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added asynchronous versions of transform- and projectPoints into the GPU module, added docs

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This commit is contained in:
Alexey Spizhevoy 2011-02-22 07:27:10 +00:00
parent efe16c6f3e
commit 5b3d786e30
5 changed files with 117 additions and 27 deletions
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38
doc/gpu_calib3d.tex
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@ -421,3 +421,41 @@ void reprojectImageTo3D(const GpuMat\& disp, GpuMat\& xyzw, \par const Mat\& Q,
\end{description}
See also: \cvCppCross{reprojectImageTo3D}.
\cvCppFunc{gpu::transformPoints}
Rotates and translates points.
\cvdefCpp{
void transformPoints(const GpuMat\& src, const Mat\& rvec, \par const Mat\& tvec, GpuMat\& dst);\newline
void transformPoints(const GpuMat\& src, const Mat\& rvec, \par const Mat\& tvec, GpuMat\& dst, const Stream\& stream);
}
\begin{description}
\cvarg{src}{Source points. Single-row \texttt{CV\_32FC3} matrix.}
\cvarg{rvec}{\texttt{CV\_32F} 3D rotation vector.}
\cvarg{tvec}{\texttt{CV\_32F} 3D translation vector.}
\cvarg{dst}{Transformed points. Single-row \texttt{CV\_32FC3} matrix.}
\cvarg{stream}{Stream for the asynchronous version.}
\end{description}
\cvCppFunc{gpu::projectPoints}
Projects points.
\cvdefCpp{
void projectPoints(const GpuMat\& src, const Mat\& rvec, \par const Mat\& tvec, const Mat\& camera\_mat, \par const Mat\& dist\_coef, GpuMat\& dst);\newline
void projectPoints(const GpuMat\& src, const Mat\& rvec, \par const Mat\& tvec, const Mat\& camera\_mat, \par const Mat\& dist\_coef, GpuMat\& dst, const Stream\& stream);
}
\begin{description}
\cvarg{src}{Source points. Single-row \texttt{CV\_32FC3} matrix.}
\cvarg{rvec}{\texttt{CV\_32F} 3D rotation vector.}
\cvarg{tvec}{\texttt{CV\_32F} 3D translation vector.}
\cvarg{camera\_mat}{\texttt{CV\_32F} 3x3 camera matrix.}
\cvarg{dist\_coef}{Distortion coefficients. This parameter isn't supported for now, must be empty matrix.}
\cvarg{dst}{Projected points. Single-row \texttt{CV\_32FC2} matrix.}
\cvarg{stream}{Stream for the asynchronous version.}
\end{description}
See also: \cvCppCross{projectPoints}.

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doc/opencv.pdf
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7
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -858,9 +858,16 @@ namespace cv
CV_EXPORTS void transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
GpuMat& dst);
CV_EXPORTS void transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
GpuMat& dst, const Stream& stream);
CV_EXPORTS void projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
const Mat& camera_mat, const Mat& dist_coef, 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,
const Stream& stream);
//////////////////////////////// Filter Engine ////////////////////////////////
/*!

10
modules/gpu/src/cuda/project_points.cu
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@ -64,13 +64,14 @@ namespace cv { namespace gpu
};
void call(const DevMem2D_<float3> src, const float* rot,
const float* transl, DevMem2D_<float3> dst)
const float* transl, DevMem2D_<float3> dst,
cudaStream_t stream)
{
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(src, dst, TransformOp());
transform(src, dst, TransformOp(), stream);
}
} // namespace transform_points
@ -100,7 +101,8 @@ namespace cv { namespace gpu
};
void call(const DevMem2D_<float3> src, const float* rot,
const float* transl, const float* proj, DevMem2D_<float2> dst)
const float* transl, const float* proj, DevMem2D_<float2> dst,
cudaStream_t stream)
{
cudaSafeCall(cudaMemcpyToSymbol(crot0, rot, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(crot1, rot + 3, sizeof(float) * 3));
@ -108,7 +110,7 @@ namespace cv { namespace gpu
cudaSafeCall(cudaMemcpyToSymbol(ctransl, transl, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(cproj0, proj, sizeof(float) * 3));
cudaSafeCall(cudaMemcpyToSymbol(cproj1, proj + 3, sizeof(float) * 3));
transform(src, dst, ProjectOp());
transform(src, dst, ProjectOp(), stream);
}
} // namespace project_points

89
modules/gpu/src/project_points.cpp
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@ -47,52 +47,95 @@
void cv::gpu::transformPoints(const GpuMat&, const Mat&, const Mat&,
GpuMat&) { throw_nogpu(); }
void cv::gpu::transformPoints(const GpuMat&, const Mat&, const Mat&,
GpuMat&, const Stream&) { throw_nogpu(); }
void cv::gpu::projectPoints(const GpuMat&, const Mat&, const Mat&,
const Mat&, const Mat&, GpuMat&) { throw_nogpu(); }
void cv::gpu::projectPoints(const GpuMat&, const Mat&, const Mat&,
const Mat&, const Mat&, GpuMat&, const Stream&) { throw_nogpu(); }
#else
using namespace cv;
using namespace cv::gpu;
namespace cv { namespace gpu { namespace transform_points
{
void call(const DevMem2D_<float3> src, const float* rot, const float* transl, DevMem2D_<float3> dst);
void call(const DevMem2D_<float3> src, const float* rot, const float* transl,
DevMem2D_<float3> dst, cudaStream_t stream);
}}}
namespace
{
void transformPointsCaller(const GpuMat& src, const Mat& rvec, const Mat& tvec,
GpuMat& dst, cudaStream_t stream)
{
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, stream);
}
}
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);
::transformPointsCaller(src, rvec, tvec, dst, 0);
}
void cv::gpu::transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
GpuMat& dst, const Stream& stream)
{
::transformPointsCaller(src, rvec, tvec, dst, StreamAccessor::getStream(stream));
}
namespace cv { namespace gpu { namespace project_points
{
void call(const DevMem2D_<float3> src, const float* rot, const float* transl, const float* proj, DevMem2D_<float2> dst);
void call(const DevMem2D_<float3> src, const float* rot, const float* transl,
const float* proj, DevMem2D_<float2> dst, cudaStream_t stream);
}}}
namespace
{
void projectPointsCaller(const GpuMat& src, const Mat& rvec, const Mat& tvec,
const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst,
cudaStream_t stream)
{
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,stream);
}
}
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
::projectPointsCaller(src, rvec, tvec, camera_mat, dist_coef, dst, 0);
}
// 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);
void cv::gpu::projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst,
const Stream& stream)
{
::projectPointsCaller(src, rvec, tvec, camera_mat, dist_coef, dst, StreamAccessor::getStream(stream));
}
#endif