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Parallelize initUndistortRectifyMap

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pull/10580/head
woody.chow 7 years ago
parent 57dc28fe99
commit f5d9a2a9c1
3 changed files with 136 additions and 64 deletions
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  1. 6
      modules/imgproc/src/undistort.avx2.cpp
  2. 188
      modules/imgproc/src/undistort.cpp
  3. 6
      modules/imgproc/src/undistort.hpp

6
modules/imgproc/src/undistort.avx2.cpp
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@ -48,9 +48,9 @@ namespace cv
int initUndistortRectifyMapLine_AVX(float* m1f, float* m2f, short* m1, ushort* m2, double* matTilt, const double* ir,
double& _x, double& _y, double& _w, int width, int m1type,
double& k1, double& k2, double& k3, double& k4, double& k5, double& k6,
double& p1, double& p2, double& s1, double& s2, double& s3, double& s4,
double& u0, double& v0, double& fx, double& fy)
double k1, double k2, double k3, double k4, double k5, double k6,
double p1, double p2, double s1, double s2, double s3, double s4,
double u0, double v0, double fx, double fy)
{
int j = 0;

188
modules/imgproc/src/undistort.cpp
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@ -61,6 +61,133 @@ cv::Mat cv::getDefaultNewCameraMatrix( InputArray _cameraMatrix, Size imgsize,
return newCameraMatrix;
}
class initUndistortRectifyMapComputer : public cv::ParallelLoopBody
{
public:
initUndistortRectifyMapComputer(
cv::Size _size, cv::Mat &_map1, cv::Mat &_map2, int _m1type,
const double* _ir, cv::Matx33d &_matTilt,
double _u0, double _v0, double _fx, double _fy,
double _k1, double _k2, double _p1, double _p2,
double _k3, double _k4, double _k5, double _k6,
double _s1, double _s2, double _s3, double _s4)
: size(_size),
map1(_map1),
map2(_map2),
m1type(_m1type),
ir(_ir),
matTilt(_matTilt),
u0(_u0),
v0(_v0),
fx(_fx),
fy(_fy),
k1(_k1),
k2(_k2),
p1(_p1),
p2(_p2),
k3(_k3),
k4(_k4),
k5(_k5),
k6(_k6),
s1(_s1),
s2(_s2),
s3(_s3),
s4(_s4) {
#if CV_TRY_AVX2
useAVX2 = cv::checkHardwareSupport(CV_CPU_AVX2);
#endif
}
void operator()( const cv::Range& range ) const
{
const int begin = range.start;
const int end = range.end;
for( int i = begin; i < end; i++ )
{
float* m1f = map1.ptr<float>(i);
float* m2f = map2.empty() ? 0 : map2.ptr<float>(i);
short* m1 = (short*)m1f;
ushort* m2 = (ushort*)m2f;
double _x = i*ir[1] + ir[2], _y = i*ir[4] + ir[5], _w = i*ir[7] + ir[8];
int j = 0;
if (m1type == CV_16SC2)
CV_Assert(m1 != NULL && m2 != NULL);
else if (m1type == CV_32FC1)
CV_Assert(m1f != NULL && m2f != NULL);
else
CV_Assert(m1 != NULL);
#if CV_TRY_AVX2
if( useAVX2 )
j = cv::initUndistortRectifyMapLine_AVX(m1f, m2f, m1, m2,
matTilt.val, ir, _x, _y, _w, size.width, m1type,
k1, k2, k3, k4, k5, k6, p1, p2, s1, s2, s3, s4, u0, v0, fx, fy);
#endif
for( ; j < size.width; j++, _x += ir[0], _y += ir[3], _w += ir[6] )
{
double w = 1./_w, x = _x*w, y = _y*w;
double x2 = x*x, y2 = y*y;
double r2 = x2 + y2, _2xy = 2*x*y;
double kr = (1 + ((k3*r2 + k2)*r2 + k1)*r2)/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double xd = (x*kr + p1*_2xy + p2*(r2 + 2*x2) + s1*r2+s2*r2*r2);
double yd = (y*kr + p1*(r2 + 2*y2) + p2*_2xy + s3*r2+s4*r2*r2);
cv::Vec3d vecTilt = matTilt*cv::Vec3d(xd, yd, 1);
double invProj = vecTilt(2) ? 1./vecTilt(2) : 1;
double u = fx*invProj*vecTilt(0) + u0;
double v = fy*invProj*vecTilt(1) + v0;
if( m1type == CV_16SC2 )
{
int iu = cv::saturate_cast<int>(u*cv::INTER_TAB_SIZE);
int iv = cv::saturate_cast<int>(v*cv::INTER_TAB_SIZE);
m1[j*2] = (short)(iu >> cv::INTER_BITS);
m1[j*2+1] = (short)(iv >> cv::INTER_BITS);
m2[j] = (ushort)((iv & (cv::INTER_TAB_SIZE-1))*cv::INTER_TAB_SIZE + (iu & (cv::INTER_TAB_SIZE-1)));
}
else if( m1type == CV_32FC1 )
{
m1f[j] = (float)u;
m2f[j] = (float)v;
}
else
{
m1f[j*2] = (float)u;
m1f[j*2+1] = (float)v;
}
}
}
}
private:
cv::Size size;
cv::Mat &map1;
cv::Mat &map2;
int m1type;
const double* ir;
cv::Matx33d &matTilt;
double u0;
double v0;
double fx;
double fy;
double k1;
double k2;
double p1;
double p2;
double k3;
double k4;
double k5;
double k6;
double s1;
double s2;
double s3;
double s4;
#if CV_TRY_AVX2
bool useAVX2;
#endif
};
void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoeffs,
InputArray _matR, InputArray _newCameraMatrix,
Size size, int m1type, OutputArray _map1, OutputArray _map2 )
@ -137,64 +264,9 @@ void cv::initUndistortRectifyMap( InputArray _cameraMatrix, InputArray _distCoef
cv::Matx33d matTilt = cv::Matx33d::eye();
cv::detail::computeTiltProjectionMatrix(tauX, tauY, &matTilt);
#if CV_TRY_AVX2
bool USE_AVX2 = cv::checkHardwareSupport(CV_CPU_AVX2);
#endif
for( int i = 0; i < size.height; i++ )
{
float* m1f = map1.ptr<float>(i);
float* m2f = map2.empty() ? 0 : map2.ptr<float>(i);
short* m1 = (short*)m1f;
ushort* m2 = (ushort*)m2f;
double _x = i*ir[1] + ir[2], _y = i*ir[4] + ir[5], _w = i*ir[7] + ir[8];
int j = 0;
if (m1type == CV_16SC2)
CV_Assert(m1 != NULL && m2 != NULL);
else if (m1type == CV_32FC1)
CV_Assert(m1f != NULL && m2f != NULL);
else
CV_Assert(m1 != NULL);
#if CV_TRY_AVX2
if( USE_AVX2 )
j = cv::initUndistortRectifyMapLine_AVX(m1f, m2f, m1, m2, matTilt.val, ir, _x, _y, _w, size.width, m1type,
k1, k2, k3, k4, k5, k6, p1, p2, s1, s2, s3, s4, u0, v0, fx, fy);
#endif
for( ; j < size.width; j++, _x += ir[0], _y += ir[3], _w += ir[6] )
{
double w = 1./_w, x = _x*w, y = _y*w;
double x2 = x*x, y2 = y*y;
double r2 = x2 + y2, _2xy = 2*x*y;
double kr = (1 + ((k3*r2 + k2)*r2 + k1)*r2)/(1 + ((k6*r2 + k5)*r2 + k4)*r2);
double xd = (x*kr + p1*_2xy + p2*(r2 + 2*x2) + s1*r2+s2*r2*r2);
double yd = (y*kr + p1*(r2 + 2*y2) + p2*_2xy + s3*r2+s4*r2*r2);
cv::Vec3d vecTilt = matTilt*cv::Vec3d(xd, yd, 1);
double invProj = vecTilt(2) ? 1./vecTilt(2) : 1;
double u = fx*invProj*vecTilt(0) + u0;
double v = fy*invProj*vecTilt(1) + v0;
if( m1type == CV_16SC2 )
{
int iu = saturate_cast<int>(u*INTER_TAB_SIZE);
int iv = saturate_cast<int>(v*INTER_TAB_SIZE);
m1[j*2] = (short)(iu >> INTER_BITS);
m1[j*2+1] = (short)(iv >> INTER_BITS);
m2[j] = (ushort)((iv & (INTER_TAB_SIZE-1))*INTER_TAB_SIZE + (iu & (INTER_TAB_SIZE-1)));
}
else if( m1type == CV_32FC1 )
{
m1f[j] = (float)u;
m2f[j] = (float)v;
}
else
{
m1f[j*2] = (float)u;
m1f[j*2+1] = (float)v;
}
}
}
parallel_for_(Range(0, size.height), initUndistortRectifyMapComputer(
size, map1, map2, m1type, ir, matTilt, u0, v0,
fx, fy, k1, k2, p1, p2, k3, k4, k5, k6, s1, s2, s3, s4));
}

6
modules/imgproc/src/undistort.hpp
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@ -48,9 +48,9 @@ namespace cv
#if CV_TRY_AVX2
int initUndistortRectifyMapLine_AVX(float* m1f, float* m2f, short* m1, ushort* m2, double* matTilt, const double* ir,
double& _x, double& _y, double& _w, int width, int m1type,
double& k1, double& k2, double& k3, double& k4, double& k5, double& k6,
double& p1, double& p2, double& s1, double& s2, double& s3, double& s4,
double& u0, double& v0, double& fx, double& fy);
double k1, double k2, double k3, double k4, double k5, double k6,
double p1, double p2, double s1, double s2, double s3, double s4,
double u0, double v0, double fx, double fy);
#endif
}

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