Chiebot-Mirror
/
opencv
mirror of https://github.com/opencv/opencv.git
8
0
Fork 0
Code Issues Projects Releases Wiki Activity

added remap version for 3-channels input images

Browse Source
pull/13383/head
Vladislav Vinogradov 14 years ago
parent 6bea9f5ec4
commit 304caab746
5 changed files with 93 additions and 22 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 4
      modules/gpu/include/opencv2/gpu/gpu.hpp
  2. 6
      modules/gpu/src/beliefpropagation_gpu.cpp
  3. 5
      modules/gpu/src/constantspacebp_gpu.cpp
  4. 76
      modules/gpu/src/cuda/imgproc.cu
  5. 24
      modules/gpu/src/imgproc_gpu.cpp

4
modules/gpu/include/opencv2/gpu/gpu.hpp
Unescape View File

@ -415,7 +415,7 @@ namespace cv
enum { DEFAULT_ITERS = 5 };
enum { DEFAULT_LEVELS = 5 };
static void estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels);
static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels);
//! the default constructor
explicit StereoBeliefPropagation(int ndisp = DEFAULT_NDISP,
@ -473,7 +473,7 @@ namespace cv
enum { DEFAULT_LEVELS = 4 };
enum { DEFAULT_NR_PLANE = 4 };
static void estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels, int & nr_plane);
static void estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels, int& nr_plane);
//! the default constructor
explicit StereoConstantSpaceBP(int ndisp = DEFAULT_NDISP,

6
modules/gpu/src/beliefpropagation_gpu.cpp
Unescape View File

@ -48,6 +48,8 @@ using namespace std;
#if !defined (HAVE_CUDA)
void cv::gpu::StereoBeliefPropagation::estimateRecommendedParams(int, int, int&, int&, int&) { throw_nogpu(); }
cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int, int, int, int) { throw_nogpu(); }
cv::gpu::StereoBeliefPropagation::StereoBeliefPropagation(int, int, int, float, float, float, float, int) { throw_nogpu(); }
@ -78,13 +80,13 @@ namespace
}
void cv::gpu::StereoBeliefPropagation::estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels)
void cv::gpu::StereoBeliefPropagation::estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels)
{
ndisp = width / 4;
if ((ndisp & 1) != 0)
ndisp++;
int mm =::max(width, height);
int mm = ::max(width, height);
iters = mm / 100 + 2;
levels = (int)(log(static_cast<double>(mm)) + 1) * 4 / 5;

5
modules/gpu/src/constantspacebp_gpu.cpp
Unescape View File

@ -48,6 +48,8 @@ using namespace std;
#if !defined (HAVE_CUDA)
void cv::gpu::StereoConstantSpaceBP::estimateRecommendedParams(int, int, int&, int&, int&, int&) { throw_nogpu(); }
cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int, int, int, int, int) { throw_nogpu(); }
cv::gpu::StereoConstantSpaceBP::StereoConstantSpaceBP(int, int, int, int, float, float, float, float, int, int) { throw_nogpu(); }
@ -105,10 +107,9 @@ namespace
const float DEFAULT_DISC_SINGLE_JUMP = 10.0f;
}
void cv::gpu::StereoConstantSpaceBP::estimateRecopmmendedParams( int width, int height, int & ndisp, int & iters, int & levels, int &nr_plane)
void cv::gpu::StereoConstantSpaceBP::estimateRecommendedParams(int width, int height, int& ndisp, int& iters, int& levels, int& nr_plane)
{
ndisp = (int) ((float) width / 3.14f);
if (ndisp & 1 != 0) ndisp++;
if ((ndisp & 1) != 0)
ndisp++;

76
modules/gpu/src/cuda/imgproc.cu
Unescape View File

@ -44,13 +44,12 @@
using namespace cv::gpu;
/////////////////////////////////// Remap ///////////////////////////////////////////////
namespace imgproc
{
texture<unsigned char, 2, cudaReadModeNormalizedFloat> tex_remap;
__global__ void kernel_remap(const float *mapx, const float *mapy, size_t map_step, unsigned char* out, size_t out_step, int width, int height)
__global__ void remap_1c(const float* mapx, const float* mapy, size_t map_step, uchar* out, size_t out_step, int width, int height)
{
int x = blockDim.x * blockIdx.x + threadIdx.x;
int y = blockDim.y * blockIdx.y + threadIdx.y;
@ -65,27 +64,88 @@ namespace imgproc
}
}
__global__ void remap_3c(const uchar* src, size_t src_step, const float* mapx, const float* mapy, size_t map_step,
uchar* dst, size_t dst_step, int width, int height)
{
const int x = blockDim.x * blockIdx.x + threadIdx.x;
const int y = blockDim.y * blockIdx.y + threadIdx.y;
if (x < width && y < height)
{
const int idx = y * (map_step >> 2) + x; /* map_step >> 2 <=> map_step / sizeof(float)*/
const float xcoo = mapx[idx];
const float ycoo = mapy[idx];
uchar3 out = make_uchar3(0, 0, 0);
if (xcoo >= 0 && xcoo < width - 1 && ycoo >= 0 && ycoo < height - 1)
{
const int x1 = __float2int_rd(xcoo);
const int y1 = __float2int_rd(ycoo);
const int x2 = x1 + 1;
const int y2 = y1 + 1;
uchar3 src_reg = *(uchar3*)(src + y1 * src_step + 3 * x1);
out.x += src_reg.x * (x2 - xcoo) * (y2 - ycoo);
out.y += src_reg.y * (x2 - xcoo) * (y2 - ycoo);
out.z += src_reg.z * (x2 - xcoo) * (y2 - ycoo);
src_reg = *(uchar3*)(src + y1 * src_step + 3 * x2);
out.x += src_reg.x * (xcoo - x1) * (y2 - ycoo);
out.y += src_reg.y * (xcoo - x1) * (y2 - ycoo);
out.z += src_reg.z * (xcoo - x1) * (y2 - ycoo);
src_reg = *(uchar3*)(src + y2 * src_step + 3 * x1);
out.x += src_reg.x * (x2 - xcoo) * (ycoo - y1);
out.y += src_reg.y * (x2 - xcoo) * (ycoo - y1);
out.z += src_reg.z * (x2 - xcoo) * (ycoo - y1);
src_reg = *(uchar3*)(src + y2 * src_step + 3 * x2);
out.x += src_reg.x * (xcoo - x1) * (ycoo - y1);
out.y += src_reg.y * (xcoo - x1) * (ycoo - y1);
out.z += src_reg.z * (xcoo - x1) * (ycoo - y1);
}
*(uchar3*)(dst + y * dst_step + 3 * x) = out;
}
}
}
namespace cv { namespace gpu { namespace impl
{
extern "C" void remap_gpu(const DevMem2D& src, const DevMem2D_<float>& xmap, const DevMem2D_<float>& ymap, DevMem2D dst)
void remap_gpu_1c(const DevMem2D& src, const DevMem2Df& xmap, const DevMem2Df& ymap, DevMem2D dst)
{
dim3 block(16, 16, 1);
dim3 threads(16, 16, 1);
dim3 grid(1, 1, 1);
grid.x = divUp(dst.cols, block.x);
grid.y = divUp(dst.rows, block.y);
grid.x = divUp(dst.cols, threads.x);
grid.y = divUp(dst.rows, threads.y);
imgproc::tex_remap.filterMode = cudaFilterModeLinear;
imgproc::tex_remap.addressMode[0] = imgproc::tex_remap.addressMode[1] = cudaAddressModeWrap;
cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
cudaSafeCall( cudaBindTexture2D(0, imgproc::tex_remap, src.ptr, desc, dst.cols, dst.rows, src.step) );
cudaSafeCall( cudaBindTexture2D(0, imgproc::tex_remap, src.ptr, desc, src.cols, src.rows, src.step) );
imgproc::kernel_remap<<<grid, block>>>(xmap.ptr, ymap.ptr, xmap.step, dst.ptr, dst.step, dst.cols, dst.rows);
imgproc::remap_1c<<<grid, threads>>>(xmap.ptr, ymap.ptr, xmap.step, dst.ptr, dst.step, dst.cols, dst.rows);
cudaSafeCall( cudaThreadSynchronize() );
cudaSafeCall( cudaUnbindTexture(imgproc::tex_remap) );
}
void remap_gpu_3c(const DevMem2D& src, const DevMem2Df& xmap, const DevMem2Df& ymap, DevMem2D dst)
{
dim3 threads(32, 8, 1);
dim3 grid(1, 1, 1);
grid.x = divUp(dst.cols, threads.x);
grid.y = divUp(dst.rows, threads.y);
imgproc::remap_3c<<<grid, threads>>>(src.ptr, src.step, xmap.ptr, ymap.ptr, xmap.step, dst.ptr, dst.step, dst.cols, dst.rows);
cudaSafeCall( cudaThreadSynchronize() );
}
}}}

24
modules/gpu/src/imgproc_gpu.cpp
Unescape View File

@ -60,7 +60,8 @@ namespace cv { namespace gpu
{
namespace impl
{
extern "C" void remap_gpu(const DevMem2D& src, const DevMem2D_<float>& xmap, const DevMem2D_<float>& ymap, DevMem2D dst);
void remap_gpu_1c(const DevMem2D& src, const DevMem2Df& xmap, const DevMem2Df& ymap, DevMem2D dst);
void remap_gpu_3c(const DevMem2D& src, const DevMem2Df& xmap, const DevMem2Df& ymap, DevMem2D dst);
extern "C" void meanShiftFiltering_gpu(const DevMem2D& src, DevMem2D dst, int sp, int sr, int maxIter, float eps);
@ -73,14 +74,21 @@ namespace cv { namespace gpu
}}
void cv::gpu::remap(const GpuMat& src, const GpuMat& xmap, const GpuMat& ymap, GpuMat& dst)
{
CV_DbgAssert(xmap.data && xmap.cols == ymap.cols && xmap.rows == ymap.rows);
CV_Assert(xmap.type() == CV_32F && ymap.type() == CV_32F);
{
typedef void (*remap_gpu_t)(const DevMem2D& src, const DevMem2Df& xmap, const DevMem2Df& ymap, DevMem2D dst);
static const remap_gpu_t callers[] = {impl::remap_gpu_1c, 0, impl::remap_gpu_3c};
CV_Assert((src.type() == CV_8U || src.type() == CV_8UC3) && xmap.type() == CV_32F && ymap.type() == CV_32F);
dst.create(xmap.size(), src.type());
CV_Assert(dst.data != src.data);
GpuMat out;
if (dst.data != src.data)
out = dst;
out.create(xmap.size(), src.type());
callers[src.channels() - 1](src, xmap, ymap, out);
impl::remap_gpu(src, xmap, ymap, dst);
dst = out;
}
@ -114,7 +122,7 @@ namespace
void drawColorDisp_caller(const GpuMat& src, GpuMat& dst, int ndisp, const cudaStream_t& stream)
{
GpuMat out;
if (&dst != &src)
if (dst.data != src.data)
out = dst;
out.create(src.size(), CV_8UC4);

Write Preview
Loading…
Cancel
Save