#include "../include/preprocess.h"
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#include "../include/cuda_utils.h"
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static uint8_t *img_buffer_host = nullptr;
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static uint8_t *img_buffer_device = nullptr;
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__global__ void
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warpaffine_kernel(uint8_t *src, int src_line_size, int src_width, int src_height, float *dst, int dst_width,
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int dst_height, uint8_t const_value_st, AffineMatrix d2s, int edge) {
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int position = blockDim.x * blockIdx.x + threadIdx.x;
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if (position >= edge) return;
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float m_x1 = d2s.value[0];
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float m_y1 = d2s.value[1];
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float m_z1 = d2s.value[2];
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float m_x2 = d2s.value[3];
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float m_y2 = d2s.value[4];
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float m_z2 = d2s.value[5];
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int dx = position % dst_width;
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int dy = position / dst_width;
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float src_x = m_x1 * dx + m_y1 * dy + m_z1 + 0.5f;
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float src_y = m_x2 * dx + m_y2 * dy + m_z2 + 0.5f;
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float c0, c1, c2;
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if (src_x <= -1 || src_x >= src_width || src_y <= -1 || src_y >= src_height) {
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// out of range
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c0 = const_value_st;
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c1 = const_value_st;
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c2 = const_value_st;
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} else {
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int y_low = floorf(src_y);
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int x_low = floorf(src_x);
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int y_high = y_low + 1;
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int x_high = x_low + 1;
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uint8_t const_value[] = {const_value_st, const_value_st, const_value_st};
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float ly = src_y - y_low;
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float lx = src_x - x_low;
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float hy = 1 - ly;
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float hx = 1 - lx;
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float w1 = hy * hx, w2 = hy * lx, w3 = ly * hx, w4 = ly * lx;
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uint8_t *v1 = const_value;
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uint8_t *v2 = const_value;
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uint8_t *v3 = const_value;
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uint8_t *v4 = const_value;
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if (y_low >= 0) {
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if (x_low >= 0)
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v1 = src + y_low * src_line_size + x_low * 3;
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if (x_high < src_width)
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v2 = src + y_low * src_line_size + x_high * 3;
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}
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if (y_high < src_height) {
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if (x_low >= 0)
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v3 = src + y_high * src_line_size + x_low * 3;
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if (x_high < src_width)
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v4 = src + y_high * src_line_size + x_high * 3;
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}
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c0 = w1 * v1[0] + w2 * v2[0] + w3 * v3[0] + w4 * v4[0];
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c1 = w1 * v1[1] + w2 * v2[1] + w3 * v3[1] + w4 * v4[1];
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c2 = w1 * v1[2] + w2 * v2[2] + w3 * v3[2] + w4 * v4[2];
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}
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// bgr to rgb
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float t = c2;
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c2 = c0;
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c0 = t;
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// normalization
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c0 = c0 / 255.0f;
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c1 = c1 / 255.0f;
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c2 = c2 / 255.0f;
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// rgbrgbrgb to rrrgggbbb
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int area = dst_width * dst_height;
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float *pdst_c0 = dst + dy * dst_width + dx;
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float *pdst_c1 = pdst_c0 + area;
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float *pdst_c2 = pdst_c1 + area;
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*pdst_c0 = c0;
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*pdst_c1 = c1;
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*pdst_c2 = c2;
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}
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void cuda_preprocess(uint8_t *src, int src_width, int src_height, float *dst, int dst_width, int dst_height,
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cudaStream_t stream) {
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int img_size = src_width * src_height * 3;
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// copy data to pinned memory
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memcpy(img_buffer_host, src, img_size);
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// copy data to device memory
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CUDA_CHECK(cudaMemcpyAsync(img_buffer_device, img_buffer_host, img_size, cudaMemcpyHostToDevice, stream));
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AffineMatrix s2d, d2s;
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float scale = std::min(dst_height / (float) src_height, dst_width / (float) src_width);
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s2d.value[0] = scale;
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s2d.value[1] = 0;
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s2d.value[2] = -scale * src_width * 0.5 + dst_width * 0.5;
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s2d.value[3] = 0;
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s2d.value[4] = scale;
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s2d.value[5] = -scale * src_height * 0.5 + dst_height * 0.5;
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cv::Mat m2x3_s2d(2, 3, CV_32F, s2d.value);
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cv::Mat m2x3_d2s(2, 3, CV_32F, d2s.value);
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cv::invertAffineTransform(m2x3_s2d, m2x3_d2s);
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memcpy(d2s.value, m2x3_d2s.ptr<float>(0), sizeof(d2s.value));
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int jobs = dst_height * dst_width;
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int threads = 256;
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int blocks = ceil(jobs / (float) threads);
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warpaffine_kernel<<<blocks, threads, 0, stream>>>(
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img_buffer_device, src_width * 3, src_width,
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src_height, dst, dst_width,
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dst_height, 128, d2s, jobs);
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}
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void cuda_batch_preprocess(std::vector<cv::Mat> &img_batch,
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float *dst, int dst_width, int dst_height,
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cudaStream_t stream) {
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int dst_size = dst_width * dst_height * 3;
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for (size_t i = 0; i < img_batch.size(); i++) {
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cuda_preprocess(img_batch[i].ptr(), img_batch[i].cols, img_batch[i].rows, &dst[dst_size * i], dst_width,
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dst_height, stream);
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CUDA_CHECK(cudaStreamSynchronize(stream));
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}
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}
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void cuda_preprocess_init(int max_image_size) {
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// prepare input data in pinned memory
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CUDA_CHECK(cudaMallocHost((void **) &img_buffer_host, max_image_size * 3));
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// prepare input data in device memory
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CUDA_CHECK(cudaMalloc((void **) &img_buffer_device, max_image_size * 3));
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}
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void cuda_preprocess_destroy() {
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CUDA_CHECK(cudaFree(img_buffer_device));
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CUDA_CHECK(cudaFreeHost(img_buffer_host));
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}
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