Added implementation of remap on GPU. Minor fixes of convertTo. Added…

Added implementation of remap on GPU. Minor fixes of convertTo. Added opencv_imgproc to gpu_test dependencies.

modules/gpu/include/opencv2/gpu/gpu.hpp

@@ -321,6 +321,10 @@ namespace cv
             friend struct StreamAccessor;
         };
 
+        ////////////////////////////// Image processing //////////////////////////////
+
+        void CV_EXPORTS remap(const GpuMat& src, const GpuMat& xmap, const GpuMat& ymap, GpuMat& dst);
+
         //////////////////////////////// StereoBM_GPU ////////////////////////////////
 
         class CV_EXPORTS StereoBM_GPU

modules/gpu/src/cuda/imgproc.cu

+/*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 "cuda_shared.hpp"
+
+using namespace cv::gpu;
+
+namespace imgproc
+{
+    texture<unsigned char, 2, cudaReadModeNormalizedFloat> tex;
+
+    __global__ void kernel_remap(const float *mapx, const float *mapy, size_t map_step, unsigned char* out, size_t out_step, int width, int height)
+    {    
+        int x = blockDim.x * blockIdx.x + threadIdx.x;
+        int y = blockDim.y * blockIdx.y + threadIdx.y;
+        if (x < width && y < height)
+        {
+            int idx = y * (map_step >> 2) + x; /* map_step >> 2  <=> map_step / sizeof(float)*/
+
+            float xcoo = mapx[idx];
+            float ycoo = mapy[idx];
+            
+            out[y * out_step + x] = (unsigned char)(255.f * tex2D(tex, xcoo, ycoo));            
+        }
+    }
+}
+
+namespace cv { namespace gpu { namespace impl {
+    extern "C" void remap_gpu(const DevMem2D& src, const DevMem2D_<float>& xmap, const DevMem2D_<float>& ymap, DevMem2D dst, size_t width, size_t height)
+    {
+        dim3 block(16, 16, 1);
+        dim3 grid(1, 1, 1);
+        grid.x = divUp( width, block.x);
+        grid.y = divUp(height, block.y);
+
+        ::imgproc::tex.filterMode = cudaFilterModeLinear;	    
+        ::imgproc::tex.addressMode[0] = ::imgproc::tex.addressMode[1] = cudaAddressModeWrap;
+        cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
+        cudaSafeCall( cudaBindTexture2D(0, ::imgproc::tex, src.ptr, desc, width, height, src.step) );
+
+        ::imgproc::kernel_remap<<<grid, block>>>(xmap.ptr, ymap.ptr, xmap.step, dst.ptr, dst.step, width, height);
+
+        cudaSafeCall( cudaThreadSynchronize() );  
+        cudaSafeCall( cudaUnbindTexture(::imgproc::tex) );
+    }
+}}}
\ No newline at end of file

modules/gpu/src/cuda/matrix_operations.cu

@@ -109,32 +109,32 @@ namespace mat_operators
 ///////////////////////////////////////////////////////////////////////////
 
     template <typename T, typename DT>
-    struct CalcTraits
+    struct ScaleTraits
     {
-        __device__ static DT calc(T src, double alpha, double beta)
+        __device__ static DT scale(T src, double alpha, double beta)
         {
             return (DT)__double2int_rn(alpha * src + beta);
         }
     };
     template <typename T>
-    struct CalcTraits<T, float>
+    struct ScaleTraits<T, float>
     {
-        __device__ static float calc(T src, double alpha, double beta)
+        __device__ static float scale(T src, double alpha, double beta)
         {
             return (float)(alpha * src + beta);
         }
     };
     template <typename T>
-    struct CalcTraits<T, double>
+    struct ScaleTraits<T, double>
     {
-        __device__ static double calc(T src, double alpha, double beta)
+        __device__ static double scale(T src, double alpha, double beta)
         {
             return alpha * src + beta;
         }
     };
 
     template <typename T, typename DT, size_t src_elem_size, size_t dst_elem_size>
-    struct ConverterTraits
+    struct ReadWriteTraits
     {
         enum {shift=1};
 
@@ -142,7 +142,7 @@ namespace mat_operators
         typedef DT write_type;
     };
     template <typename T, typename DT>
-    struct ConverterTraits<T, DT, 1, 1>
+    struct ReadWriteTraits<T, DT, 1, 1>
     {
         enum {shift=4};
 
@@ -150,7 +150,7 @@ namespace mat_operators
         typedef char4 write_type;
     };    
     template <typename T, typename DT>
-    struct ConverterTraits<T, DT, 2, 1>
+    struct ReadWriteTraits<T, DT, 2, 1>
     {
         enum {shift=4};
 
@@ -158,7 +158,7 @@ namespace mat_operators
         typedef char4 write_type;
     };    
     template <typename T, typename DT>
-    struct ConverterTraits<T, DT, 4, 1>
+    struct ReadWriteTraits<T, DT, 4, 1>
     {
         enum {shift=4};
 
@@ -166,7 +166,7 @@ namespace mat_operators
         typedef char4 write_type;
     };    
     template <typename T, typename DT>
-    struct ConverterTraits<T, DT, 1, 2>
+    struct ReadWriteTraits<T, DT, 1, 2>
     {
         enum {shift=2};
 
@@ -174,7 +174,7 @@ namespace mat_operators
         typedef short2 write_type;
     };     
     template <typename T, typename DT>
-    struct ConverterTraits<T, DT, 2, 2>
+    struct ReadWriteTraits<T, DT, 2, 2>
     {
         enum {shift=2};
 
@@ -182,56 +182,48 @@ namespace mat_operators
         typedef short2 write_type;
     };     
     template <typename T, typename DT>
-    struct ConverterTraits<T, DT, 4, 2>
+    struct ReadWriteTraits<T, DT, 4, 2>
     {
         enum {shift=2};
 
         typedef int2 read_type;
         typedef short2 write_type;
     };
-
-    template <typename T, typename DT>
-    struct Converter
+    
+    template <typename T, typename DT> 
+    __global__ static void kernel_convert_to(uchar* srcmat, size_t src_step, uchar* dstmat, size_t dst_step, size_t width, size_t height, double alpha, double beta)
     {
-        __device__ static void convert(uchar* srcmat, size_t src_step, uchar* dstmat, size_t dst_step, size_t width, size_t height, double alpha, double beta)
+        typedef typename ReadWriteTraits<T, DT, sizeof(T), sizeof(DT)>::read_type read_type;
+        typedef typename ReadWriteTraits<T, DT, sizeof(T), sizeof(DT)>::write_type write_type;
+        const int shift = ReadWriteTraits<T, DT, sizeof(T), sizeof(DT)>::shift;
+
+        const size_t x = threadIdx.x + blockIdx.x * blockDim.x;
+        const size_t y = threadIdx.y + blockIdx.y * blockDim.y;
+
+        if (y < height)
         {
-            size_t x = threadIdx.x + blockIdx.x * blockDim.x;
-            size_t y = threadIdx.y + blockIdx.y * blockDim.y;
-            if (y < height)
+            const T* src = (const T*)(srcmat + src_step * y);
+            DT* dst = (DT*)(dstmat + dst_step * y);
+            if ((x * shift) + shift - 1 < width)
             {
-                const T* src = (const T*)(srcmat + src_step * y);
-                DT* dst = (DT*)(dstmat + dst_step * y);
-                if ((x * ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::shift) + ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::shift - 1 < width)
-                {
-                    typename ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::read_type srcn_el = ((const typename ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::read_type*)src)[x];
-                    typename ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::write_type dstn_el;
-
-                    const T* src1_el = (const T*) &srcn_el;
-                    DT* dst1_el = (DT*) &dstn_el;
-
-                    for (int i = 0; i < ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::shift; ++i)
-                        dst1_el[i] = CalcTraits<T, DT>::calc(src1_el[i], alpha, beta);
-
-                    ((typename ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::write_type*)dst)[x] = dstn_el;
-                }
-                else
-                {                    
-                    for (int i = 0; i < ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::shift - 1; ++i)
-                        if ((x * ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::shift) + i < width)
-                            dst[(x * ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::shift) + i] = CalcTraits<T, DT>::calc(src[(x * ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::shift) + i], alpha, beta);
-                }
+                read_type srcn_el = ((read_type*)src)[x];
+                write_type dstn_el;
+
+                const T* src1_el = (const T*) &srcn_el;
+                DT* dst1_el = (DT*) &dstn_el;
+
+                for (int i = 0; i < shift; ++i)
+                    dst1_el[i] = ScaleTraits<T, DT>::scale(src1_el[i], alpha, beta);
+
+                ((write_type*)dst)[x] = dstn_el;
+            }
+            else
+            {                    
+                for (int i = 0; i < shift - 1; ++i)
+                    if ((x * shift) + i < width)
+                        dst[(x * shift) + i] = ScaleTraits<T, DT>::scale(src[(x * shift) + i], alpha, beta);
             }
         }
-        __host__ static inline dim3 calcGrid(size_t width, size_t height, dim3 block)
-        {
-            return dim3(divUp(width, block.x * ConverterTraits<T, DT, sizeof(T), sizeof(DT)>::shift), divUp(height, block.y));
-        }
-    };
-    
-    template <typename T, typename DT> 
-    __global__ static void kernel_convert_to(uchar* srcmat, size_t src_step, uchar* dstmat, size_t dst_step, size_t width, size_t height, double alpha, double beta)
-    {
-        Converter<T, DT>::convert(srcmat, src_step, dstmat, dst_step, width, height, alpha, beta);
     }
 
 } // namespace mat_operators
@@ -373,10 +365,14 @@ namespace cv
 			            template<typename T, typename DT> 
 			            void cvt_(const DevMem2D& src, DevMem2D& dst, size_t width, size_t height, double alpha, double beta)
 			            {
+                            const int shift = ::mat_operators::ReadWriteTraits<T, DT, sizeof(T), sizeof(DT)>::shift;
+
 				            dim3 block(32, 8);
-				            dim3 grid = ::mat_operators::Converter<T, DT>::calcGrid(width, height, block);
+                            dim3 grid(divUp(width, block.x * shift), divUp(height, block.y));
+
 				            ::mat_operators::kernel_convert_to<T, DT><<<grid, block>>>(src.ptr, src.step, dst.ptr, dst.step, width, height, alpha, beta);
-				            cudaSafeCall( cudaThreadSynchronize() );
+				            
+                            cudaSafeCall( cudaThreadSynchronize() );
 			            }
 
 			            extern "C" void convert_to(const DevMem2D& src, int sdepth, DevMem2D dst, int ddepth, size_t width, size_t height, double alpha, double beta)
@@ -409,7 +405,7 @@ namespace cv
 
 				            CvtFunc func = tab[sdepth][ddepth];
 				            if (func == 0)
-                                cv::gpu::error("Operation \'ConvertTo\' doesn't supported on your GPU model", __FILE__, __LINE__);
+                                cv::gpu::error("Unsupported convert operation", __FILE__, __LINE__);
 				            func(src, dst, width, height, alpha, beta);
 			            }
 		} // namespace impl		

modules/gpu/src/imgproc_gpu.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"
+
+using namespace cv;
+using namespace cv::gpu;
+
+#if !defined (HAVE_CUDA)
+
+namespace cv
+{
+    namespace gpu
+    {
+       remap(const GpuMat& /*src*/, const GpuMat& /*xmap*/, const GpuMat& /*ymap*/, GpuMat& /*dst*/) { throw_nogpu(); }
+    }
+
+}
+
+#else /* !defined (HAVE_CUDA) */
+
+namespace cv { namespace gpu { namespace impl {
+    extern "C" void remap_gpu(const DevMem2D& src, const DevMem2D_<float>& xmap, const DevMem2D_<float>& ymap, DevMem2D dst, size_t width, size_t height);
+}}}
+
+
+void cv::gpu::remap(const GpuMat& src, const GpuMat& xmap, const GpuMat& ymap, GpuMat& dst)
+{ 
+    CV_Assert((!xmap.data || xmap.size() == ymap.size()));
+    dst.create(xmap.size(), src.type());
+    CV_Assert(dst.data != src.data );
+
+    impl::remap_gpu(src, xmap, ymap, dst, dst.cols, dst.rows);
+}
+
+#endif /* !defined (HAVE_CUDA) */
\ No newline at end of file

tests/gpu/CMakeLists.txt

@@ -36,10 +36,10 @@ set_target_properties(${the_target} PROPERTIES
 	RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin/"
 	)
 
-add_dependencies(${the_target} opencv_ts opencv_gpu opencv_highgui)
+add_dependencies(${the_target} opencv_ts opencv_gpu opencv_highgui opencv_imgproc)
 
 # Add the required libraries for linking:
-target_link_libraries(${the_target} ${OPENCV_LINKER_LIBS} opencv_ts opencv_gpu opencv_highgui)
+target_link_libraries(${the_target} ${OPENCV_LINKER_LIBS} opencv_ts opencv_gpu opencv_highgui opencv_imgproc)
 
 enable_testing()
 get_target_property(LOC ${the_target} LOCATION)

tests/gpu/src/convert_to.cpp

@@ -50,22 +50,11 @@ void CV_GpuMatOpConvertTo::run( int /* start_from */)
                 Mat cpumatdst;
                 GpuMat gpumatdst;
                 
-                //TickMeter tm;
-                //tm.start();
-                //for(int i = 0; i < 50; ++i)
-                    cpumatsrc.convertTo(cpumatdst, dst_type, alpha, beta);
-                //tm.stop();
-                //cout << "SRC_TYPE=" << types_str[i] << "C" << c << " DST_TYPE=" << types_str[j] << endl << "\tCPU FPS = " << 50.0/tm.getTimeSec() << endl;
-
-                //tm.reset();
+                cpumatsrc.convertTo(cpumatdst, dst_type, alpha, beta);
 
                 try
                 {
-                    //tm.start();
-                    //for(int i = 0; i < 50; ++i)
-                        gpumatsrc.convertTo(gpumatdst, dst_type, alpha, beta);
-                    //tm.stop();
-                    //cout << "\tGPU FPS = " << 50.0/tm.getTimeSec() << endl;
+                    gpumatsrc.convertTo(gpumatdst, dst_type, alpha, beta);
                 }
                 catch(cv::Exception& e)
                 {