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Commit 4248f822 authored by Ilya Lavrenov's avatar Ilya Lavrenov
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added ROI support to ocl::buildWarp*Maps functions

parent 0be27523
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Showing with 137 additions and 148 deletions
modules/ocl/src/build_warps.cpp
View file @ 4248f822
......@@ -53,7 +53,7 @@ using namespace cv::ocl;
// buildWarpPlaneMaps
void cv::ocl::buildWarpPlaneMaps(Size /*src_size*/, Rect dst_roi, const Mat &K, const Mat &R, const Mat &T,
float scale, oclMat &map_x, oclMat &map_y)
float scale, oclMat &xmap, oclMat &ymap)
{
CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
......@@ -68,37 +68,40 @@ void cv::ocl::buildWarpPlaneMaps(Size /*src_size*/, Rect dst_roi, const Mat &K,
oclMat KRT_oclMat(KRT_mat);
// transfer K_Rinv and T into a single cl_mem
map_x.create(dst_roi.size(), CV_32F);
map_y.create(dst_roi.size(), CV_32F);
xmap.create(dst_roi.size(), CV_32F);
ymap.create(dst_roi.size(), CV_32F);
int tl_u = dst_roi.tl().x;
int tl_v = dst_roi.tl().y;
Context *clCxt = Context::getContext();
string kernelName = "buildWarpPlaneMaps";
vector< pair<size_t, const void *> > args;
int xmap_step = xmap.step / xmap.elemSize(), xmap_offset = xmap.offset / xmap.elemSize();
int ymap_step = ymap.step / ymap.elemSize(), ymap_offset = ymap.offset / ymap.elemSize();
args.push_back( make_pair( sizeof(cl_mem), (void *)&map_x.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&map_y.data));
vector< pair<size_t, const void *> > args;
args.push_back( make_pair( sizeof(cl_mem), (void *)&xmap.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&ymap.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&KRT_mat.data));
args.push_back( make_pair( sizeof(cl_int), (void *)&tl_u));
args.push_back( make_pair( sizeof(cl_int), (void *)&tl_v));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.cols));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.rows));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.step));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_y.step));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.cols));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.rows));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap_step));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_step));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap_offset));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_offset));
args.push_back( make_pair( sizeof(cl_float), (void *)&scale));
size_t globalThreads[3] = {map_x.cols, map_x.rows, 1};
size_t localThreads[3] = {32, 8, 1};
openCLExecuteKernel(clCxt, &build_warps, kernelName, globalThreads, localThreads, args, -1, -1);
size_t globalThreads[3] = { xmap.cols, xmap.rows, 1 };
size_t localThreads[3] = { 32, 8, 1 };
openCLExecuteKernel(Context::getContext(), &build_warps, "buildWarpPlaneMaps", globalThreads, localThreads, args, -1, -1);
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpCylyndricalMaps
void cv::ocl::buildWarpCylindricalMaps(Size /*src_size*/, Rect dst_roi, const Mat &K, const Mat &R, float scale,
oclMat &map_x, oclMat &map_y)
oclMat &xmap, oclMat &ymap)
{
CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
......@@ -108,36 +111,40 @@ void cv::ocl::buildWarpCylindricalMaps(Size /*src_size*/, Rect dst_roi, const Ma
oclMat KR_oclMat(K_Rinv.reshape(1, 1));
map_x.create(dst_roi.size(), CV_32F);
map_y.create(dst_roi.size(), CV_32F);
xmap.create(dst_roi.size(), CV_32F);
ymap.create(dst_roi.size(), CV_32F);
int tl_u = dst_roi.tl().x;
int tl_v = dst_roi.tl().y;
Context *clCxt = Context::getContext();
string kernelName = "buildWarpCylindricalMaps";
vector< pair<size_t, const void *> > args;
int xmap_step = xmap.step / xmap.elemSize(), xmap_offset = xmap.offset / xmap.elemSize();
int ymap_step = ymap.step / ymap.elemSize(), ymap_offset = ymap.offset / ymap.elemSize();
args.push_back( make_pair( sizeof(cl_mem), (void *)&map_x.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&map_y.data));
vector< pair<size_t, const void *> > args;
args.push_back( make_pair( sizeof(cl_mem), (void *)&xmap.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&ymap.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&KR_oclMat.data));
args.push_back( make_pair( sizeof(cl_int), (void *)&tl_u));
args.push_back( make_pair( sizeof(cl_int), (void *)&tl_v));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.cols));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.rows));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.step));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_y.step));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.cols));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.rows));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap_step));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_step));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap_offset));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_offset));
args.push_back( make_pair( sizeof(cl_float), (void *)&scale));
size_t globalThreads[3] = {map_x.cols, map_x.rows, 1};
size_t localThreads[3] = {32, 8, 1};
openCLExecuteKernel(clCxt, &build_warps, kernelName, globalThreads, localThreads, args, -1, -1);
size_t globalThreads[3] = { xmap.cols, xmap.rows, 1 };
size_t localThreads[3] = { 32, 8, 1 };
openCLExecuteKernel(Context::getContext(), &build_warps, "buildWarpCylindricalMaps", globalThreads, localThreads, args, -1, -1);
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpSphericalMaps
void cv::ocl::buildWarpSphericalMaps(Size /*src_size*/, Rect dst_roi, const Mat &K, const Mat &R, float scale,
oclMat &map_x, oclMat &map_y)
oclMat &xmap, oclMat &ymap)
{
CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
......@@ -147,37 +154,41 @@ void cv::ocl::buildWarpSphericalMaps(Size /*src_size*/, Rect dst_roi, const Mat
oclMat KR_oclMat(K_Rinv.reshape(1, 1));
// transfer K_Rinv, R_Kinv into a single cl_mem
map_x.create(dst_roi.size(), CV_32F);
map_y.create(dst_roi.size(), CV_32F);
xmap.create(dst_roi.size(), CV_32F);
ymap.create(dst_roi.size(), CV_32F);
int tl_u = dst_roi.tl().x;
int tl_v = dst_roi.tl().y;
Context *clCxt = Context::getContext();
string kernelName = "buildWarpSphericalMaps";
vector< pair<size_t, const void *> > args;
int xmap_step = xmap.step / xmap.elemSize(), xmap_offset = xmap.offset / xmap.elemSize();
int ymap_step = ymap.step / ymap.elemSize(), ymap_offset = ymap.offset / ymap.elemSize();
args.push_back( make_pair( sizeof(cl_mem), (void *)&map_x.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&map_y.data));
vector< pair<size_t, const void *> > args;
args.push_back( make_pair( sizeof(cl_mem), (void *)&xmap.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&ymap.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&KR_oclMat.data));
args.push_back( make_pair( sizeof(cl_int), (void *)&tl_u));
args.push_back( make_pair( sizeof(cl_int), (void *)&tl_v));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.cols));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.rows));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_x.step));
args.push_back( make_pair( sizeof(cl_int), (void *)&map_y.step));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.cols));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.rows));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap_step));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_step));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap_offset));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_offset));
args.push_back( make_pair( sizeof(cl_float), (void *)&scale));
size_t globalThreads[3] = {map_x.cols, map_x.rows, 1};
size_t localThreads[3] = {32, 8, 1};
openCLExecuteKernel(clCxt, &build_warps, kernelName, globalThreads, localThreads, args, -1, -1);
size_t globalThreads[3] = { xmap.cols, xmap.rows, 1 };
size_t localThreads[3] = { 32, 8, 1 };
openCLExecuteKernel(Context::getContext(), &build_warps, "buildWarpSphericalMaps", globalThreads, localThreads, args, -1, -1);
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpAffineMaps
void cv::ocl::buildWarpAffineMaps(const Mat &M, bool inverse, Size dsize, oclMat &xmap, oclMat &ymap)
{
CV_Assert(M.rows == 2 && M.cols == 3);
CV_Assert(dsize.area());
xmap.create(dsize, CV_32FC1);
ymap.create(dsize, CV_32FC1);
......@@ -194,29 +205,34 @@ void cv::ocl::buildWarpAffineMaps(const Mat &M, bool inverse, Size dsize, oclMat
iM.convertTo(coeffsMat, coeffsMat.type());
}
int xmap_step = xmap.step / xmap.elemSize(), xmap_offset = xmap.offset / xmap.elemSize();
int ymap_step = ymap.step / ymap.elemSize(), ymap_offset = ymap.offset / ymap.elemSize();
oclMat coeffsOclMat(coeffsMat.reshape(1, 1));
Context *clCxt = Context::getContext();
string kernelName = "buildWarpAffineMaps";
vector< pair<size_t, const void *> > args;
args.push_back( make_pair( sizeof(cl_mem), (void *)&xmap.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&ymap.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&coeffsOclMat.data));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.cols));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.rows));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.step));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap.step));
size_t globalThreads[3] = {xmap.cols, xmap.rows, 1};
size_t localThreads[3] = {32, 8, 1};
openCLExecuteKernel(clCxt, &build_warps, kernelName, globalThreads, localThreads, args, -1, -1);
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap_step));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_step));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap_offset));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_offset));
size_t globalThreads[3] = { xmap.cols, xmap.rows, 1 };
size_t localThreads[3] = { 32, 8, 1 };
openCLExecuteKernel(Context::getContext(), &build_warps, "buildWarpAffineMaps", globalThreads, localThreads, args, -1, -1);
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpPerspectiveMaps
void cv::ocl::buildWarpPerspectiveMaps(const Mat &M, bool inverse, Size dsize, oclMat &xmap, oclMat &ymap)
{
CV_Assert(M.rows == 3 && M.cols == 3);
CV_Assert(dsize.area() > 0);
xmap.create(dsize, CV_32FC1);
ymap.create(dsize, CV_32FC1);
......@@ -235,19 +251,21 @@ void cv::ocl::buildWarpPerspectiveMaps(const Mat &M, bool inverse, Size dsize, o
oclMat coeffsOclMat(coeffsMat.reshape(1, 1));
Context *clCxt = Context::getContext();
string kernelName = "buildWarpPerspectiveMaps";
vector< pair<size_t, const void *> > args;
int xmap_step = xmap.step / xmap.elemSize(), xmap_offset = xmap.offset / xmap.elemSize();
int ymap_step = ymap.step / ymap.elemSize(), ymap_offset = ymap.offset / ymap.elemSize();
vector< pair<size_t, const void *> > args;
args.push_back( make_pair( sizeof(cl_mem), (void *)&xmap.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&ymap.data));
args.push_back( make_pair( sizeof(cl_mem), (void *)&coeffsOclMat.data));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.cols));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.rows));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap.step));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap.step));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap_step));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_step));
args.push_back( make_pair( sizeof(cl_int), (void *)&xmap_offset));
args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_offset));
size_t globalThreads[3] = { xmap.cols, xmap.rows, 1 };
size_t globalThreads[3] = {xmap.cols, xmap.rows, 1};
size_t localThreads[3] = {32, 8, 1};
openCLExecuteKernel(clCxt, &build_warps, kernelName, globalThreads, localThreads, args, -1, -1);
openCLExecuteKernel(Context::getContext(), &build_warps, "buildWarpPerspectiveMaps", globalThreads, NULL, args, -1, -1);
}
modules/ocl/src/opencl/build_warps.cl
View file @ 4248f822
......@@ -43,31 +43,25 @@
//
//M*/
__kernel
void buildWarpPlaneMaps
(
__global float * map_x,
__global float * map_y,
__kernel void buildWarpPlaneMaps(__global float * xmap, __global float * ymap,
__constant float * KRT,
int tl_u,
int tl_v,
int cols,
int rows,
int step_x,
int step_y,
float scale
)
int tl_u, int tl_v,
int cols, int rows,
int xmap_step, int ymap_step,
int xmap_offset, int ymap_offset,
float scale)
{
int du = get_global_id(0);
int dv = get_global_id(1);
step_x /= sizeof(float);
step_y /= sizeof(float);
__constant float * ck_rinv = KRT;
__constant float * ct = KRT + 9;
if (du < cols && dv < rows)
{
int xmap_index = mad24(dv, xmap_step, xmap_offset + du);
int ymap_index = mad24(dv, ymap_step, ymap_offset + du);
float u = tl_u + du;
float v = tl_v + dv;
float x, y;
......@@ -83,33 +77,27 @@ __kernel
x /= z;
y /= z;
map_x[dv * step_x + du] = x;
map_y[dv * step_y + du] = y;
xmap[xmap_index] = x;
ymap[ymap_index] = y;
}
}
__kernel
void buildWarpCylindricalMaps
(
__global float * map_x,
__global float * map_y,
__kernel void buildWarpCylindricalMaps(__global float * xmap, __global float * ymap,
__constant float * ck_rinv,
int tl_u,
int tl_v,
int cols,
int rows,
int step_x,
int step_y,
float scale
)
int tl_u, int tl_v,
int cols, int rows,
int xmap_step, int ymap_step,
int xmap_offset, int ymap_offset,
float scale)
{
int du = get_global_id(0);
int dv = get_global_id(1);
step_x /= sizeof(float);
step_y /= sizeof(float);
if (du < cols && dv < rows)
{
int xmap_index = mad24(dv, xmap_step, xmap_offset + du);
int ymap_index = mad24(dv, ymap_step, ymap_offset + du);
float u = tl_u + du;
float v = tl_v + dv;
float x, y;
......@@ -127,33 +115,27 @@ __kernel
if (z > 0) { x /= z; y /= z; }
else x = y = -1;
map_x[dv * step_x + du] = x;
map_y[dv * step_y + du] = y;
xmap[xmap_index] = x;
ymap[ymap_index] = y;
}
}
__kernel
void buildWarpSphericalMaps
(
__global float * map_x,
__global float * map_y,
__kernel void buildWarpSphericalMaps(__global float * xmap, __global float * ymap,
__constant float * ck_rinv,
int tl_u,
int tl_v,
int cols,
int rows,
int step_x,
int step_y,
float scale
)
int tl_u, int tl_v,
int cols, int rows,
int xmap_step, int ymap_step,
int xmap_offset, int ymap_offset,
float scale)
{
int du = get_global_id(0);
int dv = get_global_id(1);
step_x /= sizeof(float);
step_y /= sizeof(float);
if (du < cols && dv < rows)
{
int xmap_index = mad24(dv, xmap_step, xmap_offset + du);
int ymap_index = mad24(dv, ymap_step, ymap_offset + du);
float u = tl_u + du;
float v = tl_v + dv;
float x, y;
......@@ -174,63 +156,52 @@ __kernel
if (z > 0) { x /= z; y /= z; }
else x = y = -1;
map_x[dv * step_x + du] = x;
map_y[dv * step_y + du] = y;
xmap[xmap_index] = x;
ymap[ymap_index] = y;
}
}
__kernel
void buildWarpAffineMaps
(
__global float * xmap,
__global float * ymap,
__kernel void buildWarpAffineMaps(__global float * xmap, __global float * ymap,
__constant float * c_warpMat,
int cols,
int rows,
int step_x,
int step_y
)
int cols, int rows,
int xmap_step, int ymap_step,
int xmap_offset, int ymap_offset)
{
int x = get_global_id(0);
int y = get_global_id(1);
step_x /= sizeof(float);
step_y /= sizeof(float);
if (x < cols && y < rows)
{
const float xcoo = c_warpMat[0] * x + c_warpMat[1] * y + c_warpMat[2];
const float ycoo = c_warpMat[3] * x + c_warpMat[4] * y + c_warpMat[5];
int xmap_index = mad24(y, xmap_step, x + xmap_offset);
int ymap_index = mad24(y, ymap_step, x + ymap_offset);
float xcoo = c_warpMat[0] * x + c_warpMat[1] * y + c_warpMat[2];
float ycoo = c_warpMat[3] * x + c_warpMat[4] * y + c_warpMat[5];
map_x[y * step_x + x] = xcoo;
map_y[y * step_y + x] = ycoo;
xmap[xmap_index] = xcoo;
ymap[ymap_index] = ycoo;
}
}
__kernel
void buildWarpPerspectiveMaps
(
__global float * xmap,
__global float * ymap,
__kernel void buildWarpPerspectiveMaps(__global float * xmap, __global float * ymap,
__constant float * c_warpMat,
int cols,
int rows,
int step_x,
int step_y
)
int cols, int rows,
int xmap_step, int ymap_step,
int xmap_offset, int ymap_offset)
{
int x = get_global_id(0);
int y = get_global_id(1);
step_x /= sizeof(float);
step_y /= sizeof(float);
if (x < cols && y < rows)
{
const float coeff = 1.0f / (c_warpMat[6] * x + c_warpMat[7] * y + c_warpMat[8]);
int xmap_index = mad24(y, xmap_step, x + xmap_offset);
int ymap_index = mad24(y, ymap_step, x + ymap_offset);
const float xcoo = coeff * (c_warpMat[0] * x + c_warpMat[1] * y + c_warpMat[2]);
const float ycoo = coeff * (c_warpMat[3] * x + c_warpMat[4] * y + c_warpMat[5]);
float coeff = 1.0f / (c_warpMat[6] * x + c_warpMat[7] * y + c_warpMat[8]);
float xcoo = coeff * (c_warpMat[0] * x + c_warpMat[1] * y + c_warpMat[2]);
float ycoo = coeff * (c_warpMat[3] * x + c_warpMat[4] * y + c_warpMat[5]);
map_x[y * step_x + x] = xcoo;
map_y[y * step_y + x] = ycoo;
xmap[xmap_index] = xcoo;
ymap[ymap_index] = ycoo;
}
}
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