From 1421e306fb9498b9039e92c55e9df989779a8ec7 Mon Sep 17 00:00:00 2001 From: Vladislav Vinogradov Date: Wed, 24 Dec 2014 17:24:38 +0300 Subject: [PATCH] fix compilation without CUDA --- modules/stitching/src/warpers_cuda.cpp | 181 ++++++++++++++++++--------------- 1 file changed, 98 insertions(+), 83 deletions(-) diff --git a/modules/stitching/src/warpers_cuda.cpp b/modules/stitching/src/warpers_cuda.cpp index 0593e6d..d1fe873 100644 --- a/modules/stitching/src/warpers_cuda.cpp +++ b/modules/stitching/src/warpers_cuda.cpp @@ -46,12 +46,6 @@ using namespace cv; using namespace cv::cuda; -Rect cv::detail::PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, - cuda::GpuMat & xmap, cuda::GpuMat & ymap) -{ - return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap); -} - #ifdef HAVE_CUDA namespace cv { namespace cuda { namespace device @@ -61,6 +55,14 @@ namespace cv { namespace cuda { namespace device void 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); + + void 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); + + void 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); } }}} @@ -92,8 +94,64 @@ static void buildWarpPlaneMaps(Size src_size, Rect dst_roi, InputArray _K, Input T.ptr(), scale, StreamAccessor::getStream(stream)); } +static void buildWarpSphericalMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, float scale, + OutputArray _map_x, OutputArray _map_y, Stream& stream = Stream::Null()) +{ + (void) src_size; + + Mat K = _K.getMat(); + Mat R = _R.getMat(); + + CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 ); + CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 ); + + Mat K_Rinv = K * R.t(); + Mat R_Kinv = R * K.inv(); + CV_Assert( K_Rinv.isContinuous() ); + CV_Assert( R_Kinv.isContinuous() ); + + _map_x.create(dst_roi.size(), CV_32FC1); + _map_y.create(dst_roi.size(), CV_32FC1); + + GpuMat map_x = _map_x.getGpuMat(); + GpuMat map_y = _map_y.getGpuMat(); + + device::imgproc::buildWarpSphericalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr(), R_Kinv.ptr(), scale, StreamAccessor::getStream(stream)); +} + +static void buildWarpCylindricalMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, float scale, + OutputArray _map_x, OutputArray _map_y, Stream& stream = Stream::Null()) +{ + (void) src_size; + + Mat K = _K.getMat(); + Mat R = _R.getMat(); + + CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 ); + CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 ); + + Mat K_Rinv = K * R.t(); + Mat R_Kinv = R * K.inv(); + CV_Assert( K_Rinv.isContinuous() ); + CV_Assert( R_Kinv.isContinuous() ); + + _map_x.create(dst_roi.size(), CV_32FC1); + _map_y.create(dst_roi.size(), CV_32FC1); + + GpuMat map_x = _map_x.getGpuMat(); + GpuMat map_y = _map_y.getGpuMat(); + + device::imgproc::buildWarpCylindricalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr(), R_Kinv.ptr(), scale, StreamAccessor::getStream(stream)); +} + #endif +Rect cv::detail::PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, + cuda::GpuMat & xmap, cuda::GpuMat & ymap) +{ + return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap); +} + Rect cv::detail::PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T, cuda::GpuMat & xmap, cuda::GpuMat & ymap) { @@ -131,50 +189,23 @@ Point cv::detail::PlaneWarperGpu::warp(const cuda::GpuMat & src, InputArray K, I int interp_mode, int border_mode, cuda::GpuMat & dst) { +#ifndef HAVE_OPENCV_CUDAWARPING + (void)src; + (void)K; + (void)R; + (void)T; + (void)interp_mode; + (void)border_mode; + (void)dst; + throw_no_cuda(); + return Point(); +#else Rect dst_roi = buildMaps(src.size(), K, R, T, d_xmap_, d_ymap_); dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type()); cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode); return dst_roi.tl(); -} - -#ifdef HAVE_CUDA - -namespace cv { namespace cuda { namespace device -{ - namespace imgproc - { - void 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); - } -}}} - -static void buildWarpSphericalMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, float scale, - OutputArray _map_x, OutputArray _map_y, Stream& stream = Stream::Null()) -{ - (void) src_size; - - Mat K = _K.getMat(); - Mat R = _R.getMat(); - - CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 ); - CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 ); - - Mat K_Rinv = K * R.t(); - Mat R_Kinv = R * K.inv(); - CV_Assert( K_Rinv.isContinuous() ); - CV_Assert( R_Kinv.isContinuous() ); - - _map_x.create(dst_roi.size(), CV_32FC1); - _map_y.create(dst_roi.size(), CV_32FC1); - - GpuMat map_x = _map_x.getGpuMat(); - GpuMat map_y = _map_y.getGpuMat(); - - device::imgproc::buildWarpSphericalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr(), R_Kinv.ptr(), scale, StreamAccessor::getStream(stream)); -} - #endif +} Rect cv::detail::SphericalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap) { @@ -203,50 +234,23 @@ Point cv::detail::SphericalWarperGpu::warp(const cuda::GpuMat & src, InputArray int interp_mode, int border_mode, cuda::GpuMat & dst) { +#ifndef HAVE_OPENCV_CUDAWARPING + (void)src; + (void)K; + (void)R; + (void)interp_mode; + (void)border_mode; + (void)dst; + throw_no_cuda(); + return Point(); +#else Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_); dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type()); cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode); return dst_roi.tl(); +#endif } -#ifdef HAVE_CUDA - -namespace cv { namespace cuda { namespace device -{ - namespace imgproc - { - void 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); - } -}}} - -static void buildWarpCylindricalMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, float scale, - OutputArray _map_x, OutputArray _map_y, Stream& stream = Stream::Null()) -{ - (void) src_size; - - Mat K = _K.getMat(); - Mat R = _R.getMat(); - - CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 ); - CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 ); - - Mat K_Rinv = K * R.t(); - Mat R_Kinv = R * K.inv(); - CV_Assert( K_Rinv.isContinuous() ); - CV_Assert( R_Kinv.isContinuous() ); - - _map_x.create(dst_roi.size(), CV_32FC1); - _map_y.create(dst_roi.size(), CV_32FC1); - - GpuMat map_x = _map_x.getGpuMat(); - GpuMat map_y = _map_y.getGpuMat(); - - device::imgproc::buildWarpCylindricalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr(), R_Kinv.ptr(), scale, StreamAccessor::getStream(stream)); -} - -#endif Rect cv::detail::CylindricalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap) @@ -276,8 +280,19 @@ Point cv::detail::CylindricalWarperGpu::warp(const cuda::GpuMat & src, InputArra int interp_mode, int border_mode, cuda::GpuMat & dst) { +#ifndef HAVE_OPENCV_CUDAWARPING + (void)src; + (void)K; + (void)R; + (void)interp_mode; + (void)border_mode; + (void)dst; + throw_no_cuda(); + return Point(); +#else Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_); dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type()); cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode); return dst_roi.tl(); +#endif } -- 2.7.4