/*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 float * xmap, __global float * ymap, __constant float * KRT, int tl_u, int tl_v, int cols, int rows, int xmap_step, int ymap_step, int xmap_offset, int ymap_offset, float scale) { int du = get_global_id(0); int dv = get_global_id(1); __constant float * ck_rinv = KRT; __constant float * ct = KRT + 9; if (du < cols && dv < rows) { int xmap_index = mad24(dv, xmap_step, xmap_offset + du); int ymap_index = mad24(dv, ymap_step, ymap_offset + du); 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[xmap_index] = x; ymap[ymap_index] = y; } } __kernel void buildWarpCylindricalMaps(__global float * xmap, __global float * ymap, __constant float * ck_rinv, int tl_u, int tl_v, int cols, int rows, int xmap_step, int ymap_step, int xmap_offset, int ymap_offset, float scale) { int du = get_global_id(0); int dv = get_global_id(1); if (du < cols && dv < rows) { int xmap_index = mad24(dv, xmap_step, xmap_offset + du); int ymap_index = mad24(dv, ymap_step, ymap_offset + du); 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[xmap_index] = x; ymap[ymap_index] = y; } } __kernel void buildWarpSphericalMaps(__global float * xmap, __global float * ymap, __constant float * ck_rinv, int tl_u, int tl_v, int cols, int rows, int xmap_step, int ymap_step, int xmap_offset, int ymap_offset, float scale) { int du = get_global_id(0); int dv = get_global_id(1); if (du < cols && dv < rows) { int xmap_index = mad24(dv, xmap_step, xmap_offset + du); int ymap_index = mad24(dv, ymap_step, ymap_offset + du); 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[xmap_index] = x; ymap[ymap_index] = y; } } __kernel void buildWarpAffineMaps(__global float * xmap, __global float * ymap, __constant float * c_warpMat, int cols, int rows, int xmap_step, int ymap_step, int xmap_offset, int ymap_offset) { int x = get_global_id(0); int y = get_global_id(1); if (x < cols && y < rows) { int xmap_index = mad24(y, xmap_step, x + xmap_offset); int ymap_index = mad24(y, ymap_step, x + ymap_offset); float xcoo = c_warpMat[0] * x + c_warpMat[1] * y + c_warpMat[2]; float ycoo = c_warpMat[3] * x + c_warpMat[4] * y + c_warpMat[5]; xmap[xmap_index] = xcoo; ymap[ymap_index] = ycoo; } } __kernel void buildWarpPerspectiveMaps(__global float * xmap, __global float * ymap, __constant float * c_warpMat, int cols, int rows, int xmap_step, int ymap_step, int xmap_offset, int ymap_offset) { int x = get_global_id(0); int y = get_global_id(1); if (x < cols && y < rows) { int xmap_index = mad24(y, xmap_step, x + xmap_offset); int ymap_index = mad24(y, ymap_step, x + ymap_offset); float coeff = 1.0f / (c_warpMat[6] * x + c_warpMat[7] * y + c_warpMat[8]); float xcoo = coeff * (c_warpMat[0] * x + c_warpMat[1] * y + c_warpMat[2]); float ycoo = coeff * (c_warpMat[3] * x + c_warpMat[4] * y + c_warpMat[5]); xmap[xmap_index] = xcoo; ymap[ymap_index] = ycoo; } }