718c41634f
1.项目后端整体迁移至PaddleOCR-NCNN算法，已通过基本的兼容性测试 2.工程改为使用CMake组织，后续为了更好地兼容第三方库，不再提供QMake工程 3.重整权利声明文件，重整代码工程，确保最小化侵权风险 Log: 切换后端至PaddleOCR-NCNN，切换工程为CMake Change-Id: I4d5d2c5d37505a4a24b389b1a4c5d12f17bfa38c
293 lines
10 KiB
C++
293 lines
10 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include "opencv2/core/private.cuda.hpp"
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using namespace cv;
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using namespace cv::cuda;
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#ifdef HAVE_CUDA
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namespace cv { namespace cuda { namespace device
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{
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namespace imgproc
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{
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void buildWarpPlaneMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
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const float k_rinv[9], const float r_kinv[9], const float t[3], float scale,
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cudaStream_t stream);
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void buildWarpSphericalMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
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const float k_rinv[9], const float r_kinv[9], float scale,
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cudaStream_t stream);
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void buildWarpCylindricalMaps(int tl_u, int tl_v, PtrStepSzf map_x, PtrStepSzf map_y,
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const float k_rinv[9], const float r_kinv[9], float scale,
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cudaStream_t stream);
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}
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}}}
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static void buildWarpPlaneMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, InputArray _T,
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float scale, OutputArray _map_x, OutputArray _map_y, Stream& stream = Stream::Null())
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{
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CV_UNUSED(src_size);
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Mat K = _K.getMat();
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Mat R = _R.getMat();
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Mat T = _T.getMat();
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CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 );
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CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 );
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CV_Assert( (T.size() == Size(3,1) || T.size() == Size(1,3)) && T.type() == CV_32FC1 && T.isContinuous() );
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Mat K_Rinv = K * R.t();
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Mat R_Kinv = R * K.inv();
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CV_Assert( K_Rinv.isContinuous() );
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CV_Assert( R_Kinv.isContinuous() );
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_map_x.create(dst_roi.size(), CV_32FC1);
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_map_y.create(dst_roi.size(), CV_32FC1);
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GpuMat map_x = _map_x.getGpuMat();
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GpuMat map_y = _map_y.getGpuMat();
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device::imgproc::buildWarpPlaneMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(),
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T.ptr<float>(), scale, StreamAccessor::getStream(stream));
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}
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static void buildWarpSphericalMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, float scale,
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OutputArray _map_x, OutputArray _map_y, Stream& stream = Stream::Null())
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{
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CV_UNUSED(src_size);
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Mat K = _K.getMat();
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Mat R = _R.getMat();
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CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 );
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CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 );
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Mat K_Rinv = K * R.t();
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Mat R_Kinv = R * K.inv();
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CV_Assert( K_Rinv.isContinuous() );
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CV_Assert( R_Kinv.isContinuous() );
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_map_x.create(dst_roi.size(), CV_32FC1);
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_map_y.create(dst_roi.size(), CV_32FC1);
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GpuMat map_x = _map_x.getGpuMat();
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GpuMat map_y = _map_y.getGpuMat();
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device::imgproc::buildWarpSphericalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(), scale, StreamAccessor::getStream(stream));
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}
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static void buildWarpCylindricalMaps(Size src_size, Rect dst_roi, InputArray _K, InputArray _R, float scale,
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OutputArray _map_x, OutputArray _map_y, Stream& stream = Stream::Null())
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{
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CV_UNUSED(src_size);
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Mat K = _K.getMat();
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Mat R = _R.getMat();
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CV_Assert( K.size() == Size(3,3) && K.type() == CV_32FC1 );
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CV_Assert( R.size() == Size(3,3) && R.type() == CV_32FC1 );
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Mat K_Rinv = K * R.t();
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Mat R_Kinv = R * K.inv();
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CV_Assert( K_Rinv.isContinuous() );
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CV_Assert( R_Kinv.isContinuous() );
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_map_x.create(dst_roi.size(), CV_32FC1);
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_map_y.create(dst_roi.size(), CV_32FC1);
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GpuMat map_x = _map_x.getGpuMat();
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GpuMat map_y = _map_y.getGpuMat();
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device::imgproc::buildWarpCylindricalMaps(dst_roi.tl().x, dst_roi.tl().y, map_x, map_y, K_Rinv.ptr<float>(), R_Kinv.ptr<float>(), scale, StreamAccessor::getStream(stream));
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}
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#endif
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Rect cv::detail::PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R,
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cuda::GpuMat & xmap, cuda::GpuMat & ymap)
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{
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return buildMaps(src_size, K, R, Mat::zeros(3, 1, CV_32F), xmap, ymap);
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}
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Rect cv::detail::PlaneWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, InputArray T,
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cuda::GpuMat & xmap, cuda::GpuMat & ymap)
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{
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#ifndef HAVE_CUDA
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CV_UNUSED(src_size);
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CV_UNUSED(K);
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CV_UNUSED(R);
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CV_UNUSED(T);
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CV_UNUSED(xmap);
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CV_UNUSED(ymap);
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throw_no_cuda();
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#else
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projector_.setCameraParams(K, R, T);
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Point dst_tl, dst_br;
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detectResultRoi(src_size, dst_tl, dst_br);
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::buildWarpPlaneMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
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K, R, T, projector_.scale, xmap, ymap);
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return Rect(dst_tl, dst_br);
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#endif
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}
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Point cv::detail::PlaneWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R,
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int interp_mode, int border_mode,
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cuda::GpuMat & dst)
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{
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return warp(src, K, R, Mat::zeros(3, 1, CV_32F), interp_mode, border_mode, dst);
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}
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Point cv::detail::PlaneWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R, InputArray T,
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int interp_mode, int border_mode,
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cuda::GpuMat & dst)
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{
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#ifndef HAVE_OPENCV_CUDAWARPING
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CV_UNUSED(src);
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CV_UNUSED(K);
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CV_UNUSED(R);
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CV_UNUSED(T);
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CV_UNUSED(interp_mode);
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CV_UNUSED(border_mode);
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CV_UNUSED(dst);
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throw_no_cuda();
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#else
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Rect dst_roi = buildMaps(src.size(), K, R, T, d_xmap_, d_ymap_);
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dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
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cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
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return dst_roi.tl();
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#endif
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}
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Rect cv::detail::SphericalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R, cuda::GpuMat & xmap, cuda::GpuMat & ymap)
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{
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#ifndef HAVE_CUDA
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CV_UNUSED(src_size);
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CV_UNUSED(K);
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CV_UNUSED(R);
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CV_UNUSED(xmap);
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CV_UNUSED(ymap);
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throw_no_cuda();
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#else
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projector_.setCameraParams(K, R);
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Point dst_tl, dst_br;
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detectResultRoi(src_size, dst_tl, dst_br);
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::buildWarpSphericalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
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K, R, projector_.scale, xmap, ymap);
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return Rect(dst_tl, dst_br);
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#endif
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}
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Point cv::detail::SphericalWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R,
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int interp_mode, int border_mode,
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cuda::GpuMat & dst)
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{
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#ifndef HAVE_OPENCV_CUDAWARPING
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CV_UNUSED(src);
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CV_UNUSED(K);
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CV_UNUSED(R);
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CV_UNUSED(interp_mode);
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CV_UNUSED(border_mode);
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CV_UNUSED(dst);
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throw_no_cuda();
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#else
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Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
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dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
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cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
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return dst_roi.tl();
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#endif
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}
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Rect cv::detail::CylindricalWarperGpu::buildMaps(Size src_size, InputArray K, InputArray R,
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cuda::GpuMat & xmap, cuda::GpuMat & ymap)
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{
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#ifndef HAVE_CUDA
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CV_UNUSED(src_size);
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CV_UNUSED(K);
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CV_UNUSED(R);
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CV_UNUSED(xmap);
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CV_UNUSED(ymap);
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throw_no_cuda();
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#else
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projector_.setCameraParams(K, R);
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Point dst_tl, dst_br;
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detectResultRoi(src_size, dst_tl, dst_br);
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::buildWarpCylindricalMaps(src_size, Rect(dst_tl, Point(dst_br.x + 1, dst_br.y + 1)),
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K, R, projector_.scale, xmap, ymap);
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return Rect(dst_tl, dst_br);
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#endif
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}
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Point cv::detail::CylindricalWarperGpu::warp(const cuda::GpuMat & src, InputArray K, InputArray R,
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int interp_mode, int border_mode,
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cuda::GpuMat & dst)
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{
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#ifndef HAVE_OPENCV_CUDAWARPING
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CV_UNUSED(src);
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CV_UNUSED(K);
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CV_UNUSED(R);
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CV_UNUSED(interp_mode);
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CV_UNUSED(border_mode);
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CV_UNUSED(dst);
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throw_no_cuda();
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#else
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Rect dst_roi = buildMaps(src.size(), K, R, d_xmap_, d_ymap_);
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dst.create(dst_roi.height + 1, dst_roi.width + 1, src.type());
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cuda::remap(src, dst, d_xmap_, d_ymap_, interp_mode, border_mode);
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return dst_roi.tl();
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#endif
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}
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