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42 
43 #if !defined CUDA_DISABLER
44 
45 #include "opencv2/core/cuda/common.hpp"
46 #include "opencv2/core/cuda/vec_traits.hpp"
47 #include "opencv2/core/cuda/vec_math.hpp"
48 #include "opencv2/core/cuda/saturate_cast.hpp"
49 #include "opencv2/core/cuda/border_interpolate.hpp"
50 
51 namespace cv { namespace cuda { namespace device
52 {
53     namespace imgproc
54     {
55         // TODO use intrinsics like __sinf and so on
56 
57         namespace build_warp_maps
58         {
59 
60             __constant__ float ck_rinv[9];
61             __constant__ float cr_kinv[9];
62             __constant__ float ct[3];
63             __constant__ float cscale;
64         }
65 
66 
67         class PlaneMapper
68         {
69         public:
mapBackward(float u,float v,float & x,float & y)70             static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
71             {
72                 using namespace build_warp_maps;
73 
74                 float x_ = u / cscale - ct[0];
75                 float y_ = v / cscale - ct[1];
76 
77                 float z;
78                 x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * (1 - ct[2]);
79                 y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * (1 - ct[2]);
80                 z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * (1 - ct[2]);
81 
82                 x /= z;
83                 y /= z;
84             }
85         };
86 
87 
88         class CylindricalMapper
89         {
90         public:
mapBackward(float u,float v,float & x,float & y)91             static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
92             {
93                 using namespace build_warp_maps;
94 
95                 u /= cscale;
96                 float x_ = ::sinf(u);
97                 float y_ = v / cscale;
98                 float z_ = ::cosf(u);
99 
100                 float z;
101                 x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
102                 y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
103                 z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
104 
105                 if (z > 0) { x /= z; y /= z; }
106                 else x = y = -1;
107             }
108         };
109 
110 
111         class SphericalMapper
112         {
113         public:
mapBackward(float u,float v,float & x,float & y)114             static __device__ __forceinline__ void mapBackward(float u, float v, float &x, float &y)
115             {
116                 using namespace build_warp_maps;
117 
118                 v /= cscale;
119                 u /= cscale;
120 
121                 float sinv = ::sinf(v);
122                 float x_ = sinv * ::sinf(u);
123                 float y_ = -::cosf(v);
124                 float z_ = sinv * ::cosf(u);
125 
126                 float z;
127                 x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
128                 y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
129                 z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
130 
131                 if (z > 0) { x /= z; y /= z; }
132                 else x = y = -1;
133             }
134         };
135 
136 
137         template <typename Mapper>
buildWarpMapsKernel(int tl_u,int tl_v,int cols,int rows,PtrStepf map_x,PtrStepf map_y)138         __global__ void buildWarpMapsKernel(int tl_u, int tl_v, int cols, int rows,
139                                             PtrStepf map_x, PtrStepf map_y)
140         {
141             int du = blockIdx.x * blockDim.x + threadIdx.x;
142             int dv = blockIdx.y * blockDim.y + threadIdx.y;
143             if (du < cols && dv < rows)
144             {
145                 float u = tl_u + du;
146                 float v = tl_v + dv;
147                 float x, y;
148                 Mapper::mapBackward(u, v, x, y);
149                 map_x.ptr(dv)[du] = x;
150                 map_y.ptr(dv)[du] = y;
151             }
152         }
153 
154 
buildWarpPlaneMaps(int tl_u,int tl_v,PtrStepSzf map_x,PtrStepSzf map_y,const float k_rinv[9],const float r_kinv[9],const float t[3],float scale,cudaStream_t stream)155         void buildWarpPlaneMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
156                                 const float k_rinv[9], const float r_kinv[9], const float t[3],
157                                 float scale, cudaStream_t stream)
158         {
159             cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
160             cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
161             cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ct, t, 3*sizeof(float)));
162             cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
163 
164             int cols = map_x.cols;
165             int rows = map_x.rows;
166 
167             dim3 threads(32, 8);
168             dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
169 
170             buildWarpMapsKernel<PlaneMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
171             cudaSafeCall(cudaGetLastError());
172             if (stream == 0)
173                 cudaSafeCall(cudaDeviceSynchronize());
174         }
175 
176 
buildWarpCylindricalMaps(int tl_u,int tl_v,PtrStepSzf map_x,PtrStepSzf map_y,const float k_rinv[9],const float r_kinv[9],float scale,cudaStream_t stream)177         void buildWarpCylindricalMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
178                                       const float k_rinv[9], const float r_kinv[9], float scale,
179                                       cudaStream_t stream)
180         {
181             cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
182             cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
183             cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
184 
185             int cols = map_x.cols;
186             int rows = map_x.rows;
187 
188             dim3 threads(32, 8);
189             dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
190 
191             buildWarpMapsKernel<CylindricalMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
192             cudaSafeCall(cudaGetLastError());
193             if (stream == 0)
194                 cudaSafeCall(cudaDeviceSynchronize());
195         }
196 
197 
buildWarpSphericalMaps(int tl_u,int tl_v,PtrStepSzf map_x,PtrStepSzf map_y,const float k_rinv[9],const float r_kinv[9],float scale,cudaStream_t stream)198         void buildWarpSphericalMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
199                                     const float k_rinv[9], const float r_kinv[9], float scale,
200                                     cudaStream_t stream)
201         {
202             cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
203             cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
204             cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
205 
206             int cols = map_x.cols;
207             int rows = map_x.rows;
208 
209             dim3 threads(32, 8);
210             dim3 grid(divUp(cols, threads.x), divUp(rows, threads.y));
211 
212             buildWarpMapsKernel<SphericalMapper><<<grid,threads>>>(tl_u, tl_v, cols, rows, map_x, map_y);
213             cudaSafeCall(cudaGetLastError());
214             if (stream == 0)
215                 cudaSafeCall(cudaDeviceSynchronize());
216         }
217     } // namespace imgproc
218 }}} // namespace cv { namespace cuda { namespace cudev {
219 
220 
221 #endif /* CUDA_DISABLER */
222