/*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*/ #if !defined CUDA_DISABLER #include "opencv2/core/cuda/common.hpp" #include "opencv2/core/cuda/border_interpolate.hpp" #include "opencv2/core/cuda/vec_traits.hpp" #include "opencv2/core/cuda/vec_math.hpp" #include "opencv2/core/cuda/saturate_cast.hpp" #include "opencv2/core/cuda/filters.hpp" namespace cv { namespace cuda { namespace device { namespace imgproc { template <typename Ptr2D, typename T> __global__ void remap(const Ptr2D src, const PtrStepf mapx, const PtrStepf mapy, PtrStepSz<T> dst) { const int x = blockDim.x * blockIdx.x + threadIdx.x; const int y = blockDim.y * blockIdx.y + threadIdx.y; if (x < dst.cols && y < dst.rows) { const float xcoo = mapx.ptr(y)[x]; const float ycoo = mapy.ptr(y)[x]; dst.ptr(y)[x] = saturate_cast<T>(src(ycoo, xcoo)); } } template <template <typename> class Filter, template <typename> class B, typename T> struct RemapDispatcherStream { static void call(PtrStepSz<T> src, PtrStepSzf mapx, PtrStepSzf mapy, PtrStepSz<T> dst, const float* borderValue, cudaStream_t stream, bool) { typedef typename TypeVec<float, VecTraits<T>::cn>::vec_type work_type; dim3 block(32, 8); dim3 grid(divUp(dst.cols, block.x), divUp(dst.rows, block.y)); B<work_type> brd(src.rows, src.cols, VecTraits<work_type>::make(borderValue)); BorderReader< PtrStep<T>, B<work_type> > brdSrc(src, brd); Filter< BorderReader< PtrStep<T>, B<work_type> > > filter_src(brdSrc); remap<<<grid, block, 0, stream>>>(filter_src, mapx, mapy, dst); cudaSafeCall( cudaGetLastError() ); } }; template <template <typename> class Filter, template <typename> class B, typename T> struct RemapDispatcherNonStream { static void call(PtrStepSz<T> src, PtrStepSz<T> srcWhole, int xoff, int yoff, PtrStepSzf mapx, PtrStepSzf mapy, PtrStepSz<T> dst, const float* borderValue, bool) { (void)srcWhole; (void)xoff; (void)yoff; typedef typename TypeVec<float, VecTraits<T>::cn>::vec_type work_type; dim3 block(32, 8); dim3 grid(divUp(dst.cols, block.x), divUp(dst.rows, block.y)); B<work_type> brd(src.rows, src.cols, VecTraits<work_type>::make(borderValue)); BorderReader< PtrStep<T>, B<work_type> > brdSrc(src, brd); Filter< BorderReader< PtrStep<T>, B<work_type> > > filter_src(brdSrc); remap<<<grid, block>>>(filter_src, mapx, mapy, dst); cudaSafeCall( cudaGetLastError() ); cudaSafeCall( cudaDeviceSynchronize() ); } }; #define OPENCV_CUDA_IMPLEMENT_REMAP_TEX(type) \ texture< type , cudaTextureType2D> tex_remap_ ## type (0, cudaFilterModePoint, cudaAddressModeClamp); \ struct tex_remap_ ## type ## _reader \ { \ typedef type elem_type; \ typedef int index_type; \ int xoff, yoff; \ tex_remap_ ## type ## _reader (int xoff_, int yoff_) : xoff(xoff_), yoff(yoff_) {} \ __device__ __forceinline__ elem_type operator ()(index_type y, index_type x) const \ { \ return tex2D(tex_remap_ ## type , x + xoff, y + yoff); \ } \ }; \ template <template <typename> class Filter, template <typename> class B> struct RemapDispatcherNonStream<Filter, B, type> \ { \ static void call(PtrStepSz< type > src, PtrStepSz< type > srcWhole, int xoff, int yoff, PtrStepSzf mapx, PtrStepSzf mapy, \ PtrStepSz< type > dst, const float* borderValue, bool cc20) \ { \ typedef typename TypeVec<float, VecTraits< type >::cn>::vec_type work_type; \ dim3 block(32, cc20 ? 8 : 4); \ dim3 grid(divUp(dst.cols, block.x), divUp(dst.rows, block.y)); \ bindTexture(&tex_remap_ ## type , srcWhole); \ tex_remap_ ## type ##_reader texSrc(xoff, yoff); \ B<work_type> brd(src.rows, src.cols, VecTraits<work_type>::make(borderValue)); \ BorderReader< tex_remap_ ## type ##_reader, B<work_type> > brdSrc(texSrc, brd); \ Filter< BorderReader< tex_remap_ ## type ##_reader, B<work_type> > > filter_src(brdSrc); \ remap<<<grid, block>>>(filter_src, mapx, mapy, dst); \ cudaSafeCall( cudaGetLastError() ); \ cudaSafeCall( cudaDeviceSynchronize() ); \ } \ }; \ template <template <typename> class Filter> struct RemapDispatcherNonStream<Filter, BrdReplicate, type> \ { \ static void call(PtrStepSz< type > src, PtrStepSz< type > srcWhole, int xoff, int yoff, PtrStepSzf mapx, PtrStepSzf mapy, \ PtrStepSz< type > dst, const float*, bool) \ { \ dim3 block(32, 8); \ dim3 grid(divUp(dst.cols, block.x), divUp(dst.rows, block.y)); \ bindTexture(&tex_remap_ ## type , srcWhole); \ tex_remap_ ## type ##_reader texSrc(xoff, yoff); \ if (srcWhole.cols == src.cols && srcWhole.rows == src.rows) \ { \ Filter< tex_remap_ ## type ##_reader > filter_src(texSrc); \ remap<<<grid, block>>>(filter_src, mapx, mapy, dst); \ } \ else \ { \ BrdReplicate<type> brd(src.rows, src.cols); \ BorderReader< tex_remap_ ## type ##_reader, BrdReplicate<type> > brdSrc(texSrc, brd); \ Filter< BorderReader< tex_remap_ ## type ##_reader, BrdReplicate<type> > > filter_src(brdSrc); \ remap<<<grid, block>>>(filter_src, mapx, mapy, dst); \ } \ cudaSafeCall( cudaGetLastError() ); \ cudaSafeCall( cudaDeviceSynchronize() ); \ } \ }; OPENCV_CUDA_IMPLEMENT_REMAP_TEX(uchar) //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(uchar2) OPENCV_CUDA_IMPLEMENT_REMAP_TEX(uchar4) //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(schar) //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(char2) //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(char4) OPENCV_CUDA_IMPLEMENT_REMAP_TEX(ushort) //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(ushort2) OPENCV_CUDA_IMPLEMENT_REMAP_TEX(ushort4) OPENCV_CUDA_IMPLEMENT_REMAP_TEX(short) //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(short2) OPENCV_CUDA_IMPLEMENT_REMAP_TEX(short4) //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(int) //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(int2) //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(int4) OPENCV_CUDA_IMPLEMENT_REMAP_TEX(float) //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(float2) OPENCV_CUDA_IMPLEMENT_REMAP_TEX(float4) #undef OPENCV_CUDA_IMPLEMENT_REMAP_TEX template <template <typename> class Filter, template <typename> class B, typename T> struct RemapDispatcher { static void call(PtrStepSz<T> src, PtrStepSz<T> srcWhole, int xoff, int yoff, PtrStepSzf mapx, PtrStepSzf mapy, PtrStepSz<T> dst, const float* borderValue, cudaStream_t stream, bool cc20) { if (stream == 0) RemapDispatcherNonStream<Filter, B, T>::call(src, srcWhole, xoff, yoff, mapx, mapy, dst, borderValue, cc20); else RemapDispatcherStream<Filter, B, T>::call(src, mapx, mapy, dst, borderValue, stream, cc20); } }; template <typename T> void remap_gpu(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20) { typedef void (*caller_t)(PtrStepSz<T> src, PtrStepSz<T> srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSz<T> dst, const float* borderValue, cudaStream_t stream, bool cc20); static const caller_t callers[3][5] = { { RemapDispatcher<PointFilter, BrdConstant, T>::call, RemapDispatcher<PointFilter, BrdReplicate, T>::call, RemapDispatcher<PointFilter, BrdReflect, T>::call, RemapDispatcher<PointFilter, BrdWrap, T>::call, RemapDispatcher<PointFilter, BrdReflect101, T>::call }, { RemapDispatcher<LinearFilter, BrdConstant, T>::call, RemapDispatcher<LinearFilter, BrdReplicate, T>::call, RemapDispatcher<LinearFilter, BrdReflect, T>::call, RemapDispatcher<LinearFilter, BrdWrap, T>::call, RemapDispatcher<LinearFilter, BrdReflect101, T>::call }, { RemapDispatcher<CubicFilter, BrdConstant, T>::call, RemapDispatcher<CubicFilter, BrdReplicate, T>::call, RemapDispatcher<CubicFilter, BrdReflect, T>::call, RemapDispatcher<CubicFilter, BrdWrap, T>::call, RemapDispatcher<CubicFilter, BrdReflect101, T>::call } }; callers[interpolation][borderMode](static_cast< PtrStepSz<T> >(src), static_cast< PtrStepSz<T> >(srcWhole), xoff, yoff, xmap, ymap, static_cast< PtrStepSz<T> >(dst), borderValue, stream, cc20); } template void remap_gpu<uchar >(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<uchar2>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<uchar3>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<uchar4>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<schar>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<char2>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<char3>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<char4>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<ushort >(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<ushort2>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<ushort3>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<ushort4>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<short >(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<short2>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<short3>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<short4>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<int >(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<int2>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<int3>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<int4>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<float >(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); //template void remap_gpu<float2>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<float3>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); template void remap_gpu<float4>(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20); } // namespace imgproc }}} // namespace cv { namespace cuda { namespace cudev #endif /* CUDA_DISABLER */