Open Source Computer Vision Library
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292 lines
10 KiB
292 lines
10 KiB
/*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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// are permitted provided that the following conditions are met: |
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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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// |
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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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// |
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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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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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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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#include "precomp.hpp" |
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#include "opencv2/core/private.cuda.hpp" |
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using namespace cv; |
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using namespace cv::cuda; |
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#ifdef HAVE_CUDA |
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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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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], float scale, |
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cudaStream_t stream); |
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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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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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}}} |
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static void buildWarpPlaneMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, InputArray _T, |
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float scale, OutputArray _map_x, OutputArray _map_y, Stream& stream = Stream::Null()) |
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{ |
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CV_UNUSED(src_size); |
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Mat K = _K.getMat(); |
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Mat R = _R.getMat(); |
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Mat T = _T.getMat(); |
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CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 ); |
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CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 ); |
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CV_Assert( (T.size() == Size(3,1) || T.size() == Size(1,3)) && T.type() == CV_32FC1 && T.isContinuous() ); |
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Mat K_Rinv = K * R.t(); |
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Mat R_Kinv = R * K.inv(); |
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CV_Assert( K_Rinv.isContinuous() ); |
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CV_Assert( R_Kinv.isContinuous() ); |
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_map_x.create(dst_roi.size(), CV_32FC1); |
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_map_y.create(dst_roi.size(), CV_32FC1); |
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GpuMat map_x = _map_x.getGpuMat(); |
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GpuMat map_y = _map_y.getGpuMat(); |
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device::imgproc::buildWarpPlaneMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(), |
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T.ptr<float>(), scale, StreamAccessor::getStream(stream)); |
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} |
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static void buildWarpSphericalMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, float scale, |
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OutputArray _map_x, OutputArray _map_y, Stream& stream = Stream::Null()) |
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{ |
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CV_UNUSED(src_size); |
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Mat K = _K.getMat(); |
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Mat R = _R.getMat(); |
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CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 ); |
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CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 ); |
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Mat K_Rinv = K * R.t(); |
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Mat R_Kinv = R * K.inv(); |
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CV_Assert( K_Rinv.isContinuous() ); |
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CV_Assert( R_Kinv.isContinuous() ); |
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_map_x.create(dst_roi.size(), CV_32FC1); |
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_map_y.create(dst_roi.size(), CV_32FC1); |
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GpuMat map_x = _map_x.getGpuMat(); |
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GpuMat map_y = _map_y.getGpuMat(); |
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device::imgproc::buildWarpSphericalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(), scale, StreamAccessor::getStream(stream)); |
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} |
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static void buildWarpCylindricalMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, float scale, |
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OutputArray _map_x, OutputArray _map_y, Stream& stream = Stream::Null()) |
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{ |
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CV_UNUSED(src_size); |
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Mat K = _K.getMat(); |
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Mat R = _R.getMat(); |
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CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 ); |
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CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 ); |
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Mat K_Rinv = K * R.t(); |
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Mat R_Kinv = R * K.inv(); |
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CV_Assert( K_Rinv.isContinuous() ); |
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CV_Assert( R_Kinv.isContinuous() ); |
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_map_x.create(dst_roi.size(), CV_32FC1); |
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_map_y.create(dst_roi.size(), CV_32FC1); |
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GpuMat map_x = _map_x.getGpuMat(); |
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GpuMat map_y = _map_y.getGpuMat(); |
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device::imgproc::buildWarpCylindricalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(), scale, StreamAccessor::getStream(stream)); |
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} |
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#endif |
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Rect cv::detail::PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, |
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cuda::GpuMat & xmap, cuda::GpuMat & ymap) |
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{ |
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return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap); |
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} |
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Rect cv::detail::PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, |
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cuda::GpuMat & xmap, cuda::GpuMat & ymap) |
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{ |
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#ifndef HAVE_CUDA |
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CV_UNUSED(src_size); |
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CV_UNUSED(K); |
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CV_UNUSED(R); |
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CV_UNUSED(T); |
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CV_UNUSED(xmap); |
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CV_UNUSED(ymap); |
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throw_no_cuda(); |
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#else |
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projector_.setCameraParams(K, R, T); |
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Point dst_tl, dst_br; |
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detectResultRoi(src_size, dst_tl, dst_br); |
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::buildWarpPlaneMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)), |
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K, R, T, projector_.scale, xmap, ymap); |
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return Rect(dst_tl, dst_br); |
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#endif |
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} |
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Point cv::detail::PlaneWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, |
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int interp_mode, int border_mode, |
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cuda::GpuMat & dst) |
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{ |
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return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst); |
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} |
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Point cv::detail::PlaneWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, InputArray T, |
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int interp_mode, int border_mode, |
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cuda::GpuMat & dst) |
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{ |
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#ifndef HAVE_OPENCV_CUDAWARPING |
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CV_UNUSED(src); |
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CV_UNUSED(K); |
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CV_UNUSED(R); |
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CV_UNUSED(T); |
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CV_UNUSED(interp_mode); |
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CV_UNUSED(border_mode); |
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CV_UNUSED(dst); |
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throw_no_cuda(); |
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#else |
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Rect dst_roi = buildMaps(src.size(), K, R, T, d_xmap_, d_ymap_); |
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dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type()); |
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cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode); |
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return dst_roi.tl(); |
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#endif |
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} |
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Rect cv::detail::SphericalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap) |
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{ |
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#ifndef HAVE_CUDA |
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CV_UNUSED(src_size); |
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CV_UNUSED(K); |
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CV_UNUSED(R); |
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CV_UNUSED(xmap); |
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CV_UNUSED(ymap); |
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throw_no_cuda(); |
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#else |
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projector_.setCameraParams(K, R); |
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Point dst_tl, dst_br; |
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detectResultRoi(src_size, dst_tl, dst_br); |
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::buildWarpSphericalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)), |
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K, R, projector_.scale, xmap, ymap); |
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return Rect(dst_tl, dst_br); |
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#endif |
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} |
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Point cv::detail::SphericalWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, |
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int interp_mode, int border_mode, |
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cuda::GpuMat & dst) |
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{ |
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#ifndef HAVE_OPENCV_CUDAWARPING |
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CV_UNUSED(src); |
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CV_UNUSED(K); |
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CV_UNUSED(R); |
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CV_UNUSED(interp_mode); |
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CV_UNUSED(border_mode); |
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CV_UNUSED(dst); |
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throw_no_cuda(); |
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#else |
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Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_); |
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dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type()); |
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cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode); |
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return dst_roi.tl(); |
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#endif |
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} |
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Rect cv::detail::CylindricalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, |
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cuda::GpuMat & xmap, cuda::GpuMat & ymap) |
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{ |
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#ifndef HAVE_CUDA |
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CV_UNUSED(src_size); |
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CV_UNUSED(K); |
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CV_UNUSED(R); |
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CV_UNUSED(xmap); |
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CV_UNUSED(ymap); |
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throw_no_cuda(); |
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#else |
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projector_.setCameraParams(K, R); |
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Point dst_tl, dst_br; |
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detectResultRoi(src_size, dst_tl, dst_br); |
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::buildWarpCylindricalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)), |
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K, R, projector_.scale, xmap, ymap); |
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return Rect(dst_tl, dst_br); |
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#endif |
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} |
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Point cv::detail::CylindricalWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, |
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int interp_mode, int border_mode, |
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cuda::GpuMat & dst) |
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{ |
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#ifndef HAVE_OPENCV_CUDAWARPING |
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CV_UNUSED(src); |
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CV_UNUSED(K); |
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CV_UNUSED(R); |
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CV_UNUSED(interp_mode); |
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CV_UNUSED(border_mode); |
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CV_UNUSED(dst); |
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throw_no_cuda(); |
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#else |
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Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_); |
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dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type()); |
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cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode); |
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return dst_roi.tl(); |
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#endif |
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}
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