1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #if !defined CUDA_DISABLER 44 45 #include "opencv2/core/cuda/common.hpp" 46 #include "opencv2/core/cuda/border_interpolate.hpp" 47 #include "opencv2/core/cuda/vec_traits.hpp" 48 #include "opencv2/core/cuda/vec_math.hpp" 49 #include "opencv2/core/cuda/saturate_cast.hpp" 50 #include "opencv2/core/cuda/filters.hpp" 51 52 namespace cv { namespace cuda { namespace device 53 { 54 namespace imgproc 55 { 56 template <typename Ptr2D, typename T> __global__ void remap(const Ptr2D src, const PtrStepf mapx, const PtrStepf mapy, PtrStepSz<T> dst) 57 { 58 const int x = blockDim.x * blockIdx.x + threadIdx.x; 59 const int y = blockDim.y * blockIdx.y + threadIdx.y; 60 61 if (x < dst.cols && y < dst.rows) 62 { 63 const float xcoo = mapx.ptr(y)[x]; 64 const float ycoo = mapy.ptr(y)[x]; 65 66 dst.ptr(y)[x] = saturate_cast<T>(src(ycoo, xcoo)); 67 } 68 } 69 70 template <template <typename> class Filter, template <typename> class B, typename T> struct RemapDispatcherStream 71 { 72 static void call(PtrStepSz<T> src, PtrStepSzf mapx, PtrStepSzf mapy, PtrStepSz<T> dst, const float* borderValue, cudaStream_t stream, bool) 73 { 74 typedef typename TypeVec<float, VecTraits<T>::cn>::vec_type work_type; 75 76 dim3 block(32, 8); 77 dim3 grid(divUp(dst.cols, block.x), divUp(dst.rows, block.y)); 78 79 B<work_type> brd(src.rows, src.cols, VecTraits<work_type>::make(borderValue)); 80 BorderReader< PtrStep<T>, B<work_type> > brdSrc(src, brd); 81 Filter< BorderReader< PtrStep<T>, B<work_type> > > filter_src(brdSrc); 82 83 remap<<<grid, block, 0, stream>>>(filter_src, mapx, mapy, dst); 84 cudaSafeCall( cudaGetLastError() ); 85 } 86 }; 87 88 template <template <typename> class Filter, template <typename> class B, typename T> struct RemapDispatcherNonStream 89 { 90 static void call(PtrStepSz<T> src, PtrStepSz<T> srcWhole, int xoff, int yoff, PtrStepSzf mapx, PtrStepSzf mapy, PtrStepSz<T> dst, const float* borderValue, bool) 91 { 92 (void)srcWhole; 93 (void)xoff; 94 (void)yoff; 95 typedef typename TypeVec<float, VecTraits<T>::cn>::vec_type work_type; 96 97 dim3 block(32, 8); 98 dim3 grid(divUp(dst.cols, block.x), divUp(dst.rows, block.y)); 99 100 B<work_type> brd(src.rows, src.cols, VecTraits<work_type>::make(borderValue)); 101 BorderReader< PtrStep<T>, B<work_type> > brdSrc(src, brd); 102 Filter< BorderReader< PtrStep<T>, B<work_type> > > filter_src(brdSrc); 103 104 remap<<<grid, block>>>(filter_src, mapx, mapy, dst); 105 cudaSafeCall( cudaGetLastError() ); 106 107 cudaSafeCall( cudaDeviceSynchronize() ); 108 } 109 }; 110 111 #define OPENCV_CUDA_IMPLEMENT_REMAP_TEX(type) \ 112 texture< type , cudaTextureType2D> tex_remap_ ## type (0, cudaFilterModePoint, cudaAddressModeClamp); \ 113 struct tex_remap_ ## type ## _reader \ 114 { \ 115 typedef type elem_type; \ 116 typedef int index_type; \ 117 int xoff, yoff; \ 118 tex_remap_ ## type ## _reader (int xoff_, int yoff_) : xoff(xoff_), yoff(yoff_) {} \ 119 __device__ __forceinline__ elem_type operator ()(index_type y, index_type x) const \ 120 { \ 121 return tex2D(tex_remap_ ## type , x + xoff, y + yoff); \ 122 } \ 123 }; \ 124 template <template <typename> class Filter, template <typename> class B> struct RemapDispatcherNonStream<Filter, B, type> \ 125 { \ 126 static void call(PtrStepSz< type > src, PtrStepSz< type > srcWhole, int xoff, int yoff, PtrStepSzf mapx, PtrStepSzf mapy, \ 127 PtrStepSz< type > dst, const float* borderValue, bool cc20) \ 128 { \ 129 typedef typename TypeVec<float, VecTraits< type >::cn>::vec_type work_type; \ 130 dim3 block(32, cc20 ? 8 : 4); \ 131 dim3 grid(divUp(dst.cols, block.x), divUp(dst.rows, block.y)); \ 132 bindTexture(&tex_remap_ ## type , srcWhole); \ 133 tex_remap_ ## type ##_reader texSrc(xoff, yoff); \ 134 B<work_type> brd(src.rows, src.cols, VecTraits<work_type>::make(borderValue)); \ 135 BorderReader< tex_remap_ ## type ##_reader, B<work_type> > brdSrc(texSrc, brd); \ 136 Filter< BorderReader< tex_remap_ ## type ##_reader, B<work_type> > > filter_src(brdSrc); \ 137 remap<<<grid, block>>>(filter_src, mapx, mapy, dst); \ 138 cudaSafeCall( cudaGetLastError() ); \ 139 cudaSafeCall( cudaDeviceSynchronize() ); \ 140 } \ 141 }; \ 142 template <template <typename> class Filter> struct RemapDispatcherNonStream<Filter, BrdReplicate, type> \ 143 { \ 144 static void call(PtrStepSz< type > src, PtrStepSz< type > srcWhole, int xoff, int yoff, PtrStepSzf mapx, PtrStepSzf mapy, \ 145 PtrStepSz< type > dst, const float*, bool) \ 146 { \ 147 dim3 block(32, 8); \ 148 dim3 grid(divUp(dst.cols, block.x), divUp(dst.rows, block.y)); \ 149 bindTexture(&tex_remap_ ## type , srcWhole); \ 150 tex_remap_ ## type ##_reader texSrc(xoff, yoff); \ 151 if (srcWhole.cols == src.cols && srcWhole.rows == src.rows) \ 152 { \ 153 Filter< tex_remap_ ## type ##_reader > filter_src(texSrc); \ 154 remap<<<grid, block>>>(filter_src, mapx, mapy, dst); \ 155 } \ 156 else \ 157 { \ 158 BrdReplicate<type> brd(src.rows, src.cols); \ 159 BorderReader< tex_remap_ ## type ##_reader, BrdReplicate<type> > brdSrc(texSrc, brd); \ 160 Filter< BorderReader< tex_remap_ ## type ##_reader, BrdReplicate<type> > > filter_src(brdSrc); \ 161 remap<<<grid, block>>>(filter_src, mapx, mapy, dst); \ 162 } \ 163 cudaSafeCall( cudaGetLastError() ); \ 164 cudaSafeCall( cudaDeviceSynchronize() ); \ 165 } \ 166 }; 167 168 OPENCV_CUDA_IMPLEMENT_REMAP_TEX(uchar) 169 //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(uchar2) 170 OPENCV_CUDA_IMPLEMENT_REMAP_TEX(uchar4) 171 172 //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(schar) 173 //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(char2) 174 //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(char4) 175 176 OPENCV_CUDA_IMPLEMENT_REMAP_TEX(ushort) 177 //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(ushort2) 178 OPENCV_CUDA_IMPLEMENT_REMAP_TEX(ushort4) 179 180 OPENCV_CUDA_IMPLEMENT_REMAP_TEX(short) 181 //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(short2) 182 OPENCV_CUDA_IMPLEMENT_REMAP_TEX(short4) 183 184 //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(int) 185 //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(int2) 186 //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(int4) 187 188 OPENCV_CUDA_IMPLEMENT_REMAP_TEX(float) 189 //OPENCV_CUDA_IMPLEMENT_REMAP_TEX(float2) 190 OPENCV_CUDA_IMPLEMENT_REMAP_TEX(float4) 191 192 #undef OPENCV_CUDA_IMPLEMENT_REMAP_TEX 193 194 template <template <typename> class Filter, template <typename> class B, typename T> struct RemapDispatcher 195 { 196 static void call(PtrStepSz<T> src, PtrStepSz<T> srcWhole, int xoff, int yoff, PtrStepSzf mapx, PtrStepSzf mapy, 197 PtrStepSz<T> dst, const float* borderValue, cudaStream_t stream, bool cc20) 198 { 199 if (stream == 0) 200 RemapDispatcherNonStream<Filter, B, T>::call(src, srcWhole, xoff, yoff, mapx, mapy, dst, borderValue, cc20); 201 else 202 RemapDispatcherStream<Filter, B, T>::call(src, mapx, mapy, dst, borderValue, stream, cc20); 203 } 204 }; 205 206 template <typename T> void remap_gpu(PtrStepSzb src, PtrStepSzb srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, 207 PtrStepSzb dst, int interpolation, int borderMode, const float* borderValue, cudaStream_t stream, bool cc20) 208 { 209 typedef void (*caller_t)(PtrStepSz<T> src, PtrStepSz<T> srcWhole, int xoff, int yoff, PtrStepSzf xmap, PtrStepSzf ymap, 210 PtrStepSz<T> dst, const float* borderValue, cudaStream_t stream, bool cc20); 211 212 static const caller_t callers[3][5] = 213 { 214 { 215 RemapDispatcher<PointFilter, BrdConstant, T>::call, 216 RemapDispatcher<PointFilter, BrdReplicate, T>::call, 217 RemapDispatcher<PointFilter, BrdReflect, T>::call, 218 RemapDispatcher<PointFilter, BrdWrap, T>::call, 219 RemapDispatcher<PointFilter, BrdReflect101, T>::call 220 }, 221 { 222 RemapDispatcher<LinearFilter, BrdConstant, T>::call, 223 RemapDispatcher<LinearFilter, BrdReplicate, T>::call, 224 RemapDispatcher<LinearFilter, BrdReflect, T>::call, 225 RemapDispatcher<LinearFilter, BrdWrap, T>::call, 226 RemapDispatcher<LinearFilter, BrdReflect101, T>::call 227 }, 228 { 229 RemapDispatcher<CubicFilter, BrdConstant, T>::call, 230 RemapDispatcher<CubicFilter, BrdReplicate, T>::call, 231 RemapDispatcher<CubicFilter, BrdReflect, T>::call, 232 RemapDispatcher<CubicFilter, BrdWrap, T>::call, 233 RemapDispatcher<CubicFilter, BrdReflect101, T>::call 234 } 235 }; 236 237 callers[interpolation][borderMode](static_cast< PtrStepSz<T> >(src), static_cast< PtrStepSz<T> >(srcWhole), xoff, yoff, xmap, ymap, 238 static_cast< PtrStepSz<T> >(dst), borderValue, stream, cc20); 239 } 240 241 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); 242 //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); 243 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); 244 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); 245 246 //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); 247 //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); 248 //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); 249 //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); 250 251 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); 252 //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); 253 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); 254 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); 255 256 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); 257 //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); 258 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); 259 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); 260 261 //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); 262 //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); 263 //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); 264 //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); 265 266 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); 267 //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); 268 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); 269 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); 270 } // namespace imgproc 271 }}} // namespace cv { namespace cuda { namespace cudev 272 273 274 #endif /* CUDA_DISABLER */ 275
