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254 lines
10 KiB
C++
254 lines
10 KiB
C++
/*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) 2010-2012, Multicoreware, Inc., all rights reserved.
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// Copyright (C) 2010-2012, Advanced Micro Devices, 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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// @Authors
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// Peng Xiao, pengxiao@multicorewareinc.com
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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 "opencl_kernels.hpp"
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using namespace cv;
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using namespace cv::ocl;
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//////////////////////////////////////////////////////////////////////////////
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// buildWarpPlaneMaps
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void cv::ocl::buildWarpPlaneMaps(Size /*src_size*/, Rect dst_roi, const Mat &K, const Mat &R, const Mat &T,
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float scale, oclMat &map_x, oclMat &map_y)
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{
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CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
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CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
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CV_Assert((T.size() == Size(3, 1) || T.size() == Size(1, 3)) && T.type() == CV_32F && T.isContinuous());
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Mat K_Rinv = K * R.t();
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CV_Assert(K_Rinv.isContinuous());
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Mat KRT_mat(1, 12, CV_32FC1); // 9 + 3
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KRT_mat(Range::all(), Range(0, 8)) = K_Rinv.reshape(1, 1);
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KRT_mat(Range::all(), Range(9, 11)) = T;
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oclMat KRT_oclMat(KRT_mat);
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// transfer K_Rinv and T into a single cl_mem
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map_x.create(dst_roi.size(), CV_32F);
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map_y.create(dst_roi.size(), CV_32F);
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int tl_u = dst_roi.tl().x;
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int tl_v = dst_roi.tl().y;
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Context *clCxt = Context::getContext();
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string kernelName = "buildWarpPlaneMaps";
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vector< pair<size_t, const void *> > args;
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args.push_back( make_pair( sizeof(cl_mem), (void *)&map_x.data));
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args.push_back( make_pair( sizeof(cl_mem), (void *)&map_y.data));
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args.push_back( make_pair( sizeof(cl_mem), (void *)&KRT_mat.data));
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args.push_back( make_pair( sizeof(cl_int), (void *)&tl_u));
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args.push_back( make_pair( sizeof(cl_int), (void *)&tl_v));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.cols));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.rows));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.step));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_y.step));
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args.push_back( make_pair( sizeof(cl_float), (void *)&scale));
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size_t globalThreads[3] = {map_x.cols, map_x.rows, 1};
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size_t localThreads[3] = {32, 8, 1};
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openCLExecuteKernel(clCxt, &build_warps, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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//////////////////////////////////////////////////////////////////////////////
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// buildWarpCylyndricalMaps
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void cv::ocl::buildWarpCylindricalMaps(Size /*src_size*/, Rect dst_roi, const Mat &K, const Mat &R, float scale,
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oclMat &map_x, oclMat &map_y)
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{
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CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
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CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
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Mat K_Rinv = K * R.t();
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CV_Assert(K_Rinv.isContinuous());
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oclMat KR_oclMat(K_Rinv.reshape(1, 1));
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map_x.create(dst_roi.size(), CV_32F);
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map_y.create(dst_roi.size(), CV_32F);
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int tl_u = dst_roi.tl().x;
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int tl_v = dst_roi.tl().y;
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Context *clCxt = Context::getContext();
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string kernelName = "buildWarpCylindricalMaps";
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vector< pair<size_t, const void *> > args;
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args.push_back( make_pair( sizeof(cl_mem), (void *)&map_x.data));
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args.push_back( make_pair( sizeof(cl_mem), (void *)&map_y.data));
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args.push_back( make_pair( sizeof(cl_mem), (void *)&KR_oclMat.data));
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args.push_back( make_pair( sizeof(cl_int), (void *)&tl_u));
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args.push_back( make_pair( sizeof(cl_int), (void *)&tl_v));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.cols));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.rows));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.step));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_y.step));
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args.push_back( make_pair( sizeof(cl_float), (void *)&scale));
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size_t globalThreads[3] = {map_x.cols, map_x.rows, 1};
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size_t localThreads[3] = {32, 8, 1};
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openCLExecuteKernel(clCxt, &build_warps, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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//////////////////////////////////////////////////////////////////////////////
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// buildWarpSphericalMaps
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void cv::ocl::buildWarpSphericalMaps(Size /*src_size*/, Rect dst_roi, const Mat &K, const Mat &R, float scale,
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oclMat &map_x, oclMat &map_y)
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{
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CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
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CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
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Mat K_Rinv = K * R.t();
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CV_Assert(K_Rinv.isContinuous());
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oclMat KR_oclMat(K_Rinv.reshape(1, 1));
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// transfer K_Rinv, R_Kinv into a single cl_mem
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map_x.create(dst_roi.size(), CV_32F);
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map_y.create(dst_roi.size(), CV_32F);
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int tl_u = dst_roi.tl().x;
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int tl_v = dst_roi.tl().y;
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Context *clCxt = Context::getContext();
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string kernelName = "buildWarpSphericalMaps";
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vector< pair<size_t, const void *> > args;
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args.push_back( make_pair( sizeof(cl_mem), (void *)&map_x.data));
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args.push_back( make_pair( sizeof(cl_mem), (void *)&map_y.data));
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args.push_back( make_pair( sizeof(cl_mem), (void *)&KR_oclMat.data));
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args.push_back( make_pair( sizeof(cl_int), (void *)&tl_u));
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args.push_back( make_pair( sizeof(cl_int), (void *)&tl_v));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.cols));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.rows));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.step));
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args.push_back( make_pair( sizeof(cl_int), (void *)&map_y.step));
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args.push_back( make_pair( sizeof(cl_float), (void *)&scale));
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size_t globalThreads[3] = {map_x.cols, map_x.rows, 1};
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size_t localThreads[3] = {32, 8, 1};
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openCLExecuteKernel(clCxt, &build_warps, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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void cv::ocl::buildWarpAffineMaps(const Mat &M, bool inverse, Size dsize, oclMat &xmap, oclMat &ymap)
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{
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CV_Assert(M.rows == 2 && M.cols == 3);
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xmap.create(dsize, CV_32FC1);
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ymap.create(dsize, CV_32FC1);
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float coeffs[2 * 3];
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Mat coeffsMat(2, 3, CV_32F, (void *)coeffs);
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if (inverse)
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M.convertTo(coeffsMat, coeffsMat.type());
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else
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{
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cv::Mat iM;
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invertAffineTransform(M, iM);
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iM.convertTo(coeffsMat, coeffsMat.type());
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}
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oclMat coeffsOclMat(coeffsMat.reshape(1, 1));
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Context *clCxt = Context::getContext();
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string kernelName = "buildWarpAffineMaps";
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vector< pair<size_t, const void *> > args;
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args.push_back( make_pair( sizeof(cl_mem), (void *)&xmap.data));
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args.push_back( make_pair( sizeof(cl_mem), (void *)&ymap.data));
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args.push_back( make_pair( sizeof(cl_mem), (void *)&coeffsOclMat.data));
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args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.cols));
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args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.rows));
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args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.step));
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args.push_back( make_pair( sizeof(cl_int), (void *)&ymap.step));
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size_t globalThreads[3] = {xmap.cols, xmap.rows, 1};
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size_t localThreads[3] = {32, 8, 1};
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openCLExecuteKernel(clCxt, &build_warps, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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void cv::ocl::buildWarpPerspectiveMaps(const Mat &M, bool inverse, Size dsize, oclMat &xmap, oclMat &ymap)
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{
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CV_Assert(M.rows == 3 && M.cols == 3);
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xmap.create(dsize, CV_32FC1);
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ymap.create(dsize, CV_32FC1);
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float coeffs[3 * 3];
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Mat coeffsMat(3, 3, CV_32F, (void *)coeffs);
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if (inverse)
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M.convertTo(coeffsMat, coeffsMat.type());
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else
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{
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cv::Mat iM;
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invert(M, iM);
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iM.convertTo(coeffsMat, coeffsMat.type());
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}
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oclMat coeffsOclMat(coeffsMat.reshape(1, 1));
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Context *clCxt = Context::getContext();
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string kernelName = "buildWarpPerspectiveMaps";
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vector< pair<size_t, const void *> > args;
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args.push_back( make_pair( sizeof(cl_mem), (void *)&xmap.data));
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args.push_back( make_pair( sizeof(cl_mem), (void *)&ymap.data));
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args.push_back( make_pair( sizeof(cl_mem), (void *)&coeffsOclMat.data));
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args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.cols));
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args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.rows));
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args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.step));
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args.push_back( make_pair( sizeof(cl_int), (void *)&ymap.step));
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size_t globalThreads[3] = {xmap.cols, xmap.rows, 1};
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size_t localThreads[3] = {32, 8, 1};
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openCLExecuteKernel(clCxt, &build_warps, kernelName, globalThreads, localThreads, args, -1, -1);
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}
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