Merge pull request #2112 from ilya-lavrenov:tapi_stitching

modules/stitching/doc/warpers.rst

@@ -14,17 +14,17 @@ Rotation-only model image warper interface. ::
     public:
         virtual ~RotationWarper() {}
 
-        virtual Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R) = 0;
+        virtual Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R) = 0;
 
-        virtual Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap) = 0;
+        virtual Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap) = 0;
 
-        virtual Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
-                           Mat &dst) = 0;
+        virtual Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                           OutputArray dst) = 0;
 
-        virtual void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
-                                  Size dst_size, Mat &dst) = 0;
+        virtual void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                                  Size dst_size, OutputArray dst) = 0;
 
-        virtual Rect warpRoi(Size src_size, const Mat &K, const Mat &R) = 0;
+        virtual Rect warpRoi(Size src_size, InputArray K, InputArray R) = 0;
     };
 
 detail::RotationWarper::warpPoint
@@ -32,7 +32,7 @@ detail::RotationWarper::warpPoint
 
 Projects the image point.
 
-.. ocv:function:: Point2f detail::RotationWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R)
+.. ocv:function:: Point2f detail::RotationWarper::warpPoint(const Point2f &pt, InputArray K, InputArray R)
 
     :param pt: Source point
 
@@ -47,7 +47,7 @@ detail::RotationWarper::buildMaps
 
 Builds the projection maps according to the given camera data.
 
-.. ocv:function:: Rect detail::RotationWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
+.. ocv:function:: Rect detail::RotationWarper::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
 
     :param src_size: Source image size
 
@@ -66,7 +66,7 @@ detail::RotationWarper::warp
 
 Projects the image.
 
-.. ocv:function:: Point detail::RotationWarper::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Mat &dst)
+.. ocv:function:: Point detail::RotationWarper::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst)
 
     :param src: Source image
 
@@ -87,7 +87,7 @@ detail::RotationWarper::warpBackward
 
 Projects the image backward.
 
-.. ocv:function:: void detail::RotationWarper::warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode, Size dst_size, Mat &dst)
+.. ocv:function:: void detail::RotationWarper::warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, Size dst_size, OutputArray dst)
 
     :param src: Projected image
 
@@ -106,7 +106,7 @@ Projects the image backward.
 detail::RotationWarper::warpRoi
 -------------------------------
 
-.. ocv:function:: Rect detail::RotationWarper::warpRoi(Size src_size, const Mat &K, const Mat &R)
+.. ocv:function:: Rect detail::RotationWarper::warpRoi(Size src_size, InputArray K, InputArray R)
 
     :param src_size: Source image bounding box
 
@@ -124,9 +124,9 @@ Base class for warping logic implementation. ::
 
     struct CV_EXPORTS ProjectorBase
     {
-        void setCameraParams(const Mat &K = Mat::eye(3, 3, CV_32F),
-                            const Mat &R = Mat::eye(3, 3, CV_32F),
-                            const Mat &T = Mat::zeros(3, 1, CV_32F));
+        void setCameraParams(InputArray K = Mat::eye(3, 3, CV_32F),
+                            InputArray R = Mat::eye(3, 3, CV_32F),
+                            InputArray T = Mat::zeros(3, 1, CV_32F));
 
         float scale;
         float k[9];
@@ -146,17 +146,17 @@ Base class for rotation-based warper using a `detail::ProjectorBase`_ derived cl
     class CV_EXPORTS RotationWarperBase : public RotationWarper
     {
     public:
-        Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R);
+        Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R);
 
-        Rect buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap);
+        Rect buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap);
 
-        Point warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
-                Mat &dst);
+        Point warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                OutputArray dst);
 
-        void warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
-                        Size dst_size, Mat &dst);
+        void warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                        Size dst_size, OutputArray dst);
 
-        Rect warpRoi(Size src_size, const Mat &K, const Mat &R);
+        Rect warpRoi(Size src_size, InputArray K, InputArray R);
 
     protected:
 
@@ -183,14 +183,14 @@ Warper that maps an image onto the z = 1 plane. ::
 
         void setScale(float scale) { projector_.scale = scale; }
 
-        Point2f warpPoint(const Point2f &pt, const Mat &K, const Mat &R, const Mat &T);
+        Point2f warpPoint(const Point2f &pt, InputArray K, InputArray R, InputArray T);
 
-        Rect buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap);
+        Rect buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap);
 
-        Point warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
-                   Mat &dst);
+        Point warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
+                   OutputArray dst);
 
-        Rect warpRoi(Size src_size, const Mat &K, const Mat &R, const Mat &T);
+        Rect warpRoi(Size src_size, InputArray K, InputArray R, InputArray T);
 
     protected:
         void detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br);

modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp

@@ -51,7 +51,7 @@ namespace cv {
 namespace detail {
 
 template <class P>
-Point2f RotationWarperBase<P>::warpPoint(const Point2f &pt, const Mat &K, const Mat &R)
+Point2f RotationWarperBase<P>::warpPoint(const Point2f &pt, InputArray K, InputArray R)
 {
     projector_.setCameraParams(K, R);
     Point2f uv;
@@ -61,15 +61,17 @@ Point2f RotationWarperBase<P>::warpPoint(const Point2f &pt, const Mat &K, const
 
 
 template <class P>
-Rect RotationWarperBase<P>::buildMaps(Size src_size, const Mat &K, const Mat &R, Mat &xmap, Mat &ymap)
+Rect RotationWarperBase<P>::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray _xmap, OutputArray _ymap)
 {
     projector_.setCameraParams(K, R);
 
     Point dst_tl, dst_br;
     detectResultRoi(src_size, dst_tl, dst_br);
 
-    xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
-    ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
+    _xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
+    _ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
+
+    Mat xmap = _xmap.getMat(), ymap = _ymap.getMat();
 
     float x, y;
     for (int v = dst_tl.y; v <= dst_br.y; ++v)
@@ -87,8 +89,8 @@ Rect RotationWarperBase<P>::buildMaps(Size src_size, const Mat &K, const Mat &R,
 
 
 template <class P>
-Point RotationWarperBase<P>::warp(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
-                                  Mat &dst)
+Point RotationWarperBase<P>::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                                  OutputArray dst)
 {
     Mat xmap, ymap;
     Rect dst_roi = buildMaps(src.size(), K, R, xmap, ymap);
@@ -101,14 +103,16 @@ Point RotationWarperBase<P>::warp(const Mat &src, const Mat &K, const Mat &R, in
 
 
 template <class P>
-void RotationWarperBase<P>::warpBackward(const Mat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
-                                         Size dst_size, Mat &dst)
+void RotationWarperBase<P>::warpBackward(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                                         Size dst_size, OutputArray dst)
 {
     projector_.setCameraParams(K, R);
 
     Point src_tl, src_br;
     detectResultRoi(dst_size, src_tl, src_br);
-    CV_Assert(src_br.x - src_tl.x + 1 == src.cols && src_br.y - src_tl.y + 1 == src.rows);
+
+    Size size = src.size();
+    CV_Assert(src_br.x - src_tl.x + 1 == size.width && src_br.y - src_tl.y + 1 == size.height);
 
     Mat xmap(dst_size, CV_32F);
     Mat ymap(dst_size, CV_32F);
@@ -130,7 +134,7 @@ void RotationWarperBase<P>::warpBackward(const Mat &src, const Mat &K, const Mat
 
 
 template <class P>
-Rect RotationWarperBase<P>::warpRoi(Size src_size, const Mat &K, const Mat &R)
+Rect RotationWarperBase<P>::warpRoi(Size src_size, InputArray K, InputArray R)
 {
     projector_.setCameraParams(K, R);
 

modules/stitching/include/opencv2/stitching/warpers.hpp

@@ -167,6 +167,24 @@ public:
 };
 #endif
 
+class PlaneWarperOcl: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::PlaneWarperOcl>(scale); }
+};
+
+class SphericalWarperOcl: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::SphericalWarperOcl>(scale); }
+};
+
+class CylindricalWarperOcl: public WarperCreator
+{
+public:
+    Ptr<detail::RotationWarper> create(float scale) const { return makePtr<detail::CylindricalWarperOcl>(scale); }
+};
+
 } // namespace cv
 
 #endif // __OPENCV_STITCHING_WARPER_CREATORS_HPP__

modules/stitching/src/opencl/warpers.cl

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
+// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// @Authors
+//    Peng Xiao, pengxiao@multicorewareinc.com
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors as is and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+__kernel void buildWarpPlaneMaps(__global uchar * xmapptr, int xmap_step, int xmap_offset,
+                                 __global uchar * ymapptr, int ymap_step, int ymap_offset, int rows, int cols,
+                                 __constant float * ck_rinv, __constant float * ct,
+                                 int tl_u, int tl_v, float scale)
+{
+    int du = get_global_id(0);
+    int dv = get_global_id(1);
+
+    if (du < cols && dv < rows)
+    {
+        __global float * xmap = (__global float *)(xmapptr + mad24(dv, xmap_step, xmap_offset + du * (int)sizeof(float)));
+        __global float * ymap = (__global float *)(ymapptr + mad24(dv, ymap_step, ymap_offset + du * (int)sizeof(float)));
+
+        float u = tl_u + du;
+        float v = tl_v + dv;
+        float x, y;
+
+        float x_ = u / scale - ct[0];
+        float y_ = v / scale - ct[1];
+
+        float z;
+        x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * (1 - ct[2]);
+        y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * (1 - ct[2]);
+        z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * (1 - ct[2]);
+
+        x /= z;
+        y /= z;
+
+        xmap[0] = x;
+        ymap[0] = y;
+    }
+}
+
+__kernel void buildWarpCylindricalMaps(__global uchar * xmapptr, int xmap_step, int xmap_offset,
+                                       __global uchar * ymapptr, int ymap_step, int ymap_offset, int rows, int cols,
+                                       __constant float * ck_rinv, int tl_u, int tl_v, float scale)
+{
+    int du = get_global_id(0);
+    int dv = get_global_id(1);
+
+    if (du < cols && dv < rows)
+    {
+        __global float * xmap = (__global float *)(xmapptr + mad24(dv, xmap_step, xmap_offset + du * (int)sizeof(float)));
+        __global float * ymap = (__global float *)(ymapptr + mad24(dv, ymap_step, ymap_offset + du * (int)sizeof(float)));
+
+        float u = tl_u + du;
+        float v = tl_v + dv;
+        float x, y;
+
+        u /= scale;
+        float x_ = sin(u);
+        float y_ = v / scale;
+        float z_ = cos(u);
+
+        float z;
+        x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
+        y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
+        z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
+
+        if (z > 0) x /= z, y /= z;
+        else x = y = -1;
+
+        xmap[0] = x;
+        ymap[0] = y;
+    }
+}
+
+__kernel void buildWarpSphericalMaps(__global uchar * xmapptr, int xmap_step, int xmap_offset,
+                                     __global uchar * ymapptr, int ymap_step, int ymap_offset, int rows, int cols,
+                                     __constant float * ck_rinv, int tl_u, int tl_v, float scale)
+{
+    int du = get_global_id(0);
+    int dv = get_global_id(1);
+
+    if (du < cols && dv < rows)
+    {
+        __global float * xmap = (__global float *)(xmapptr + mad24(dv, xmap_step, xmap_offset + du * (int)sizeof(float)));
+        __global float * ymap = (__global float *)(ymapptr + mad24(dv, ymap_step, ymap_offset + du * (int)sizeof(float)));
+
+        float u = tl_u + du;
+        float v = tl_v + dv;
+        float x, y;
+
+        v /= scale;
+        u /= scale;
+
+        float sinv = sin(v);
+        float x_ = sinv * sin(u);
+        float y_ = -cos(v);
+        float z_ = sinv * cos(u);
+
+        float z;
+        x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
+        y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
+        z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
+
+        if (z > 0) x /= z, y /= z;
+        else x = y = -1;
+
+        xmap[0] = x;
+        ymap[0] = y;
+    }
+}

modules/stitching/src/precomp.hpp

@@ -53,6 +53,7 @@
 #include <sstream>
 #include <cmath>
 #include "opencv2/core.hpp"
+#include "opencv2/core/ocl.hpp"
 #include "opencv2/core/utility.hpp"
 #include "opencv2/stitching.hpp"
 #include "opencv2/stitching/detail/autocalib.hpp"

modules/stitching/src/warpers.cpp

@@ -45,8 +45,10 @@
 namespace cv {
 namespace detail {
 
-void ProjectorBase::setCameraParams(const Mat &K, const Mat &R, const Mat &T)
+void ProjectorBase::setCameraParams(InputArray _K, InputArray _R, InputArray _T)
 {
+    Mat K = _K.getMat(), R = _R.getMat(), T = _T.getMat();
+
     CV_Assert(K.size() == Size(3, 3) && K.type() == CV_32F);
     CV_Assert(R.size() == Size(3, 3) && R.type() == CV_32F);
     CV_Assert((T.size() == Size(1, 3) || T.size() == Size(3, 1)) && T.type() == CV_32F);
@@ -76,7 +78,7 @@ void ProjectorBase::setCameraParams(const Mat &K, const Mat &R, const Mat &T)
 }
 
 
-Point2f PlaneWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R, const Mat &T)
+Point2f PlaneWarper::warpPoint(const Point2f &pt, InputArray K, InputArray R, InputArray T)
 {
     projector_.setCameraParams(K, R, T);
     Point2f uv;
@@ -85,15 +87,17 @@ Point2f PlaneWarper::warpPoint(const Point2f &pt, const Mat &K, const Mat &R, co
 }
 
 
-Rect PlaneWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, Mat &xmap, Mat &ymap)
+Rect PlaneWarper::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray _xmap, OutputArray _ymap)
 {
     projector_.setCameraParams(K, R, T);
 
     Point dst_tl, dst_br;
     detectResultRoi(src_size, dst_tl, dst_br);
 
-    xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
-    ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
+    _xmap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
+    _ymap.create(dst_br.y - dst_tl.y + 1, dst_br.x - dst_tl.x + 1, CV_32F);
+
+    Mat xmap = _xmap.getMat(), ymap = _ymap.getMat();
 
     float x, y;
     for (int v = dst_tl.y; v <= dst_br.y; ++v)
@@ -110,8 +114,8 @@ Rect PlaneWarper::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat
 }
 
 
-Point PlaneWarper::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
-                        Mat &dst)
+Point PlaneWarper::warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
+                        OutputArray dst)
 {
     Mat xmap, ymap;
     Rect dst_roi = buildMaps(src.size(), K, R, T, xmap, ymap);
@@ -123,7 +127,7 @@ Point PlaneWarper::warp(const Mat &src, const Mat &K, const Mat &R, const Mat &T
 }
 
 
-Rect PlaneWarper::warpRoi(Size src_size, const Mat &K, const Mat &R, const Mat &T)
+Rect PlaneWarper::warpRoi(Size src_size, InputArray K, InputArray R, InputArray T)
 {
     projector_.setCameraParams(K, R, T);
 
@@ -211,12 +215,12 @@ void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_b
 
 
 #ifdef HAVE_OPENCV_CUDAWARPING
-Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, cuda::GpuMat &xmap, cuda::GpuMat &ymap)
+Rect PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
 {
     return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap);
 }
 
-Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, const Mat &T, cuda::GpuMat &xmap, cuda::GpuMat &ymap)
+Rect PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
 {
     projector_.setCameraParams(K, R, T);
 
@@ -229,15 +233,15 @@ Rect PlaneWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, const
     return Rect(dst_tl, dst_br);
 }
 
-Point PlaneWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
-                           cuda::GpuMat &dst)
+Point PlaneWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                           cuda::GpuMat & dst)
 {
     return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
 }
 
 
-Point PlaneWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, const Mat &T, int interp_mode, int border_mode,
-                           cuda::GpuMat &dst)
+Point PlaneWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode,
+                           cuda::GpuMat & dst)
 {
     Rect dst_roi = buildMaps(src.size(), K, R, T, d_xmap_, d_ymap_);
     dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
@@ -246,7 +250,7 @@ Point PlaneWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat &R,
 }
 
 
-Rect SphericalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, cuda::GpuMat &xmap, cuda::GpuMat &ymap)
+Rect SphericalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
 {
     projector_.setCameraParams(K, R);
 
@@ -260,8 +264,8 @@ Rect SphericalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, cu
 }
 
 
-Point SphericalWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
-                               cuda::GpuMat &dst)
+Point SphericalWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                               cuda::GpuMat & dst)
 {
     Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
     dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
@@ -270,7 +274,7 @@ Point SphericalWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat
 }
 
 
-Rect CylindricalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R, cuda::GpuMat &xmap, cuda::GpuMat &ymap)
+Rect CylindricalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
 {
     projector_.setCameraParams(K, R);
 
@@ -284,8 +288,8 @@ Rect CylindricalWarperGpu::buildMaps(Size src_size, const Mat &K, const Mat &R,
 }
 
 
-Point CylindricalWarperGpu::warp(const cuda::GpuMat &src, const Mat &K, const Mat &R, int interp_mode, int border_mode,
-                                 cuda::GpuMat &dst)
+Point CylindricalWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, int interp_mode, int border_mode,
+                                 cuda::GpuMat & dst)
 {
     Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
     dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());

modules/stitching/src/warpers_ocl.cpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "precomp.hpp"
+#include "opencl_kernels.hpp"
+
+namespace cv {
+namespace detail {
+
+/////////////////////////////////////////// PlaneWarperOcl ////////////////////////////////////////////
+
+Rect PlaneWarperOcl::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, OutputArray xmap, OutputArray ymap)
+{
+    projector_.setCameraParams(K, R);
+
+    Point dst_tl, dst_br;
+    detectResultRoi(src_size, dst_tl, dst_br);
+
+    if (ocl::useOpenCL())
+    {
+        ocl::Kernel k("buildWarpPlaneMaps", ocl::stitching::warpers_oclsrc);
+        if (!k.empty())
+        {
+            Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
+            xmap.create(dsize, CV_32FC1);
+            ymap.create(dsize, CV_32FC1);
+
+            Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv), t(1, 3, CV_32FC1, projector_.t);
+            UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(),
+                    ur_kinv = r_kinv.getUMat(ACCESS_READ), ut = t.getUMat(ACCESS_READ);
+
+            k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
+                   ocl::KernelArg::PtrReadOnly(ur_kinv), ocl::KernelArg::PtrReadOnly(ut),
+                   dst_tl.x, dst_tl.y, projector_.scale);
+
+            size_t globalsize[2] = { dsize.width, dsize.height };
+            if (k.run(2, globalsize, NULL, true))
+                return Rect(dst_tl, dst_br);
+        }
+    }
+
+    return PlaneWarper::buildMaps(src_size, K, R, T, xmap, ymap);
+}
+
+Point PlaneWarperOcl::warp(InputArray src, InputArray K, InputArray R, InputArray T, int interp_mode, int border_mode, OutputArray dst)
+{
+    UMat uxmap, uymap;
+    Rect dst_roi = buildMaps(src.size(), K, R, T, uxmap, uymap);
+
+    dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
+    UMat udst = dst.getUMat();
+    remap(src, udst, uxmap, uymap, interp_mode, border_mode);
+
+    return dst_roi.tl();
+}
+
+/////////////////////////////////////////// SphericalWarperOcl ////////////////////////////////////////
+
+Rect SphericalWarperOcl::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
+{
+    projector_.setCameraParams(K, R);
+
+    Point dst_tl, dst_br;
+    detectResultRoi(src_size, dst_tl, dst_br);
+
+    if (ocl::useOpenCL())
+    {
+        ocl::Kernel k("buildWarpSphericalMaps", ocl::stitching::warpers_oclsrc);
+        if (!k.empty())
+        {
+            Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
+            xmap.create(dsize, CV_32FC1);
+            ymap.create(dsize, CV_32FC1);
+
+            Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv);
+            UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(), ur_kinv = r_kinv.getUMat(ACCESS_READ);
+
+            k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
+                   ocl::KernelArg::PtrReadOnly(ur_kinv), dst_tl.x, dst_tl.y, projector_.scale);
+
+            size_t globalsize[2] = { dsize.width, dsize.height };
+            if (k.run(2, globalsize, NULL, true))
+                return Rect(dst_tl, dst_br);
+        }
+    }
+
+    return SphericalWarper::buildMaps(src_size, K, R, xmap, ymap);
+}
+
+Point SphericalWarperOcl::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst)
+{
+    UMat uxmap, uymap;
+    Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap);
+
+    dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
+    UMat udst = dst.getUMat();
+    remap(src, udst, uxmap, uymap, interp_mode, border_mode);
+
+    return dst_roi.tl();
+}
+
+/////////////////////////////////////////// CylindricalWarperOcl ////////////////////////////////////////
+
+Rect CylindricalWarperOcl::buildMaps(Size src_size, InputArray K, InputArray R, OutputArray xmap, OutputArray ymap)
+{
+    projector_.setCameraParams(K, R);
+
+    Point dst_tl, dst_br;
+    detectResultRoi(src_size, dst_tl, dst_br);
+
+    if (ocl::useOpenCL())
+    {
+        ocl::Kernel k("buildWarpCylindricalMaps", ocl::stitching::warpers_oclsrc);
+        if (!k.empty())
+        {
+            Size dsize(dst_br.x - dst_tl.x + 1, dst_br.y - dst_tl.y + 1);
+            xmap.create(dsize, CV_32FC1);
+            ymap.create(dsize, CV_32FC1);
+
+            Mat r_kinv(1, 9, CV_32FC1, projector_.r_kinv);
+            UMat uxmap = xmap.getUMat(), uymap = ymap.getUMat(), ur_kinv = r_kinv.getUMat(ACCESS_READ);
+
+            k.args(ocl::KernelArg::WriteOnlyNoSize(uxmap), ocl::KernelArg::WriteOnly(uymap),
+                   ocl::KernelArg::PtrReadOnly(ur_kinv), dst_tl.x, dst_tl.y, projector_.scale);
+
+            size_t globalsize[2] = { dsize.width, dsize.height };
+            if (k.run(2, globalsize, NULL, true))
+                return Rect(dst_tl, dst_br);
+        }
+    }
+
+    return CylindricalWarper::buildMaps(src_size, K, R, xmap, ymap);
+}
+
+Point CylindricalWarperOcl::warp(InputArray src, InputArray K, InputArray R, int interp_mode, int border_mode, OutputArray dst)
+{
+    UMat uxmap, uymap;
+    Rect dst_roi = buildMaps(src.size(), K, R, uxmap, uymap);
+
+    dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
+    UMat udst = dst.getUMat();
+    remap(src, udst, uxmap, uymap, interp_mode, border_mode);
+
+    return dst_roi.tl();
+}
+
+} // namespace detail
+} // namespace cv

modules/stitching/test/ocl/test_warpers.cpp

+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the OpenCV Foundation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"
+#include "opencv2/ts/ocl_test.hpp"
+#include "opencv2/stitching/warpers.hpp"
+
+#ifdef HAVE_OPENCL
+
+namespace cvtest {
+namespace ocl {
+
+///////////////////////// WarperTestBase ///////////////////////////
+
+struct WarperTestBase :
+        public Test, public TestUtils
+{
+    Mat src, dst, xmap, ymap;
+    Mat udst, uxmap, uymap;
+    Mat K, R;
+
+    virtual void generateTestData()
+    {
+        Size size = randomSize(1, MAX_VALUE);
+
+        src = randomMat(size, CV_32FC1, -500, 500);
+
+        K = Mat::eye(3, 3, CV_32FC1);
+        R = Mat::eye(3, 3, CV_32FC1);
+    }
+
+    void Near(double threshold = 0.)
+    {
+        EXPECT_MAT_NEAR(xmap, uxmap, threshold);
+        EXPECT_MAT_NEAR(ymap, uymap, threshold);
+        EXPECT_MAT_NEAR(dst, udst, threshold);
+    }
+};
+
+//////////////////////////////// SphericalWarperOcl /////////////////////////////////////////////////
+
+typedef WarperTestBase SphericalWarperOclTest;
+
+OCL_TEST_F(SphericalWarperOclTest, Mat)
+{
+    for (int j = 0; j < test_loop_times; j++)
+    {
+        generateTestData();
+
+        Ptr<WarperCreator> creator = makePtr<SphericalWarperOcl>();
+        Ptr<detail::RotationWarper> warper = creator->create(2.0);
+
+        OCL_OFF(warper->buildMaps(src.size(), K, R, xmap, ymap));
+        OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap));
+
+        OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst));
+        OCL_ON(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst));
+
+        Near(1e-4);
+    }
+}
+
+//////////////////////////////// CylindricalWarperOcl /////////////////////////////////////////////////
+
+typedef WarperTestBase CylindricalWarperOclTest;
+
+OCL_TEST_F(CylindricalWarperOclTest, Mat)
+{
+    for (int j = 0; j < test_loop_times; j++)
+    {
+        generateTestData();
+
+        Ptr<WarperCreator> creator = makePtr<CylindricalWarperOcl>();
+        Ptr<detail::RotationWarper> warper = creator->create(2.0);
+
+        OCL_OFF(warper->buildMaps(src.size(), K, R, xmap, ymap));
+        OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap));
+
+        OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst));
+        OCL_ON(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst));
+
+        Near(1e-4);
+    }
+}
+
+//////////////////////////////// PlaneWarperOcl /////////////////////////////////////////////////
+
+typedef WarperTestBase PlaneWarperOclTest;
+
+OCL_TEST_F(PlaneWarperOclTest, Mat)
+{
+    for (int j = 0; j < test_loop_times; j++)
+    {
+        generateTestData();
+
+        Ptr<WarperCreator> creator = makePtr<PlaneWarperOcl>();
+        Ptr<detail::RotationWarper> warper = creator->create(2.0);
+
+        OCL_OFF(warper->buildMaps(src.size(), K, R, xmap, ymap));
+        OCL_ON(warper->buildMaps(src.size(), K, R, uxmap, uymap));
+
+        OCL_OFF(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, dst));
+        OCL_ON(warper->warp(src, K, R, INTER_LINEAR, BORDER_REPLICATE, udst));
+
+        Near(1e-5);
+    }
+}
+
+} } // namespace cvtest::ocl
+
+#endif // HAVE_OPENCL

samples/cpp/stitching_detailed.cpp

@@ -71,8 +71,11 @@ static void printUsage()
         "  --preview\n"
         "      Run stitching in the preview mode. Works faster than usual mode,\n"
         "      but output image will have lower resolution.\n"
-        "  --try_gpu (yes|no)\n"
-        "      Try to use GPU. The default value is 'no'. All default values\n"
+        "  --try_cuda (yes|no)\n"
+        "      Try to use CUDA. The default value is 'no'. All default values\n"
+        "      are for CPU mode.\n"
+        "  --try_ocl (yes|no)\n"
+        "      Try to use OpenCL. The default value is 'no'. All default values\n"
         "      are for CPU mode.\n"
         "\nMotion Estimation Flags:\n"
         "  --work_megapix <float>\n"
@@ -123,7 +126,8 @@ static void printUsage()
 // Default command line args
 vector<String> img_names;
 bool preview = false;
-bool try_gpu = false;
+bool try_cuda = false;
+bool try_ocl = false;
 double work_megapix = 0.6;
 double seam_megapix = 0.1;
 double compose_megapix = -1;
@@ -161,15 +165,28 @@ static int parseCmdArgs(int argc, char** argv)
         {
             preview = true;
         }
-        else if (string(argv[i]) == "--try_gpu")
+        else if (string(argv[i]) == "--try_cuda")
         {
             if (string(argv[i + 1]) == "no")
-                try_gpu = false;
+                try_cuda = false;
             else if (string(argv[i + 1]) == "yes")
-                try_gpu = true;
+                try_cuda = true;
             else
             {
-                cout << "Bad --try_gpu flag value\n";
+                cout << "Bad --try_cuda flag value\n";
+                return -1;
+            }
+            i++;
+        }
+        else if (string(argv[i]) == "--try_ocl")
+        {
+            if (string(argv[i + 1]) == "no")
+                try_ocl = false;
+            else if (string(argv[i + 1]) == "yes")
+                try_ocl = true;
+            else
+            {
+                cout << "Bad --try_ocl flag value\n";
                 return -1;
             }
             i++;
@@ -357,7 +374,7 @@ int main(int argc, char* argv[])
     if (features_type == "surf")
     {
 #ifdef HAVE_OPENCV_NONFREE
-        if (try_gpu && cuda::getCudaEnabledDeviceCount() > 0)
+        if (try_cuda && cuda::getCudaEnabledDeviceCount() > 0)
             finder = makePtr<SurfFeaturesFinderGpu>();
         else
 #endif
@@ -430,7 +447,7 @@ int main(int argc, char* argv[])
     t = getTickCount();
 #endif
     vector<MatchesInfo> pairwise_matches;
-    BestOf2NearestMatcher matcher(try_gpu, match_conf);
+    BestOf2NearestMatcher matcher(try_cuda, match_conf);
     matcher(features, pairwise_matches);
     matcher.collectGarbage();
     LOGLN("Pairwise matching, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
@@ -552,8 +569,17 @@ int main(int argc, char* argv[])
     // Warp images and their masks
 
     Ptr<WarperCreator> warper_creator;
+    if (try_ocl)
+    {
+        if (warp_type == "plane")
+            warper_creator = makePtr<cv::PlaneWarperOcl>();
+        else if (warp_type == "cylindrical")
+            warper_creator = makePtr<cv::CylindricalWarperOcl>();
+        else if (warp_type == "spherical")
+            warper_creator = makePtr<cv::SphericalWarperOcl>();
+    }
 #ifdef HAVE_OPENCV_CUDAWARPING
-    if (try_gpu && cuda::getCudaEnabledDeviceCount() > 0)
+    else if (try_cuda && cuda::getCudaEnabledDeviceCount() > 0)
     {
         if (warp_type == "plane")
             warper_creator = makePtr<cv::PlaneWarperGpu>();
@@ -636,7 +662,7 @@ int main(int argc, char* argv[])
     else if (seam_find_type == "gc_color")
     {
 #ifdef HAVE_OPENCV_CUDA
-        if (try_gpu && cuda::getCudaEnabledDeviceCount() > 0)
+        if (try_cuda && cuda::getCudaEnabledDeviceCount() > 0)
             seam_finder = makePtr<detail::GraphCutSeamFinderGpu>(GraphCutSeamFinderBase::COST_COLOR);
         else
 #endif
@@ -645,7 +671,7 @@ int main(int argc, char* argv[])
     else if (seam_find_type == "gc_colorgrad")
     {
 #ifdef HAVE_OPENCV_CUDA
-        if (try_gpu && cuda::getCudaEnabledDeviceCount() > 0)
+        if (try_cuda && cuda::getCudaEnabledDeviceCount() > 0)
             seam_finder = makePtr<detail::GraphCutSeamFinderGpu>(GraphCutSeamFinderBase::COST_COLOR_GRAD);
         else
 #endif
@@ -755,11 +781,11 @@ int main(int argc, char* argv[])
 
         if (!blender)
         {
-            blender = Blender::createDefault(blend_type, try_gpu);
+            blender = Blender::createDefault(blend_type, try_cuda);
             Size dst_sz = resultRoi(corners, sizes).size();
             float blend_width = sqrt(static_cast<float>(dst_sz.area())) * blend_strength / 100.f;
             if (blend_width < 1.f)
-                blender = Blender::createDefault(Blender::NO, try_gpu);
+                blender = Blender::createDefault(Blender::NO, try_cuda);
             else if (blend_type == Blender::MULTI_BAND)
             {
                 MultiBandBlender* mb = dynamic_cast<MultiBandBlender*>(blender.get());