  3. 115
      modules/gpu/src/cuda/project_points.cu
  4. 1
      modules/gpu/src/precomp.hpp
  5. 99
      modules/gpu/src/project_points.cpp
  6. 1
      modules/gpu/test/test_precomp.hpp
  7. 107
      modules/gpu/test/test_project_points.cpp

4
modules/gpu/CMakeLists.txt
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@ -4,7 +4,7 @@ set(the_target "opencv_${name}")
project(${the_target})
set(DEPS "opencv_core" "opencv_imgproc" "opencv_objdetect" "opencv_features2d" "opencv_flann") #"opencv_features2d" "opencv_flann" "opencv_objdetect" - only headers needed
set(DEPS "opencv_core" "opencv_imgproc" "opencv_objdetect" "opencv_features2d" "opencv_flann" "opencv_calib3d") #"opencv_features2d" "opencv_flann" "opencv_objdetect" - only headers needed
set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} opencv_gpu)
add_definitions(-DCVAPI_EXPORTS)
@ -215,4 +215,4 @@ if(BUILD_TESTS AND NOT ANDROID AND EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test)
if(WIN32)
install(TARGETS ${the_test_target} RUNTIME DESTINATION bin COMPONENT main)
endif()
endif()
endif()

8
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -853,6 +853,14 @@ namespace cv
CV_EXPORTS int countNonZero(const GpuMat& src, GpuMat& buf);
///////////////////////////// Calibration 3D //////////////////////////////////
CV_EXPORTS void transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
GpuMat& dst);
CV_EXPORTS void projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst);
//////////////////////////////// Filter Engine ////////////////////////////////
/*!

115
modules/gpu/src/cuda/project_points.cu
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@ -0,0 +1,115 @@
/*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 "internal_shared.hpp"
#include "opencv2/gpu/device/transform.hpp"
namespace cv { namespace gpu
{
namespace transform_points
{
__constant__ float3 crot0;
__constant__ float3 crot1;
__constant__ float3 crot2;
__constant__ float3 ctransl;
struct TransformOp
{
__device__ float3 operator()(float3 p) const
{
return make_float3(
crot0.x * p.x + crot0.y * p.y + crot0.z * p.z + ctransl.x,
crot1.x * p.x + crot1.y * p.y + crot1.z * p.z + ctransl.y,
crot2.x * p.x + crot2.y * p.y + crot2.z * p.z + ctransl.z);
}
};
void call(const DevMem2D_<float> src, const float* rot,
const float* transl, DevMem2D_<float> dst)
{
cudaSafeCall(cudaMemcpyToSymbol(crot0, rot, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(crot1, rot + 3, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(crot2, rot + 6, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(ctransl, transl, sizeof(float) * 3));
transform((const DevMem2D_<float3>)src, (DevMem2D_<float3>)dst, TransformOp());
}
} // namespace transform_points
namespace project_points
{
__constant__ float3 crot0;
__constant__ float3 crot1;
__constant__ float3 crot2;
__constant__ float3 ctransl;
__constant__ float3 cproj0;
__constant__ float3 cproj1;
struct ProjectOp
{
__device__ float2 operator()(float3 p) const
{
// Rotate and translate in 3D
float3 t = make_float3(
crot0.x * p.x + crot0.y * p.y + crot0.z * p.z + ctransl.x,
crot1.x * p.x + crot1.y * p.y + crot1.z * p.z + ctransl.y,
crot2.x * p.x + crot2.y * p.y + crot2.z * p.z + ctransl.z);
// Project on 2D plane
return make_float2(
(cproj0.x * t.x + cproj0.y * t.y) / t.z + cproj0.z,
(cproj1.x * t.x + cproj1.y * t.y) / t.z + cproj1.z);
}
};
void call(const DevMem2D_<float> src, const float* rot,
const float* transl, const float* proj, DevMem2D_<float> dst)
{
cudaSafeCall(cudaMemcpyToSymbol(crot0, rot, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(crot1, rot + 3, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(crot2, rot + 6, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(ctransl, transl, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(cproj0, proj, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(cproj1, proj + 3, sizeof(float) * 3));
transform((const DevMem2D_<float3>)src, (DevMem2D_<float2>)dst, ProjectOp());
}
} // namespace project_points
}} // namespace cv { namespace gpu

1
modules/gpu/src/precomp.hpp
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@ -61,6 +61,7 @@
#include "opencv2/gpu/gpu.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#if defined(HAVE_CUDA)

99
modules/gpu/src/project_points.cpp
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@ -0,0 +1,99 @@
/*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"
#if !defined(HAVE_CUDA)
void cv::gpu::transformPoints(const GpuMat&, const Mat&, const Mat&,
GpuMat&) { throw_nogpu(); }
void cv::gpu::projectPoints(const GpuMat&, const Mat&, const Mat&,
const Mat&, const Mat&, GpuMat&) { throw_nogpu(); }
#else
namespace cv { namespace gpu { namespace transform_points {
void call(const DevMem2D_<float> src, const float* rot,
const float* transl, DevMem2D_<float> dst);
}}}
void cv::gpu::transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
GpuMat& dst)
{
CV_Assert(src.rows == 1 && src.cols > 0 && src.type() == CV_32FC3);
CV_Assert(rvec.size() == Size(3, 1) && rvec.type() == CV_32F);
CV_Assert(tvec.size() == Size(3, 1) && tvec.type() == CV_32F);
// Convert rotation vector into matrix
Mat rot;
Rodrigues(rvec, rot);
dst.create(src.size(), src.type());
transform_points::call(src, rot.ptr<float>(), tvec.ptr<float>(), dst);
}
namespace cv { namespace gpu { namespace project_points {
void call(const DevMem2D_<float> src, const float* rot,
const float* transl, const float* proj, DevMem2D_<float> dst);
}}}
void cv::gpu::projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst)
{
CV_Assert(src.rows == 1 && src.cols > 0 && src.type() == CV_32FC3);
CV_Assert(rvec.size() == Size(3, 1) && rvec.type() == CV_32F);
CV_Assert(tvec.size() == Size(3, 1) && tvec.type() == CV_32F);
CV_Assert(camera_mat.size() == Size(3, 3) && camera_mat.type() == CV_32F);
CV_Assert(dist_coef.empty()); // Undistortion isn't supported
// Convert rotation vector into matrix
Mat rot;
Rodrigues(rvec, rot);
dst.create(src.size(), CV_32FC2);
project_points::call(src, rot.ptr<float>(), tvec.ptr<float>(),
camera_mat.ptr<float>(), dst);
}
#endif

1
modules/gpu/test/test_precomp.hpp
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@ -1,6 +1,7 @@
#ifndef __OPENCV_TEST_PRECOMP_HPP__
#define __OPENCV_TEST_PRECOMP_HPP__
#include <iostream>
#include <limits>
#include <cvconfig.h>
#include "opencv2/core/core.hpp"

107
modules/gpu/test/test_project_points.cpp
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@ -0,0 +1,107 @@
/*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.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation 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 "test_precomp.hpp"
using namespace cv;
using namespace cv::gpu;
using namespace cvtest;
TEST(projectPoints, accuracy)
{
RNG& rng = TS::ptr()->get_rng();
Mat src = randomMat(rng, Size(1000, 1), CV_32FC3, 0, 10, false);
Mat rvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
Mat tvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
Mat camera_mat = randomMat(rng, Size(3, 3), CV_32F, 0, 1, false);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
vector<Point2f> dst;
projectPoints(src, rvec, tvec, camera_mat, Mat(), dst);
GpuMat d_dst;
projectPoints(GpuMat(src), rvec, tvec, camera_mat, Mat(), d_dst);
ASSERT_EQ(dst.size(), (size_t)d_dst.cols);
ASSERT_EQ(1, d_dst.rows);
ASSERT_EQ(CV_32FC2, d_dst.type());
Mat h_dst(d_dst);
for (size_t i = 0; i < dst.size(); ++i)
{
Point2f res_gold = dst[i];
Point2f res_actual = h_dst.at<Point2f>(0, i);
Point2f err = res_actual - res_gold;
ASSERT_LT(err.dot(err) / res_gold.dot(res_gold), 1e-3f);
}
}
TEST(transformPoints, accuracy)
{
RNG& rng = TS::ptr()->get_rng();
Mat src = randomMat(rng, Size(1000, 1), CV_32FC3, 0, 10, false);
Mat rvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
Mat tvec = randomMat(rng, Size(3, 1), CV_32F, 0, 1, false);
GpuMat d_dst;
transformPoints(GpuMat(src), rvec, tvec, d_dst);
ASSERT_TRUE(src.size() == d_dst.size());
ASSERT_EQ(src.type(), d_dst.type());
Mat h_dst(d_dst);
Mat rot;
Rodrigues(rvec, rot);
for (int i = 0; i < h_dst.cols; ++i)
{
Point3f p = src.at<Point3f>(0, i);
Point3f res_gold(
rot.at<float>(0, 0) * p.x + rot.at<float>(0, 1) * p.y + rot.at<float>(0, 2) * p.z + tvec.at<float>(0, 0),
rot.at<float>(1, 0) * p.x + rot.at<float>(1, 1) * p.y + rot.at<float>(1, 2) * p.z + tvec.at<float>(0, 1),
rot.at<float>(2, 0) * p.x + rot.at<float>(2, 1) * p.y + rot.at<float>(2, 2) * p.z + tvec.at<float>(0, 2));
Point3f res_actual = h_dst.at<Point3f>(0, i);
Point3f err = res_actual - res_gold;
ASSERT_LT(err.dot(err) / res_gold.dot(res_gold), 1e-3f);
}
}
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