build_warps.cpp 12.1 KB
Newer Older
wester committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285
/*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*/

#include "precomp.hpp"
#include "opencl_kernels.hpp"

using namespace cv;
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 &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);
    CV_Assert((T.size() == Size(3, 1) || T.size() == Size(1, 3)) && T.type() == CV_32F && T.isContinuous());

    Mat K_Rinv = K * R.t();
    CV_Assert(K_Rinv.isContinuous());

    Mat KRT_mat(1, 12, CV_32FC1); // 9 + 3
    KRT_mat(Range::all(), Range(0, 8)) = K_Rinv.reshape(1, 1);
    KRT_mat(Range::all(), Range(9, 11)) = T;

    oclMat KRT_oclMat(KRT_mat);
    // transfer K_Rinv and T into a single cl_mem
    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;

    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 *)&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 *)&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] = { (size_t)xmap.cols, (size_t)xmap.rows, 1 };
#ifdef ANDROID
    size_t localThreads[3]  = {32, 4, 1};
#else
    size_t localThreads[3]  = {32, 8, 1};
#endif
    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 &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);

    Mat K_Rinv = K * R.t();
    CV_Assert(K_Rinv.isContinuous());

    oclMat KR_oclMat(K_Rinv.reshape(1, 1));

    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;

    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 *)&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 *)&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] = { (size_t)xmap.cols, (size_t)xmap.rows, 1 };
#ifdef ANDROID
    size_t localThreads[3]  = {32, 1, 1};
#else
    size_t localThreads[3]  = {32, 8, 1};
#endif
    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 &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);

    Mat K_Rinv = K * R.t();
    CV_Assert(K_Rinv.isContinuous());

    oclMat KR_oclMat(K_Rinv.reshape(1, 1));
    // transfer K_Rinv, R_Kinv into a single cl_mem
    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;

    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 *)&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 *)&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] = { (size_t)xmap.cols, (size_t)xmap.rows, 1 };
#ifdef ANDROID
    size_t localThreads[3]  = {32, 4, 1};
#else
    size_t localThreads[3]  = {32, 8, 1};
#endif
    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);

    float coeffs[2 * 3];
    Mat coeffsMat(2, 3, CV_32F, (void *)coeffs);

    if (inverse)
        M.convertTo(coeffsMat, coeffsMat.type());
    else
    {
        cv::Mat iM;
        invertAffineTransform(M, iM);
        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));

    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_offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_offset));

    size_t globalThreads[3] = { (size_t)xmap.cols, (size_t)xmap.rows, 1 };
#ifdef ANDROID
    size_t localThreads[3]  = {32, 4, 1};
#else
    size_t localThreads[3]  = {32, 8, 1};
#endif
    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);

    float coeffs[3 * 3];
    Mat coeffsMat(3, 3, CV_32F, (void *)coeffs);

    if (inverse)
        M.convertTo(coeffsMat, coeffsMat.type());
    else
    {
        cv::Mat iM;
        invert(M, iM);
        iM.convertTo(coeffsMat, coeffsMat.type());
    }

    oclMat coeffsOclMat(coeffsMat.reshape(1, 1));

    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_offset));
    args.push_back( make_pair( sizeof(cl_int), (void *)&ymap_offset));

    size_t globalThreads[3] = { (size_t)xmap.cols, (size_t)xmap.rows, 1 };

    openCLExecuteKernel(Context::getContext(), &build_warps, "buildWarpPerspectiveMaps", globalThreads, NULL, args, -1, -1);
}