WSeries_Calibration/QtCameraHardWareCopilot/include/opencv2/cudev/ptr2d/warping.hpp

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#pragma once

#ifndef OPENCV_CUDEV_PTR2D_WARPING_HPP
#define OPENCV_CUDEV_PTR2D_WARPING_HPP

#include "../common.hpp"
#include "traits.hpp"
#include "remap.hpp"
#include "gpumat.hpp"

namespace cv { namespace cudev {

//! @addtogroup cudev
//! @{

// affine

struct AffineMapPtr
{
    typedef float2 value_type;
    typedef float  index_type;

    const float* warpMat;

    __device__ __forceinline__ float2 operator ()(float y, float x) const
    {
        const float xcoo = warpMat[0] * x + warpMat[1] * y + warpMat[2];
        const float ycoo = warpMat[3] * x + warpMat[4] * y + warpMat[5];

        return make_float2(xcoo, ycoo);
    }
};

struct AffineMapPtrSz : AffineMapPtr
{
    int rows, cols;
};

template <> struct PtrTraits<AffineMapPtrSz> : PtrTraitsBase<AffineMapPtrSz, AffineMapPtr>
{
};

__host__ static AffineMapPtrSz affineMap(Size dstSize, const GpuMat_<float>& warpMat)
{
    CV_Assert( warpMat.rows == 2 && warpMat.cols == 3 );
    CV_Assert( warpMat.isContinuous() );

    AffineMapPtrSz map;
    map.warpMat = warpMat[0];
    map.rows = dstSize.height;
    map.cols = dstSize.width;
    return map;
}

template <class SrcPtr>
__host__ RemapPtr1Sz<typename PtrTraits<SrcPtr>::ptr_type, AffineMapPtr>
warpAffinePtr(const SrcPtr& src, Size dstSize, const GpuMat_<float>& warpMat)
{
    return remapPtr(src, affineMap(dstSize, warpMat));
}

// perspective

struct PerspectiveMapPtr
{
    typedef float2 value_type;
    typedef float  index_type;

    const float* warpMat;

    __device__ __forceinline__ float2 operator ()(float y, float x) const
    {
        const float coeff = 1.0f / (warpMat[6] * x + warpMat[7] * y + warpMat[8]);

        const float xcoo = coeff * (warpMat[0] * x + warpMat[1] * y + warpMat[2]);
        const float ycoo = coeff * (warpMat[3] * x + warpMat[4] * y + warpMat[5]);

        return make_float2(xcoo, ycoo);
    }
};

struct PerspectiveMapPtrSz : PerspectiveMapPtr
{
    int rows, cols;
};

template <> struct PtrTraits<PerspectiveMapPtrSz> : PtrTraitsBase<PerspectiveMapPtrSz, PerspectiveMapPtr>
{
};

__host__ static PerspectiveMapPtrSz perspectiveMap(Size dstSize, const GpuMat_<float>& warpMat)
{
    CV_Assert( warpMat.rows == 3 && warpMat.cols == 3 );
    CV_Assert( warpMat.isContinuous() );

    PerspectiveMapPtrSz map;
    map.warpMat = warpMat[0];
    map.rows = dstSize.height;
    map.cols = dstSize.width;
    return map;
}

template <class SrcPtr>
__host__ RemapPtr1Sz<typename PtrTraits<SrcPtr>::ptr_type, PerspectiveMapPtr>
warpPerspectivePtr(const SrcPtr& src, Size dstSize, const GpuMat_<float>& warpMat)
{
    return remapPtr(src, perspectiveMap(dstSize, warpMat));
}

//! @}

}}

#endif