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Updated GPU warpers interface

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pull/13383/head
Alexey Spizhevoy 14 years ago
parent 404e9cb9d5
commit 607a7fd2c2
2 changed files with 166 additions and 92 deletions
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  1. 142
      modules/stitching/include/opencv2/stitching/detail/warpers.hpp
  2. 116
      modules/stitching/src/warpers.cpp

142
modules/stitching/include/opencv2/stitching/detail/warpers.hpp
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@ -138,24 +138,6 @@ protected:
};
#ifndef ANDROID
class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
{
public:
PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {}
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst);
Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
Mat &dst);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_dst_, d_src_;
};
#endif
struct CV_EXPORTS SphericalProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
@ -175,21 +157,6 @@ protected:
};
#ifndef ANDROID
class CV_EXPORTS SphericalWarperGpu : public SphericalWarper
{
public:
SphericalWarperGpu(float scale) : SphericalWarper(scale) {}
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_dst_, d_src_;
};
#endif
struct CV_EXPORTS CylindricalProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
@ -212,16 +179,121 @@ protected:
#ifndef ANDROID
class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
{
public:
PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
{
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap);
d_ymap_.download(ymap);
return result;
}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap)
{
Rect result = buildMaps(src_size, K, R, T, d_xmap_, d_ymap_);
d_xmap_.download(xmap);
d_ymap_.download(ymap);
return result;
}
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
d_src_.upload(src);
Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
d_dst_.download(dst);
return result;
}
Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
Mat &dst)
{
d_src_.upload(src);
Point result = warp(d_src_, K, R, T, interp_mode, border_mode, d_dst_);
d_dst_.download(dst);
return result;
}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap);
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, gpu::GpuMat &xmap, gpu::GpuMat &ymap);
Point warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst);
Point warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
gpu::GpuMat &dst);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
};
class CV_EXPORTS SphericalWarperGpu : public SphericalWarper
{
public:
SphericalWarperGpu(float scale) : SphericalWarper(scale) {}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
{
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap);
d_ymap_.download(ymap);
return result;
}
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
d_src_.upload(src);
Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
d_dst_.download(dst);
return result;
}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap);
Point warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
};
class CV_EXPORTS CylindricalWarperGpu : public CylindricalWarper
{
public:
CylindricalWarperGpu(float scale) : CylindricalWarper(scale) {}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
{
Rect result = buildMaps(src_size, K, R, d_xmap_, d_ymap_);
d_xmap_.download(xmap);
d_ymap_.download(ymap);
return result;
}
Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst);
Mat &dst)
{
d_src_.upload(src);
Point result = warp(d_src_, K, R, interp_mode, border_mode, d_dst_);
d_dst_.download(dst);
return result;
}
Rect buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap);
Point warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_dst_, d_src_;
gpu::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
};
#endif

116
modules/stitching/src/warpers.cpp
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@ -159,39 +159,6 @@ void PlaneWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
}
#ifndef ANDROID
Point PlaneWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
{
return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
}
Point PlaneWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
Mat &dst)
{
projector_.setCameraParams(K, R, T);
Point dst_tl, dst_br;
detectResultRoi(src.size(), dst_tl, dst_br);
gpu::buildWarpPlaneMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, d_xmap_, d_ymap_);
gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_);
d_src_.upload(src);
gpu::ensureSizeIsEnough(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type(), d_dst_);
gpu::remap(d_src_, d_dst_, d_xmap_, d_ymap_, interp_mode, border_mode);
d_dst_.download(dst);
return dst_tl;
}
#endif
void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
detectResultRoiByBorder(src_size, dst_tl, dst_br);
@ -237,51 +204,86 @@ void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_b
#ifndef ANDROID
Point SphericalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R);
return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap);
}
Point dst_tl, dst_br;
detectResultRoi(src.size(), dst_tl, dst_br);
Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R, T);
gpu::buildWarpSphericalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, d_xmap_, d_ymap_);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_);
d_src_.upload(src);
gpu::buildWarpPlaneMaps(src_size, Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, xmap, ymap);
gpu::ensureSizeIsEnough(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type(), d_dst_);
return Rect(dst_tl, dst_br);
}
gpu::remap(d_src_, d_dst_, d_xmap_, d_ymap_, interp_mode, border_mode);
Point PlaneWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
}
d_dst_.download(dst);
return dst_tl;
Point PlaneWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
Rect dst_roi = buildMaps(src.size(), K, R, T, d_xmap_, d_ymap_);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
Point CylindricalWarperGpu::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
Mat &dst)
Rect SphericalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src.size(), dst_tl, dst_br);
detectResultRoi(src_size, dst_tl, dst_br);
gpu::buildWarpSphericalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
K, R, projector_.scale, xmap, ymap);
return Rect(dst_tl, dst_br);
}
Point SphericalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
gpu::buildWarpCylindricalMaps(src.size(), Rect(dst_tl, Point(dst_br.x+1, dst_br.y+1)),
K, R, projector_.scale, d_xmap_, d_ymap_);
gpu::ensureSizeIsEnough(src.size(), src.type(), d_src_);
d_src_.upload(src);
Rect CylindricalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, gpu::GpuMat &xmap, gpu::GpuMat &ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
gpu::ensureSizeIsEnough(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, src.type(), d_dst_);
gpu::buildWarpCylindricalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
K, R, projector_.scale, xmap, ymap);
gpu::remap(d_src_, d_dst_, d_xmap_, d_ymap_, interp_mode, border_mode);
return Rect(dst_tl, dst_br);
}
d_dst_.download(dst);
return dst_tl;
Point CylindricalWarperGpu::warp(const gpu::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
gpu::GpuMat &dst)
{
Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
gpu::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
#endif

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