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Commit ecee3882 authored by Vladislav Vinogradov's avatar Vladislav Vinogradov
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move buildWarp*Maps to stitching

parent 4cc7b0a7
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Showing with 5 additions and 306 deletions
modules/cudawarping/include/opencv2/cudawarping.hpp
View file @ ecee3882
......@@ -171,21 +171,6 @@ CV_EXPORTS void warpPerspective(InputArray src, OutputArray dst, InputArray M, S
*/
CV_EXPORTS void buildWarpPerspectiveMaps(InputArray M, bool inverse, Size dsize, OutputArray xmap, OutputArray ymap, Stream& stream = Stream::Null());
/** @brief Builds plane warping maps.
*/
CV_EXPORTS void buildWarpPlaneMaps(Size src_size, Rect dst_roi, InputArray K, InputArray R, InputArray T, float scale,
OutputArray map_x, OutputArray map_y, Stream& stream = Stream::Null());
/** @brief Builds cylindrical warping maps.
*/
CV_EXPORTS void buildWarpCylindricalMaps(Size src_size, Rect dst_roi, InputArray K, InputArray R, float scale,
OutputArray map_x, OutputArray map_y, Stream& stream = Stream::Null());
/** @brief Builds spherical warping maps.
*/
CV_EXPORTS void buildWarpSphericalMaps(Size src_size, Rect dst_roi, InputArray K, InputArray R, float scale,
OutputArray map_x, OutputArray map_y, Stream& stream = Stream::Null());
/** @brief Rotates an image around the origin (0,0) and then shifts it.
@param src Source image. Supports 1, 3 or 4 channels images with CV_8U , CV_16U or CV_32F
......
modules/cudawarping/perf/perf_warping.cpp
View file @ ecee3882
......@@ -325,88 +325,6 @@ PERF_TEST_P(Sz_Depth_Cn_Inter_Border, WarpPerspective,
}
}
//////////////////////////////////////////////////////////////////////
// BuildWarpPlaneMaps
PERF_TEST_P(Sz, BuildWarpPlaneMaps,
CUDA_TYPICAL_MAT_SIZES)
{
const cv::Size size = GetParam();
const cv::Mat K = cv::Mat::eye(3, 3, CV_32FC1);
const cv::Mat R = cv::Mat::ones(3, 3, CV_32FC1);
const cv::Mat T = cv::Mat::zeros(1, 3, CV_32F);
if (PERF_RUN_CUDA())
{
cv::cuda::GpuMat map_x;
cv::cuda::GpuMat map_y;
TEST_CYCLE() cv::cuda::buildWarpPlaneMaps(size, cv::Rect(0, 0, size.width, size.height), K, R, T, 1.0, map_x, map_y);
CUDA_SANITY_CHECK(map_x);
CUDA_SANITY_CHECK(map_y);
}
else
{
FAIL_NO_CPU();
}
}
//////////////////////////////////////////////////////////////////////
// BuildWarpCylindricalMaps
PERF_TEST_P(Sz, BuildWarpCylindricalMaps,
CUDA_TYPICAL_MAT_SIZES)
{
const cv::Size size = GetParam();
const cv::Mat K = cv::Mat::eye(3, 3, CV_32FC1);
const cv::Mat R = cv::Mat::ones(3, 3, CV_32FC1);
if (PERF_RUN_CUDA())
{
cv::cuda::GpuMat map_x;
cv::cuda::GpuMat map_y;
TEST_CYCLE() cv::cuda::buildWarpCylindricalMaps(size, cv::Rect(0, 0, size.width, size.height), K, R, 1.0, map_x, map_y);
CUDA_SANITY_CHECK(map_x);
CUDA_SANITY_CHECK(map_y);
}
else
{
FAIL_NO_CPU();
}
}
//////////////////////////////////////////////////////////////////////
// BuildWarpSphericalMaps
PERF_TEST_P(Sz, BuildWarpSphericalMaps,
CUDA_TYPICAL_MAT_SIZES)
{
const cv::Size size = GetParam();
const cv::Mat K = cv::Mat::eye(3, 3, CV_32FC1);
const cv::Mat R = cv::Mat::ones(3, 3, CV_32FC1);
if (PERF_RUN_CUDA())
{
cv::cuda::GpuMat map_x;
cv::cuda::GpuMat map_y;
TEST_CYCLE() cv::cuda::buildWarpSphericalMaps(size, cv::Rect(0, 0, size.width, size.height), K, R, 1.0, map_x, map_y);
CUDA_SANITY_CHECK(map_x);
CUDA_SANITY_CHECK(map_y);
}
else
{
FAIL_NO_CPU();
}
}
//////////////////////////////////////////////////////////////////////
// Rotate
......
modules/cudawarping/src/warp.cpp
View file @ ecee3882
......@@ -53,10 +53,6 @@ void cv::cuda::buildWarpAffineMaps(InputArray, bool, Size, OutputArray, OutputAr
void cv::cuda::warpPerspective(InputArray, OutputArray, InputArray, Size, int, int, Scalar, Stream&) { throw_no_cuda(); }
void cv::cuda::buildWarpPerspectiveMaps(InputArray, bool, Size, OutputArray, OutputArray, Stream&) { throw_no_cuda(); }
void cv::cuda::buildWarpPlaneMaps(Size, Rect, InputArray, InputArray, InputArray, float, OutputArray, OutputArray, Stream&) { throw_no_cuda(); }
void cv::cuda::buildWarpCylindricalMaps(Size, Rect, InputArray, InputArray, float, OutputArray, OutputArray, Stream&) { throw_no_cuda(); }
void cv::cuda::buildWarpSphericalMaps(Size, Rect, InputArray, InputArray, float, OutputArray, OutputArray, Stream&) { throw_no_cuda(); }
void cv::cuda::rotate(InputArray, OutputArray, Size, double, double, double, int, Stream&) { throw_no_cuda(); }
#else // HAVE_CUDA
......@@ -462,124 +458,6 @@ void cv::cuda::warpPerspective(InputArray _src, OutputArray _dst, InputArray _M,
}
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpPlaneMaps
namespace cv { namespace cuda { namespace device
{
namespace imgproc
{
void buildWarpPlaneMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
const float k_rinv[9], const float r_kinv[9], const float t[3], float scale,
cudaStream_t stream);
}
}}}
void cv::cuda::buildWarpPlaneMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, InputArray _T,
float scale, OutputArray _map_x, OutputArray _map_y, Stream& stream)
{
(void) src_size;
Mat K = _K.getMat();
Mat R = _R.getMat();
Mat T = _T.getMat();
CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 );
CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 );
CV_Assert( (T.size() == Size(3,1) || T.size() == Size(1,3)) && T.type() == CV_32FC1 && T.isContinuous() );
Mat K_Rinv = K * R.t();
Mat R_Kinv = R * K.inv();
CV_Assert( K_Rinv.isContinuous() );
CV_Assert( R_Kinv.isContinuous() );
_map_x.create(dst_roi.size(), CV_32FC1);
_map_y.create(dst_roi.size(), CV_32FC1);
GpuMat map_x = _map_x.getGpuMat();
GpuMat map_y = _map_y.getGpuMat();
device::imgproc::buildWarpPlaneMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(),
T.ptr<float>(), scale, StreamAccessor::getStream(stream));
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpCylyndricalMaps
namespace cv { namespace cuda { namespace device
{
namespace imgproc
{
void buildWarpCylindricalMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
const float k_rinv[9], const float r_kinv[9], float scale,
cudaStream_t stream);
}
}}}
void cv::cuda::buildWarpCylindricalMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, float scale,
OutputArray _map_x, OutputArray _map_y, Stream& stream)
{
(void) src_size;
Mat K = _K.getMat();
Mat R = _R.getMat();
CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 );
CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 );
Mat K_Rinv = K * R.t();
Mat R_Kinv = R * K.inv();
CV_Assert( K_Rinv.isContinuous() );
CV_Assert( R_Kinv.isContinuous() );
_map_x.create(dst_roi.size(), CV_32FC1);
_map_y.create(dst_roi.size(), CV_32FC1);
GpuMat map_x = _map_x.getGpuMat();
GpuMat map_y = _map_y.getGpuMat();
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));
}
//////////////////////////////////////////////////////////////////////////////
// buildWarpSphericalMaps
namespace cv { namespace cuda { namespace device
{
namespace imgproc
{
void buildWarpSphericalMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
const float k_rinv[9], const float r_kinv[9], float scale,
cudaStream_t stream);
}
}}}
void cv::cuda::buildWarpSphericalMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, float scale,
OutputArray _map_x, OutputArray _map_y, Stream& stream)
{
(void) src_size;
Mat K = _K.getMat();
Mat R = _R.getMat();
CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 );
CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 );
Mat K_Rinv = K * R.t();
Mat R_Kinv = R * K.inv();
CV_Assert( K_Rinv.isContinuous() );
CV_Assert( R_Kinv.isContinuous() );
_map_x.create(dst_roi.size(), CV_32FC1);
_map_y.create(dst_roi.size(), CV_32FC1);
GpuMat map_x = _map_x.getGpuMat();
GpuMat map_y = _map_y.getGpuMat();
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));
}
////////////////////////////////////////////////////////////////////////
// rotate
......
modules/stitching/CMakeLists.txt
View file @ ecee3882
set(the_description "Images stitching")
if(HAVE_CUDA)
ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef -Wmissing-declarations)
endif()
ocv_define_module(stitching opencv_imgproc opencv_features2d opencv_calib3d opencv_objdetect
OPTIONAL opencv_cuda opencv_cudaarithm opencv_cudafilters opencv_cudafeatures2d opencv_xfeatures2d)
modules/stitching/include/opencv2/stitching/detail/warpers.hpp
View file @ ecee3882
......@@ -398,7 +398,6 @@ public:
};
#ifdef HAVE_OPENCV_CUDAWARPING
class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
{
public:
......@@ -515,7 +514,6 @@ public:
private:
cuda::GpuMat d_xmap_, d_ymap_, d_src_, d_dst_;
};
#endif
struct SphericalPortraitProjector : ProjectorBase
......
modules/stitching/src/warpers.cpp
View file @ ecee3882
......@@ -242,91 +242,6 @@ void SphericalWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_b
dst_br.y = static_cast<int>(br_vf);
}
#ifdef HAVE_OPENCV_CUDAWARPING
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, InputArray K, InputArray R, InputArray T, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
{
projector_.setCameraParams(K, R, T);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
cuda::buildWarpPlaneMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
K, R, T, projector_.scale, xmap, ymap);
return Rect(dst_tl, dst_br);
}
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, 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());
cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
Rect SphericalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
cuda::buildWarpSphericalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
K, R, projector_.scale, xmap, ymap);
return Rect(dst_tl, dst_br);
}
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());
cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
Rect CylindricalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
{
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(src_size, dst_tl, dst_br);
cuda::buildWarpCylindricalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
K, R, projector_.scale, xmap, ymap);
return Rect(dst_tl, dst_br);
}
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());
cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
return dst_roi.tl();
}
#endif
void SphericalPortraitWarper::detectResultRoi(Size src_size, Point &dst_tl, Point &dst_br)
{
detectResultRoiByBorder(src_size, dst_tl, dst_br);
......
modules/stitching/src/warpers_cuda.cpp 0 → 100644
View file @ ecee3882
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