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43 #ifndef __OPENCV_CV_H__
44 #define __OPENCV_CV_H__
52 #pragma package <chopencv>
65 /****************************************************************************************\
67 \****************************************************************************************/
69 /* Copies source 2D array inside of the larger destination array and
70 makes a border of the specified type (IPL_BORDER_*) around the copied area. */
71 CVAPI(void) cvCopyMakeBorder( const CvArr* src, CvArr* dst, CvPoint offset,
72 int bordertype, CvScalar value CV_DEFAULT(cvScalarAll(0)));
74 #define CV_BLUR_NO_SCALE 0
78 #define CV_BILATERAL 4
80 /* Smoothes array (removes noise) */
81 CVAPI(void) cvSmooth( const CvArr* src, CvArr* dst,
82 int smoothtype CV_DEFAULT(CV_GAUSSIAN),
83 int size1 CV_DEFAULT(3),
84 int size2 CV_DEFAULT(0),
85 double sigma1 CV_DEFAULT(0),
86 double sigma2 CV_DEFAULT(0));
88 /* Convolves the image with the kernel */
89 CVAPI(void) cvFilter2D( const CvArr* src, CvArr* dst, const CvMat* kernel,
90 CvPoint anchor CV_DEFAULT(cvPoint(-1,-1)));
92 /* Finds integral image: SUM(X,Y) = sum(x<X,y<Y)I(x,y) */
93 CVAPI(void) cvIntegral( const CvArr* image, CvArr* sum,
94 CvArr* sqsum CV_DEFAULT(NULL),
95 CvArr* tilted_sum CV_DEFAULT(NULL));
98 Smoothes the input image with gaussian kernel and then down-samples it.
99 dst_width = floor(src_width/2)[+1],
100 dst_height = floor(src_height/2)[+1]
102 CVAPI(void) cvPyrDown( const CvArr* src, CvArr* dst,
103 int filter CV_DEFAULT(CV_GAUSSIAN_5x5) );
106 Up-samples image and smoothes the result with gaussian kernel.
107 dst_width = src_width*2,
108 dst_height = src_height*2
110 CVAPI(void) cvPyrUp( const CvArr* src, CvArr* dst,
111 int filter CV_DEFAULT(CV_GAUSSIAN_5x5) );
113 /* Builds pyramid for an image */
114 CVAPI(CvMat**) cvCreatePyramid( const CvArr* img, int extra_layers, double rate,
115 const CvSize* layer_sizes CV_DEFAULT(0),
116 CvArr* bufarr CV_DEFAULT(0),
117 int calc CV_DEFAULT(1),
118 int filter CV_DEFAULT(CV_GAUSSIAN_5x5) );
120 /* Releases pyramid */
121 CVAPI(void) cvReleasePyramid( CvMat*** pyramid, int extra_layers );
124 /* Splits color or grayscale image into multiple connected components
125 of nearly the same color/brightness using modification of Burt algorithm.
126 comp with contain a pointer to sequence (CvSeq)
127 of connected components (CvConnectedComp) */
128 CVAPI(void) cvPyrSegmentation( IplImage* src, IplImage* dst,
129 CvMemStorage* storage, CvSeq** comp,
130 int level, double threshold1,
133 /* Filters image using meanshift algorithm */
134 CVAPI(void) cvPyrMeanShiftFiltering( const CvArr* src, CvArr* dst,
135 double sp, double sr, int max_level CV_DEFAULT(1),
136 CvTermCriteria termcrit CV_DEFAULT(cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,5,1)));
138 /* Segments image using seed "markers" */
139 CVAPI(void) cvWatershed( const CvArr* image, CvArr* markers );
141 #define CV_INPAINT_NS 0
142 #define CV_INPAINT_TELEA 1
144 /* Inpaints the selected region in the image */
145 CVAPI(void) cvInpaint( const CvArr* src, const CvArr* inpaint_mask,
146 CvArr* dst, double inpaintRange, int flags );
149 #define CV_MAX_SOBEL_KSIZE 7
151 /* Calculates an image derivative using generalized Sobel
152 (aperture_size = 1,3,5,7) or Scharr (aperture_size = -1) operator.
153 Scharr can be used only for the first dx or dy derivative */
154 CVAPI(void) cvSobel( const CvArr* src, CvArr* dst,
155 int xorder, int yorder,
156 int aperture_size CV_DEFAULT(3));
158 /* Calculates the image Laplacian: (d2/dx + d2/dy)I */
159 CVAPI(void) cvLaplace( const CvArr* src, CvArr* dst,
160 int aperture_size CV_DEFAULT(3) );
162 /* Constants for color conversion */
163 #define CV_BGR2BGRA 0
164 #define CV_RGB2RGBA CV_BGR2BGRA
166 #define CV_BGRA2BGR 1
167 #define CV_RGBA2RGB CV_BGRA2BGR
169 #define CV_BGR2RGBA 2
170 #define CV_RGB2BGRA CV_BGR2RGBA
172 #define CV_RGBA2BGR 3
173 #define CV_BGRA2RGB CV_RGBA2BGR
176 #define CV_RGB2BGR CV_BGR2RGB
178 #define CV_BGRA2RGBA 5
179 #define CV_RGBA2BGRA CV_BGRA2RGBA
181 #define CV_BGR2GRAY 6
182 #define CV_RGB2GRAY 7
183 #define CV_GRAY2BGR 8
184 #define CV_GRAY2RGB CV_GRAY2BGR
185 #define CV_GRAY2BGRA 9
186 #define CV_GRAY2RGBA CV_GRAY2BGRA
187 #define CV_BGRA2GRAY 10
188 #define CV_RGBA2GRAY 11
190 #define CV_BGR2BGR565 12
191 #define CV_RGB2BGR565 13
192 #define CV_BGR5652BGR 14
193 #define CV_BGR5652RGB 15
194 #define CV_BGRA2BGR565 16
195 #define CV_RGBA2BGR565 17
196 #define CV_BGR5652BGRA 18
197 #define CV_BGR5652RGBA 19
199 #define CV_GRAY2BGR565 20
200 #define CV_BGR5652GRAY 21
202 #define CV_BGR2BGR555 22
203 #define CV_RGB2BGR555 23
204 #define CV_BGR5552BGR 24
205 #define CV_BGR5552RGB 25
206 #define CV_BGRA2BGR555 26
207 #define CV_RGBA2BGR555 27
208 #define CV_BGR5552BGRA 28
209 #define CV_BGR5552RGBA 29
211 #define CV_GRAY2BGR555 30
212 #define CV_BGR5552GRAY 31
214 #define CV_BGR2XYZ 32
215 #define CV_RGB2XYZ 33
216 #define CV_XYZ2BGR 34
217 #define CV_XYZ2RGB 35
219 #define CV_BGR2YCrCb 36
220 #define CV_RGB2YCrCb 37
221 #define CV_YCrCb2BGR 38
222 #define CV_YCrCb2RGB 39
224 #define CV_BGR2HSV 40
225 #define CV_RGB2HSV 41
227 #define CV_BGR2Lab 44
228 #define CV_RGB2Lab 45
230 #define CV_BayerBG2BGR 46
231 #define CV_BayerGB2BGR 47
232 #define CV_BayerRG2BGR 48
233 #define CV_BayerGR2BGR 49
235 #define CV_BayerBG2RGB CV_BayerRG2BGR
236 #define CV_BayerGB2RGB CV_BayerGR2BGR
237 #define CV_BayerRG2RGB CV_BayerBG2BGR
238 #define CV_BayerGR2RGB CV_BayerGB2BGR
240 #define CV_BGR2Luv 50
241 #define CV_RGB2Luv 51
242 #define CV_BGR2HLS 52
243 #define CV_RGB2HLS 53
245 #define CV_HSV2BGR 54
246 #define CV_HSV2RGB 55
248 #define CV_Lab2BGR 56
249 #define CV_Lab2RGB 57
250 #define CV_Luv2BGR 58
251 #define CV_Luv2RGB 59
252 #define CV_HLS2BGR 60
253 #define CV_HLS2RGB 61
255 #define CV_COLORCVT_MAX 100
257 /* Converts input array pixels from one color space to another */
258 CVAPI(void) cvCvtColor( const CvArr* src, CvArr* dst, int code );
260 #define CV_INTER_NN 0
261 #define CV_INTER_LINEAR 1
262 #define CV_INTER_CUBIC 2
263 #define CV_INTER_AREA 3
265 #define CV_WARP_FILL_OUTLIERS 8
266 #define CV_WARP_INVERSE_MAP 16
268 /* Resizes image (input array is resized to fit the destination array) */
269 CVAPI(void) cvResize( const CvArr* src, CvArr* dst,
270 int interpolation CV_DEFAULT( CV_INTER_LINEAR ));
272 /* Warps image with affine transform */
273 CVAPI(void) cvWarpAffine( const CvArr* src, CvArr* dst, const CvMat* map_matrix,
274 int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS),
275 CvScalar fillval CV_DEFAULT(cvScalarAll(0)) );
277 /* Computes affine transform matrix for mapping src[i] to dst[i] (i=0,1,2) */
278 CVAPI(CvMat*) cvGetAffineTransform( const CvPoint2D32f * src,
279 const CvPoint2D32f * dst,
280 CvMat * map_matrix );
282 /* Computes rotation_matrix matrix */
283 CVAPI(CvMat*) cv2DRotationMatrix( CvPoint2D32f center, double angle,
284 double scale, CvMat* map_matrix );
286 /* Warps image with perspective (projective) transform */
287 CVAPI(void) cvWarpPerspective( const CvArr* src, CvArr* dst, const CvMat* map_matrix,
288 int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS),
289 CvScalar fillval CV_DEFAULT(cvScalarAll(0)) );
291 /* Computes perspective transform matrix for mapping src[i] to dst[i] (i=0,1,2,3) */
292 CVAPI(CvMat*) cvGetPerspectiveTransform( const CvPoint2D32f* src,
293 const CvPoint2D32f* dst,
296 /* Performs generic geometric transformation using the specified coordinate maps */
297 CVAPI(void) cvRemap( const CvArr* src, CvArr* dst,
298 const CvArr* mapx, const CvArr* mapy,
299 int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS),
300 CvScalar fillval CV_DEFAULT(cvScalarAll(0)) );
302 /* Converts mapx & mapy from floating-point to integer formats for cvRemap */
303 CVAPI(void) cvConvertMaps( const CvArr* mapx, const CvArr* mapy,
304 CvArr* mapxy, CvArr* mapalpha );
306 /* Performs forward or inverse log-polar image transform */
307 CVAPI(void) cvLogPolar( const CvArr* src, CvArr* dst,
308 CvPoint2D32f center, double M,
309 int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS));
311 /* Performs forward or inverse linear-polar image transform */
312 CVAPI(void) cvLinearPolar( const CvArr* src, CvArr* dst,
313 CvPoint2D32f center, double maxRadius,
314 int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS));
316 #define CV_SHAPE_RECT 0
317 #define CV_SHAPE_CROSS 1
318 #define CV_SHAPE_ELLIPSE 2
319 #define CV_SHAPE_CUSTOM 100
321 /* creates structuring element used for morphological operations */
322 CVAPI(IplConvKernel*) cvCreateStructuringElementEx(
323 int cols, int rows, int anchor_x, int anchor_y,
324 int shape, int* values CV_DEFAULT(NULL) );
326 /* releases structuring element */
327 CVAPI(void) cvReleaseStructuringElement( IplConvKernel** element );
329 /* erodes input image (applies minimum filter) one or more times.
330 If element pointer is NULL, 3x3 rectangular element is used */
331 CVAPI(void) cvErode( const CvArr* src, CvArr* dst,
332 IplConvKernel* element CV_DEFAULT(NULL),
333 int iterations CV_DEFAULT(1) );
335 /* dilates input image (applies maximum filter) one or more times.
336 If element pointer is NULL, 3x3 rectangular element is used */
337 CVAPI(void) cvDilate( const CvArr* src, CvArr* dst,
338 IplConvKernel* element CV_DEFAULT(NULL),
339 int iterations CV_DEFAULT(1) );
341 #define CV_MOP_ERODE 0
342 #define CV_MOP_DILATE 1
343 #define CV_MOP_OPEN 2
344 #define CV_MOP_CLOSE 3
345 #define CV_MOP_GRADIENT 4
346 #define CV_MOP_TOPHAT 5
347 #define CV_MOP_BLACKHAT 6
349 /* Performs complex morphological transformation */
350 CVAPI(void) cvMorphologyEx( const CvArr* src, CvArr* dst,
351 CvArr* temp, IplConvKernel* element,
352 int operation, int iterations CV_DEFAULT(1) );
354 /* Calculates all spatial and central moments up to the 3rd order */
355 CVAPI(void) cvMoments( const CvArr* arr, CvMoments* moments, int binary CV_DEFAULT(0));
357 /* Retrieve particular spatial, central or normalized central moments */
358 CVAPI(double) cvGetSpatialMoment( CvMoments* moments, int x_order, int y_order );
359 CVAPI(double) cvGetCentralMoment( CvMoments* moments, int x_order, int y_order );
360 CVAPI(double) cvGetNormalizedCentralMoment( CvMoments* moments,
361 int x_order, int y_order );
363 /* Calculates 7 Hu's invariants from precalculated spatial and central moments */
364 CVAPI(void) cvGetHuMoments( CvMoments* moments, CvHuMoments* hu_moments );
366 /*********************************** data sampling **************************************/
368 /* Fetches pixels that belong to the specified line segment and stores them to the buffer.
369 Returns the number of retrieved points. */
370 CVAPI(int) cvSampleLine( const CvArr* image, CvPoint pt1, CvPoint pt2, void* buffer,
371 int connectivity CV_DEFAULT(8));
373 /* Retrieves the rectangular image region with specified center from the input array.
374 dst(x,y) <- src(x + center.x - dst_width/2, y + center.y - dst_height/2).
375 Values of pixels with fractional coordinates are retrieved using bilinear interpolation*/
376 CVAPI(void) cvGetRectSubPix( const CvArr* src, CvArr* dst, CvPoint2D32f center );
379 /* Retrieves quadrangle from the input array.
380 matrixarr = ( a11 a12 | b1 ) dst(x,y) <- src(A[x y]' + b)
381 ( a21 a22 | b2 ) (bilinear interpolation is used to retrieve pixels
382 with fractional coordinates)
384 CVAPI(void) cvGetQuadrangleSubPix( const CvArr* src, CvArr* dst,
385 const CvMat* map_matrix );
387 /* Methods for comparing two array */
388 #define CV_TM_SQDIFF 0
389 #define CV_TM_SQDIFF_NORMED 1
390 #define CV_TM_CCORR 2
391 #define CV_TM_CCORR_NORMED 3
392 #define CV_TM_CCOEFF 4
393 #define CV_TM_CCOEFF_NORMED 5
395 /* Measures similarity between template and overlapped windows in the source image
396 and fills the resultant image with the measurements */
397 CVAPI(void) cvMatchTemplate( const CvArr* image, const CvArr* templ,
398 CvArr* result, int method );
400 /* Computes earth mover distance between
401 two weighted point sets (called signatures) */
402 CVAPI(float) cvCalcEMD2( const CvArr* signature1,
403 const CvArr* signature2,
405 CvDistanceFunction distance_func CV_DEFAULT(NULL),
406 const CvArr* cost_matrix CV_DEFAULT(NULL),
407 CvArr* flow CV_DEFAULT(NULL),
408 float* lower_bound CV_DEFAULT(NULL),
409 void* userdata CV_DEFAULT(NULL));
411 /****************************************************************************************\
412 * Contours retrieving *
413 \****************************************************************************************/
415 /* Retrieves outer and optionally inner boundaries of white (non-zero) connected
416 components in the black (zero) background */
417 CVAPI(int) cvFindContours( CvArr* image, CvMemStorage* storage, CvSeq** first_contour,
418 int header_size CV_DEFAULT(sizeof(CvContour)),
419 int mode CV_DEFAULT(CV_RETR_LIST),
420 int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE),
421 CvPoint offset CV_DEFAULT(cvPoint(0,0)));
424 /* Initalizes contour retrieving process.
425 Calls cvStartFindContours.
426 Calls cvFindNextContour until null pointer is returned
427 or some other condition becomes true.
428 Calls cvEndFindContours at the end. */
429 CVAPI(CvContourScanner) cvStartFindContours( CvArr* image, CvMemStorage* storage,
430 int header_size CV_DEFAULT(sizeof(CvContour)),
431 int mode CV_DEFAULT(CV_RETR_LIST),
432 int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE),
433 CvPoint offset CV_DEFAULT(cvPoint(0,0)));
435 /* Retrieves next contour */
436 CVAPI(CvSeq*) cvFindNextContour( CvContourScanner scanner );
439 /* Substitutes the last retrieved contour with the new one
440 (if the substitutor is null, the last retrieved contour is removed from the tree) */
441 CVAPI(void) cvSubstituteContour( CvContourScanner scanner, CvSeq* new_contour );
444 /* Releases contour scanner and returns pointer to the first outer contour */
445 CVAPI(CvSeq*) cvEndFindContours( CvContourScanner* scanner );
447 /* Approximates a single Freeman chain or a tree of chains to polygonal curves */
448 CVAPI(CvSeq*) cvApproxChains( CvSeq* src_seq, CvMemStorage* storage,
449 int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE),
450 double parameter CV_DEFAULT(0),
451 int minimal_perimeter CV_DEFAULT(0),
452 int recursive CV_DEFAULT(0));
455 /* Initalizes Freeman chain reader.
456 The reader is used to iteratively get coordinates of all the chain points.
457 If the Freeman codes should be read as is, a simple sequence reader should be used */
458 CVAPI(void) cvStartReadChainPoints( CvChain* chain, CvChainPtReader* reader );
460 /* Retrieves the next chain point */
461 CVAPI(CvPoint) cvReadChainPoint( CvChainPtReader* reader );
464 /****************************************************************************************\
466 \****************************************************************************************/
468 /************************************ optical flow ***************************************/
470 /* Calculates optical flow for 2 images using classical Lucas & Kanade algorithm */
471 CVAPI(void) cvCalcOpticalFlowLK( const CvArr* prev, const CvArr* curr,
472 CvSize win_size, CvArr* velx, CvArr* vely );
474 /* Calculates optical flow for 2 images using block matching algorithm */
475 CVAPI(void) cvCalcOpticalFlowBM( const CvArr* prev, const CvArr* curr,
476 CvSize block_size, CvSize shift_size,
477 CvSize max_range, int use_previous,
478 CvArr* velx, CvArr* vely );
480 /* Calculates Optical flow for 2 images using Horn & Schunck algorithm */
481 CVAPI(void) cvCalcOpticalFlowHS( const CvArr* prev, const CvArr* curr,
482 int use_previous, CvArr* velx, CvArr* vely,
483 double lambda, CvTermCriteria criteria );
485 #define CV_LKFLOW_PYR_A_READY 1
486 #define CV_LKFLOW_PYR_B_READY 2
487 #define CV_LKFLOW_INITIAL_GUESSES 4
488 #define CV_LKFLOW_GET_MIN_EIGENVALS 8
490 /* It is Lucas & Kanade method, modified to use pyramids.
491 Also it does several iterations to get optical flow for
492 every point at every pyramid level.
493 Calculates optical flow between two images for certain set of points (i.e.
494 it is a "sparse" optical flow, which is opposite to the previous 3 methods) */
495 CVAPI(void) cvCalcOpticalFlowPyrLK( const CvArr* prev, const CvArr* curr,
496 CvArr* prev_pyr, CvArr* curr_pyr,
497 const CvPoint2D32f* prev_features,
498 CvPoint2D32f* curr_features,
504 CvTermCriteria criteria,
508 /* Modification of a previous sparse optical flow algorithm to calculate
510 CVAPI(void) cvCalcAffineFlowPyrLK( const CvArr* prev, const CvArr* curr,
511 CvArr* prev_pyr, CvArr* curr_pyr,
512 const CvPoint2D32f* prev_features,
513 CvPoint2D32f* curr_features,
514 float* matrices, int count,
515 CvSize win_size, int level,
516 char* status, float* track_error,
517 CvTermCriteria criteria, int flags );
519 /* Estimate rigid transformation between 2 images or 2 point sets */
520 CVAPI(int) cvEstimateRigidTransform( const CvArr* A, const CvArr* B,
521 CvMat* M, int full_affine );
523 /* Estimate optical flow for each pixel using the two-frame G. Farneback algorithm */
524 CVAPI(void) cvCalcOpticalFlowFarneback( const CvArr* prev, const CvArr* next,
525 CvArr* flow, double pyr_scale, int levels,
526 int winsize, int iterations, int poly_n,
527 double poly_sigma, int flags );
529 /********************************* motion templates *************************************/
531 /****************************************************************************************\
532 * All the motion template functions work only with single channel images. *
533 * Silhouette image must have depth IPL_DEPTH_8U or IPL_DEPTH_8S *
534 * Motion history image must have depth IPL_DEPTH_32F, *
535 * Gradient mask - IPL_DEPTH_8U or IPL_DEPTH_8S, *
536 * Motion orientation image - IPL_DEPTH_32F *
537 * Segmentation mask - IPL_DEPTH_32F *
538 * All the angles are in degrees, all the times are in milliseconds *
539 \****************************************************************************************/
541 /* Updates motion history image given motion silhouette */
542 CVAPI(void) cvUpdateMotionHistory( const CvArr* silhouette, CvArr* mhi,
543 double timestamp, double duration );
545 /* Calculates gradient of the motion history image and fills
546 a mask indicating where the gradient is valid */
547 CVAPI(void) cvCalcMotionGradient( const CvArr* mhi, CvArr* mask, CvArr* orientation,
548 double delta1, double delta2,
549 int aperture_size CV_DEFAULT(3));
551 /* Calculates average motion direction within a selected motion region
552 (region can be selected by setting ROIs and/or by composing a valid gradient mask
553 with the region mask) */
554 CVAPI(double) cvCalcGlobalOrientation( const CvArr* orientation, const CvArr* mask,
555 const CvArr* mhi, double timestamp,
558 /* Splits a motion history image into a few parts corresponding to separate independent motions
559 (e.g. left hand, right hand) */
560 CVAPI(CvSeq*) cvSegmentMotion( const CvArr* mhi, CvArr* seg_mask,
561 CvMemStorage* storage,
562 double timestamp, double seg_thresh );
564 /*********************** Background statistics accumulation *****************************/
566 /* Adds image to accumulator */
567 CVAPI(void) cvAcc( const CvArr* image, CvArr* sum,
568 const CvArr* mask CV_DEFAULT(NULL) );
570 /* Adds squared image to accumulator */
571 CVAPI(void) cvSquareAcc( const CvArr* image, CvArr* sqsum,
572 const CvArr* mask CV_DEFAULT(NULL) );
574 /* Adds a product of two images to accumulator */
575 CVAPI(void) cvMultiplyAcc( const CvArr* image1, const CvArr* image2, CvArr* acc,
576 const CvArr* mask CV_DEFAULT(NULL) );
578 /* Adds image to accumulator with weights: acc = acc*(1-alpha) + image*alpha */
579 CVAPI(void) cvRunningAvg( const CvArr* image, CvArr* acc, double alpha,
580 const CvArr* mask CV_DEFAULT(NULL) );
583 /****************************************************************************************\
585 \****************************************************************************************/
587 /* Implements CAMSHIFT algorithm - determines object position, size and orientation
588 from the object histogram back project (extension of meanshift) */
589 CVAPI(int) cvCamShift( const CvArr* prob_image, CvRect window,
590 CvTermCriteria criteria, CvConnectedComp* comp,
591 CvBox2D* box CV_DEFAULT(NULL) );
593 /* Implements MeanShift algorithm - determines object position
594 from the object histogram back project */
595 CVAPI(int) cvMeanShift( const CvArr* prob_image, CvRect window,
596 CvTermCriteria criteria, CvConnectedComp* comp );
598 /* Creates Kalman filter and sets A, B, Q, R and state to some initial values */
599 CVAPI(CvKalman*) cvCreateKalman( int dynam_params, int measure_params,
600 int control_params CV_DEFAULT(0));
602 /* Releases Kalman filter state */
603 CVAPI(void) cvReleaseKalman( CvKalman** kalman);
605 /* Updates Kalman filter by time (predicts future state of the system) */
606 CVAPI(const CvMat*) cvKalmanPredict( CvKalman* kalman,
607 const CvMat* control CV_DEFAULT(NULL));
609 /* Updates Kalman filter by measurement
610 (corrects state of the system and internal matrices) */
611 CVAPI(const CvMat*) cvKalmanCorrect( CvKalman* kalman, const CvMat* measurement );
613 /****************************************************************************************\
614 * Planar subdivisions *
615 \****************************************************************************************/
617 /* Initializes Delaunay triangulation */
618 CVAPI(void) cvInitSubdivDelaunay2D( CvSubdiv2D* subdiv, CvRect rect );
620 /* Creates new subdivision */
621 CVAPI(CvSubdiv2D*) cvCreateSubdiv2D( int subdiv_type, int header_size,
622 int vtx_size, int quadedge_size,
623 CvMemStorage* storage );
625 /************************* high-level subdivision functions ***************************/
627 /* Simplified Delaunay diagram creation */
628 CV_INLINE CvSubdiv2D* cvCreateSubdivDelaunay2D( CvRect rect, CvMemStorage* storage )
630 CvSubdiv2D* subdiv = cvCreateSubdiv2D( CV_SEQ_KIND_SUBDIV2D, sizeof(*subdiv),
631 sizeof(CvSubdiv2DPoint), sizeof(CvQuadEdge2D), storage );
633 cvInitSubdivDelaunay2D( subdiv, rect );
638 /* Inserts new point to the Delaunay triangulation */
639 CVAPI(CvSubdiv2DPoint*) cvSubdivDelaunay2DInsert( CvSubdiv2D* subdiv, CvPoint2D32f pt);
641 /* Locates a point within the Delaunay triangulation (finds the edge
642 the point is left to or belongs to, or the triangulation point the given
643 point coinsides with */
644 CVAPI(CvSubdiv2DPointLocation) cvSubdiv2DLocate(
645 CvSubdiv2D* subdiv, CvPoint2D32f pt,
646 CvSubdiv2DEdge* edge,
647 CvSubdiv2DPoint** vertex CV_DEFAULT(NULL) );
649 /* Calculates Voronoi tesselation (i.e. coordinates of Voronoi points) */
650 CVAPI(void) cvCalcSubdivVoronoi2D( CvSubdiv2D* subdiv );
653 /* Removes all Voronoi points from the tesselation */
654 CVAPI(void) cvClearSubdivVoronoi2D( CvSubdiv2D* subdiv );
657 /* Finds the nearest to the given point vertex in subdivision. */
658 CVAPI(CvSubdiv2DPoint*) cvFindNearestPoint2D( CvSubdiv2D* subdiv, CvPoint2D32f pt );
661 /************ Basic quad-edge navigation and operations ************/
663 CV_INLINE CvSubdiv2DEdge cvSubdiv2DNextEdge( CvSubdiv2DEdge edge )
665 return CV_SUBDIV2D_NEXT_EDGE(edge);
669 CV_INLINE CvSubdiv2DEdge cvSubdiv2DRotateEdge( CvSubdiv2DEdge edge, int rotate )
671 return (edge & ~3) + ((edge + rotate) & 3);
674 CV_INLINE CvSubdiv2DEdge cvSubdiv2DSymEdge( CvSubdiv2DEdge edge )
679 CV_INLINE CvSubdiv2DEdge cvSubdiv2DGetEdge( CvSubdiv2DEdge edge, CvNextEdgeType type )
681 CvQuadEdge2D* e = (CvQuadEdge2D*)(edge & ~3);
682 edge = e->next[(edge + (int)type) & 3];
683 return (edge & ~3) + ((edge + ((int)type >> 4)) & 3);
687 CV_INLINE CvSubdiv2DPoint* cvSubdiv2DEdgeOrg( CvSubdiv2DEdge edge )
689 CvQuadEdge2D* e = (CvQuadEdge2D*)(edge & ~3);
690 return (CvSubdiv2DPoint*)e->pt[edge & 3];
694 CV_INLINE CvSubdiv2DPoint* cvSubdiv2DEdgeDst( CvSubdiv2DEdge edge )
696 CvQuadEdge2D* e = (CvQuadEdge2D*)(edge & ~3);
697 return (CvSubdiv2DPoint*)e->pt[(edge + 2) & 3];
701 CV_INLINE double cvTriangleArea( CvPoint2D32f a, CvPoint2D32f b, CvPoint2D32f c )
703 return (b.x - a.x) * (c.y - a.y) - (b.y - a.y) * (c.x - a.x);
707 /****************************************************************************************\
708 * Contour Processing and Shape Analysis *
709 \****************************************************************************************/
711 #define CV_POLY_APPROX_DP 0
713 /* Approximates a single polygonal curve (contour) or
714 a tree of polygonal curves (contours) */
715 CVAPI(CvSeq*) cvApproxPoly( const void* src_seq,
716 int header_size, CvMemStorage* storage,
717 int method, double parameter,
718 int parameter2 CV_DEFAULT(0));
720 /* Calculates perimeter of a contour or length of a part of contour */
721 CVAPI(double) cvArcLength( const void* curve,
722 CvSlice slice CV_DEFAULT(CV_WHOLE_SEQ),
723 int is_closed CV_DEFAULT(-1));
724 #define cvContourPerimeter( contour ) cvArcLength( contour, CV_WHOLE_SEQ, 1 )
726 /* Calculates contour boundning rectangle (update=1) or
727 just retrieves pre-calculated rectangle (update=0) */
728 CVAPI(CvRect) cvBoundingRect( CvArr* points, int update CV_DEFAULT(0) );
730 /* Calculates area of a contour or contour segment */
731 CVAPI(double) cvContourArea( const CvArr* contour,
732 CvSlice slice CV_DEFAULT(CV_WHOLE_SEQ));
734 /* Finds minimum area rotated rectangle bounding a set of points */
735 CVAPI(CvBox2D) cvMinAreaRect2( const CvArr* points,
736 CvMemStorage* storage CV_DEFAULT(NULL));
738 /* Finds minimum enclosing circle for a set of points */
739 CVAPI(int) cvMinEnclosingCircle( const CvArr* points,
740 CvPoint2D32f* center, float* radius );
742 #define CV_CONTOURS_MATCH_I1 1
743 #define CV_CONTOURS_MATCH_I2 2
744 #define CV_CONTOURS_MATCH_I3 3
746 /* Compares two contours by matching their moments */
747 CVAPI(double) cvMatchShapes( const void* object1, const void* object2,
748 int method, double parameter CV_DEFAULT(0));
750 /* Builds hierarhical representation of a contour */
751 CVAPI(CvContourTree*) cvCreateContourTree( const CvSeq* contour,
752 CvMemStorage* storage,
755 /* Reconstruct (completelly or partially) contour a from contour tree */
756 CVAPI(CvSeq*) cvContourFromContourTree( const CvContourTree* tree,
757 CvMemStorage* storage,
758 CvTermCriteria criteria );
760 /* Compares two contour trees */
761 #define CV_CONTOUR_TREES_MATCH_I1 1
763 CVAPI(double) cvMatchContourTrees( const CvContourTree* tree1,
764 const CvContourTree* tree2,
765 int method, double threshold );
767 #define CV_CLOCKWISE 1
768 #define CV_COUNTER_CLOCKWISE 2
770 /* Calculates exact convex hull of 2d point set */
771 CVAPI(CvSeq*) cvConvexHull2( const CvArr* input,
772 void* hull_storage CV_DEFAULT(NULL),
773 int orientation CV_DEFAULT(CV_CLOCKWISE),
774 int return_points CV_DEFAULT(0));
776 /* Checks whether the contour is convex or not (returns 1 if convex, 0 if not) */
777 CVAPI(int) cvCheckContourConvexity( const CvArr* contour );
779 /* Finds convexity defects for the contour */
780 CVAPI(CvSeq*) cvConvexityDefects( const CvArr* contour, const CvArr* convexhull,
781 CvMemStorage* storage CV_DEFAULT(NULL));
783 /* Fits ellipse into a set of 2d points */
784 CVAPI(CvBox2D) cvFitEllipse2( const CvArr* points );
786 /* Finds minimum rectangle containing two given rectangles */
787 CVAPI(CvRect) cvMaxRect( const CvRect* rect1, const CvRect* rect2 );
789 /* Finds coordinates of the box vertices */
790 CVAPI(void) cvBoxPoints( CvBox2D box, CvPoint2D32f pt[4] );
792 /* Initializes sequence header for a matrix (column or row vector) of points -
793 a wrapper for cvMakeSeqHeaderForArray (it does not initialize bounding rectangle!!!) */
794 CVAPI(CvSeq*) cvPointSeqFromMat( int seq_kind, const CvArr* mat,
795 CvContour* contour_header,
798 /* Checks whether the point is inside polygon, outside, on an edge (at a vertex).
799 Returns positive, negative or zero value, correspondingly.
800 Optionally, measures a signed distance between
801 the point and the nearest polygon edge (measure_dist=1) */
802 CVAPI(double) cvPointPolygonTest( const CvArr* contour,
803 CvPoint2D32f pt, int measure_dist );
805 /****************************************************************************************\
806 * Histogram functions *
807 \****************************************************************************************/
809 /* Creates new histogram */
810 CVAPI(CvHistogram*) cvCreateHist( int dims, int* sizes, int type,
811 float** ranges CV_DEFAULT(NULL),
812 int uniform CV_DEFAULT(1));
814 /* Assignes histogram bin ranges */
815 CVAPI(void) cvSetHistBinRanges( CvHistogram* hist, float** ranges,
816 int uniform CV_DEFAULT(1));
818 /* Creates histogram header for array */
819 CVAPI(CvHistogram*) cvMakeHistHeaderForArray(
820 int dims, int* sizes, CvHistogram* hist,
821 float* data, float** ranges CV_DEFAULT(NULL),
822 int uniform CV_DEFAULT(1));
824 /* Releases histogram */
825 CVAPI(void) cvReleaseHist( CvHistogram** hist );
827 /* Clears all the histogram bins */
828 CVAPI(void) cvClearHist( CvHistogram* hist );
830 /* Finds indices and values of minimum and maximum histogram bins */
831 CVAPI(void) cvGetMinMaxHistValue( const CvHistogram* hist,
832 float* min_value, float* max_value,
833 int* min_idx CV_DEFAULT(NULL),
834 int* max_idx CV_DEFAULT(NULL));
837 /* Normalizes histogram by dividing all bins by sum of the bins, multiplied by <factor>.
838 After that sum of histogram bins is equal to <factor> */
839 CVAPI(void) cvNormalizeHist( CvHistogram* hist, double factor );
842 /* Clear all histogram bins that are below the threshold */
843 CVAPI(void) cvThreshHist( CvHistogram* hist, double threshold );
845 #define CV_COMP_CORREL 0
846 #define CV_COMP_CHISQR 1
847 #define CV_COMP_INTERSECT 2
848 #define CV_COMP_BHATTACHARYYA 3
850 /* Compares two histogram */
851 CVAPI(double) cvCompareHist( const CvHistogram* hist1,
852 const CvHistogram* hist2,
855 /* Copies one histogram to another. Destination histogram is created if
856 the destination pointer is NULL */
857 CVAPI(void) cvCopyHist( const CvHistogram* src, CvHistogram** dst );
860 /* Calculates bayesian probabilistic histograms
861 (each or src and dst is an array of <number> histograms */
862 CVAPI(void) cvCalcBayesianProb( CvHistogram** src, int number,
865 /* Calculates array histogram */
866 CVAPI(void) cvCalcArrHist( CvArr** arr, CvHistogram* hist,
867 int accumulate CV_DEFAULT(0),
868 const CvArr* mask CV_DEFAULT(NULL) );
870 CV_INLINE void cvCalcHist( IplImage** image, CvHistogram* hist,
871 int accumulate CV_DEFAULT(0),
872 const CvArr* mask CV_DEFAULT(NULL) )
874 cvCalcArrHist( (CvArr**)image, hist, accumulate, mask );
877 /* Calculates back project */
878 CVAPI(void) cvCalcArrBackProject( CvArr** image, CvArr* dst,
879 const CvHistogram* hist );
880 #define cvCalcBackProject(image, dst, hist) cvCalcArrBackProject((CvArr**)image, dst, hist)
883 /* Does some sort of template matching but compares histograms of
884 template and each window location */
885 CVAPI(void) cvCalcArrBackProjectPatch( CvArr** image, CvArr* dst, CvSize range,
886 CvHistogram* hist, int method,
888 #define cvCalcBackProjectPatch( image, dst, range, hist, method, factor ) \
889 cvCalcArrBackProjectPatch( (CvArr**)image, dst, range, hist, method, factor )
892 /* calculates probabilistic density (divides one histogram by another) */
893 CVAPI(void) cvCalcProbDensity( const CvHistogram* hist1, const CvHistogram* hist2,
894 CvHistogram* dst_hist, double scale CV_DEFAULT(255) );
896 /* equalizes histogram of 8-bit single-channel image */
897 CVAPI(void) cvEqualizeHist( const CvArr* src, CvArr* dst );
902 /* Updates active contour in order to minimize its cummulative
903 (internal and external) energy. */
904 CVAPI(void) cvSnakeImage( const IplImage* image, CvPoint* points,
905 int length, float* alpha,
906 float* beta, float* gamma,
907 int coeff_usage, CvSize win,
908 CvTermCriteria criteria, int calc_gradient CV_DEFAULT(1));
910 #define CV_DIST_MASK_3 3
911 #define CV_DIST_MASK_5 5
912 #define CV_DIST_MASK_PRECISE 0
914 /* Applies distance transform to binary image */
915 CVAPI(void) cvDistTransform( const CvArr* src, CvArr* dst,
916 int distance_type CV_DEFAULT(CV_DIST_L2),
917 int mask_size CV_DEFAULT(3),
918 const float* mask CV_DEFAULT(NULL),
919 CvArr* labels CV_DEFAULT(NULL));
922 /* Types of thresholding */
923 #define CV_THRESH_BINARY 0 /* value = value > threshold ? max_value : 0 */
924 #define CV_THRESH_BINARY_INV 1 /* value = value > threshold ? 0 : max_value */
925 #define CV_THRESH_TRUNC 2 /* value = value > threshold ? threshold : value */
926 #define CV_THRESH_TOZERO 3 /* value = value > threshold ? value : 0 */
927 #define CV_THRESH_TOZERO_INV 4 /* value = value > threshold ? 0 : value */
928 #define CV_THRESH_MASK 7
930 #define CV_THRESH_OTSU 8 /* use Otsu algorithm to choose the optimal threshold value;
931 combine the flag with one of the above CV_THRESH_* values */
933 /* Applies fixed-level threshold to grayscale image.
934 This is a basic operation applied before retrieving contours */
935 CVAPI(double) cvThreshold( const CvArr* src, CvArr* dst,
936 double threshold, double max_value,
937 int threshold_type );
939 #define CV_ADAPTIVE_THRESH_MEAN_C 0
940 #define CV_ADAPTIVE_THRESH_GAUSSIAN_C 1
942 /* Applies adaptive threshold to grayscale image.
943 The two parameters for methods CV_ADAPTIVE_THRESH_MEAN_C and
944 CV_ADAPTIVE_THRESH_GAUSSIAN_C are:
945 neighborhood size (3, 5, 7 etc.),
946 and a constant subtracted from mean (...,-3,-2,-1,0,1,2,3,...) */
947 CVAPI(void) cvAdaptiveThreshold( const CvArr* src, CvArr* dst, double max_value,
948 int adaptive_method CV_DEFAULT(CV_ADAPTIVE_THRESH_MEAN_C),
949 int threshold_type CV_DEFAULT(CV_THRESH_BINARY),
950 int block_size CV_DEFAULT(3),
951 double param1 CV_DEFAULT(5));
953 #define CV_FLOODFILL_FIXED_RANGE (1 << 16)
954 #define CV_FLOODFILL_MASK_ONLY (1 << 17)
956 /* Fills the connected component until the color difference gets large enough */
957 CVAPI(void) cvFloodFill( CvArr* image, CvPoint seed_point,
958 CvScalar new_val, CvScalar lo_diff CV_DEFAULT(cvScalarAll(0)),
959 CvScalar up_diff CV_DEFAULT(cvScalarAll(0)),
960 CvConnectedComp* comp CV_DEFAULT(NULL),
961 int flags CV_DEFAULT(4),
962 CvArr* mask CV_DEFAULT(NULL));
964 /****************************************************************************************\
965 * Feature detection *
966 \****************************************************************************************/
968 #define CV_CANNY_L2_GRADIENT (1 << 31)
970 /* Runs canny edge detector */
971 CVAPI(void) cvCanny( const CvArr* image, CvArr* edges, double threshold1,
972 double threshold2, int aperture_size CV_DEFAULT(3) );
974 /* Calculates constraint image for corner detection
975 Dx^2 * Dyy + Dxx * Dy^2 - 2 * Dx * Dy * Dxy.
976 Applying threshold to the result gives coordinates of corners */
977 CVAPI(void) cvPreCornerDetect( const CvArr* image, CvArr* corners,
978 int aperture_size CV_DEFAULT(3) );
980 /* Calculates eigen values and vectors of 2x2
981 gradient covariation matrix at every image pixel */
982 CVAPI(void) cvCornerEigenValsAndVecs( const CvArr* image, CvArr* eigenvv,
983 int block_size, int aperture_size CV_DEFAULT(3) );
985 /* Calculates minimal eigenvalue for 2x2 gradient covariation matrix at
987 CVAPI(void) cvCornerMinEigenVal( const CvArr* image, CvArr* eigenval,
988 int block_size, int aperture_size CV_DEFAULT(3) );
990 /* Harris corner detector:
991 Calculates det(M) - k*(trace(M)^2), where M is 2x2 gradient covariation matrix for each pixel */
992 CVAPI(void) cvCornerHarris( const CvArr* image, CvArr* harris_responce,
993 int block_size, int aperture_size CV_DEFAULT(3),
994 double k CV_DEFAULT(0.04) );
996 /* Adjust corner position using some sort of gradient search */
997 CVAPI(void) cvFindCornerSubPix( const CvArr* image, CvPoint2D32f* corners,
998 int count, CvSize win, CvSize zero_zone,
999 CvTermCriteria criteria );
1001 /* Finds a sparse set of points within the selected region
1002 that seem to be easy to track */
1003 CVAPI(void) cvGoodFeaturesToTrack( const CvArr* image, CvArr* eig_image,
1004 CvArr* temp_image, CvPoint2D32f* corners,
1005 int* corner_count, double quality_level,
1006 double min_distance,
1007 const CvArr* mask CV_DEFAULT(NULL),
1008 int block_size CV_DEFAULT(3),
1009 int use_harris CV_DEFAULT(0),
1010 double k CV_DEFAULT(0.04) );
1012 #define CV_HOUGH_STANDARD 0
1013 #define CV_HOUGH_PROBABILISTIC 1
1014 #define CV_HOUGH_MULTI_SCALE 2
1015 #define CV_HOUGH_GRADIENT 3
1017 /* Finds lines on binary image using one of several methods.
1018 line_storage is either memory storage or 1 x <max number of lines> CvMat, its
1019 number of columns is changed by the function.
1020 method is one of CV_HOUGH_*;
1021 rho, theta and threshold are used for each of those methods;
1022 param1 ~ line length, param2 ~ line gap - for probabilistic,
1023 param1 ~ srn, param2 ~ stn - for multi-scale */
1024 CVAPI(CvSeq*) cvHoughLines2( CvArr* image, void* line_storage, int method,
1025 double rho, double theta, int threshold,
1026 double param1 CV_DEFAULT(0), double param2 CV_DEFAULT(0));
1028 /* Finds circles in the image */
1029 CVAPI(CvSeq*) cvHoughCircles( CvArr* image, void* circle_storage,
1030 int method, double dp, double min_dist,
1031 double param1 CV_DEFAULT(100),
1032 double param2 CV_DEFAULT(100),
1033 int min_radius CV_DEFAULT(0),
1034 int max_radius CV_DEFAULT(0));
1036 /* Fits a line into set of 2d or 3d points in a robust way (M-estimator technique) */
1037 CVAPI(void) cvFitLine( const CvArr* points, int dist_type, double param,
1038 double reps, double aeps, float* line );
1042 struct CvFeatureTree;
1044 /* Constructs kd-tree from set of feature descriptors */
1045 CVAPI(struct CvFeatureTree*) cvCreateKDTree(CvMat* desc);
1047 /* Constructs spill-tree from set of feature descriptors */
1048 CVAPI(struct CvFeatureTree*) cvCreateSpillTree( const CvMat* raw_data,
1049 const int naive CV_DEFAULT(50),
1050 const double rho CV_DEFAULT(.7),
1051 const double tau CV_DEFAULT(.1) );
1053 /* Release feature tree */
1054 CVAPI(void) cvReleaseFeatureTree(struct CvFeatureTree* tr);
1056 /* Searches feature tree for k nearest neighbors of given reference points,
1057 searching (in case of kd-tree/bbf) at most emax leaves. */
1058 CVAPI(void) cvFindFeatures(struct CvFeatureTree* tr, const CvMat* query_points,
1059 CvMat* indices, CvMat* dist, int k, int emax CV_DEFAULT(20));
1061 /* Search feature tree for all points that are inlier to given rect region.
1062 Only implemented for kd trees */
1063 CVAPI(int) cvFindFeaturesBoxed(struct CvFeatureTree* tr,
1064 CvMat* bounds_min, CvMat* bounds_max,
1065 CvMat* out_indices);
1069 struct CvLSHOperations;
1071 /* Construct a Locality Sensitive Hash (LSH) table, for indexing d-dimensional vectors of
1072 given type. Vectors will be hashed L times with k-dimensional p-stable (p=2) functions. */
1073 CVAPI(struct CvLSH*) cvCreateLSH(struct CvLSHOperations* ops, int d,
1074 int L CV_DEFAULT(10), int k CV_DEFAULT(10),
1075 int type CV_DEFAULT(CV_64FC1), double r CV_DEFAULT(4),
1076 int64 seed CV_DEFAULT(-1));
1078 /* Construct in-memory LSH table, with n bins. */
1079 CVAPI(struct CvLSH*) cvCreateMemoryLSH(int d, int n, int L CV_DEFAULT(10), int k CV_DEFAULT(10),
1080 int type CV_DEFAULT(CV_64FC1), double r CV_DEFAULT(4),
1081 int64 seed CV_DEFAULT(-1));
1083 /* Free the given LSH structure. */
1084 CVAPI(void) cvReleaseLSH(struct CvLSH** lsh);
1086 /* Return the number of vectors in the LSH. */
1087 CVAPI(unsigned int) LSHSize(struct CvLSH* lsh);
1089 /* Add vectors to the LSH structure, optionally returning indices. */
1090 CVAPI(void) cvLSHAdd(struct CvLSH* lsh, const CvMat* data, CvMat* indices CV_DEFAULT(0));
1092 /* Remove vectors from LSH, as addressed by given indices. */
1093 CVAPI(void) cvLSHRemove(struct CvLSH* lsh, const CvMat* indices);
1095 /* Query the LSH n times for at most k nearest points; data is n x d,
1096 indices and dist are n x k. At most emax stored points will be accessed. */
1097 CVAPI(void) cvLSHQuery(struct CvLSH* lsh, const CvMat* query_points,
1098 CvMat* indices, CvMat* dist, int k, int emax);
1101 typedef struct CvSURFPoint
1110 CV_INLINE CvSURFPoint cvSURFPoint( CvPoint2D32f pt, int laplacian,
1111 int size, float dir CV_DEFAULT(0),
1112 float hessian CV_DEFAULT(0))
1116 kp.laplacian = laplacian;
1119 kp.hessian = hessian;
1123 typedef struct CvSURFParams
1126 double hessianThreshold;
1133 CVAPI(CvSURFParams) cvSURFParams( double hessianThreshold, int extended CV_DEFAULT(0) );
1135 // If useProvidedKeyPts!=0, keypoints are not detected, but descriptors are computed
1136 // at the locations provided in keypoints (a CvSeq of CvSURFPoint).
1137 CVAPI(void) cvExtractSURF( const CvArr* img, const CvArr* mask,
1138 CvSeq** keypoints, CvSeq** descriptors,
1139 CvMemStorage* storage, CvSURFParams params, int useProvidedKeyPts CV_DEFAULT(0) );
1141 typedef struct CvMSERParams
1143 // delta, in the code, it compares (size_{i}-size_{i-delta})/size_{i-delta}
1145 // prune the area which bigger/smaller than max_area/min_area
1148 // prune the area have simliar size to its children
1150 // trace back to cut off mser with diversity < min_diversity
1152 /* the next few params for MSER of color image */
1153 // for color image, the evolution steps
1155 // the area threshold to cause re-initialize
1156 double areaThreshold;
1157 // ignore too small margin
1159 // the aperture size for edge blur
1164 CVAPI(CvMSERParams) cvMSERParams( int delta CV_DEFAULT(5), int min_area CV_DEFAULT(60),
1165 int max_area CV_DEFAULT(14400), float max_variation CV_DEFAULT(.25f),
1166 float min_diversity CV_DEFAULT(.2f), int max_evolution CV_DEFAULT(200),
1167 double area_threshold CV_DEFAULT(1.01),
1168 double min_margin CV_DEFAULT(.003),
1169 int edge_blur_size CV_DEFAULT(5) );
1171 // Extracts the contours of Maximally Stable Extremal Regions
1172 CVAPI(void) cvExtractMSER( CvArr* _img, CvArr* _mask, CvSeq** contours, CvMemStorage* storage, CvMSERParams params );
1175 typedef struct CvStarKeypoint
1183 CV_INLINE CvStarKeypoint cvStarKeypoint(CvPoint pt, int size, float response)
1188 kpt.response = response;
1192 typedef struct CvStarDetectorParams
1195 int responseThreshold;
1196 int lineThresholdProjected;
1197 int lineThresholdBinarized;
1198 int suppressNonmaxSize;
1200 CvStarDetectorParams;
1202 CV_INLINE CvStarDetectorParams cvStarDetectorParams(
1203 int maxSize CV_DEFAULT(45),
1204 int responseThreshold CV_DEFAULT(30),
1205 int lineThresholdProjected CV_DEFAULT(10),
1206 int lineThresholdBinarized CV_DEFAULT(8),
1207 int suppressNonmaxSize CV_DEFAULT(5))
1209 CvStarDetectorParams params;
1210 params.maxSize = maxSize;
1211 params.responseThreshold = responseThreshold;
1212 params.lineThresholdProjected = lineThresholdProjected;
1213 params.lineThresholdBinarized = lineThresholdBinarized;
1214 params.suppressNonmaxSize = suppressNonmaxSize;
1219 CVAPI(CvSeq*) cvGetStarKeypoints( const CvArr* img, CvMemStorage* storage,
1220 CvStarDetectorParams params CV_DEFAULT(cvStarDetectorParams()));
1222 /****************************************************************************************\
1223 * Haar-like Object Detection functions *
1224 \****************************************************************************************/
1226 /* Loads haar classifier cascade from a directory.
1227 It is obsolete: convert your cascade to xml and use cvLoad instead */
1228 CVAPI(CvHaarClassifierCascade*) cvLoadHaarClassifierCascade(
1229 const char* directory, CvSize orig_window_size);
1231 CVAPI(void) cvReleaseHaarClassifierCascade( CvHaarClassifierCascade** cascade );
1233 #define CV_HAAR_DO_CANNY_PRUNING 1
1234 #define CV_HAAR_SCALE_IMAGE 2
1235 #define CV_HAAR_FIND_BIGGEST_OBJECT 4
1236 #define CV_HAAR_DO_ROUGH_SEARCH 8
1238 CVAPI(CvSeq*) cvHaarDetectObjects( const CvArr* image,
1239 CvHaarClassifierCascade* cascade,
1240 CvMemStorage* storage, double scale_factor CV_DEFAULT(1.1),
1241 int min_neighbors CV_DEFAULT(3), int flags CV_DEFAULT(0),
1242 CvSize min_size CV_DEFAULT(cvSize(0,0)));
1244 /* sets images for haar classifier cascade */
1245 CVAPI(void) cvSetImagesForHaarClassifierCascade( CvHaarClassifierCascade* cascade,
1246 const CvArr* sum, const CvArr* sqsum,
1247 const CvArr* tilted_sum, double scale );
1249 /* runs the cascade on the specified window */
1250 CVAPI(int) cvRunHaarClassifierCascade( const CvHaarClassifierCascade* cascade,
1251 CvPoint pt, int start_stage CV_DEFAULT(0));
1253 /****************************************************************************************\
1254 * Camera Calibration, Pose Estimation and Stereo *
1255 \****************************************************************************************/
1257 /* Transforms the input image to compensate lens distortion */
1258 CVAPI(void) cvUndistort2( const CvArr* src, CvArr* dst,
1259 const CvMat* camera_matrix,
1260 const CvMat* distortion_coeffs,
1261 const CvMat* new_camera_matrix CV_DEFAULT(0) );
1263 /* Computes transformation map from intrinsic camera parameters
1264 that can used by cvRemap */
1265 CVAPI(void) cvInitUndistortMap( const CvMat* camera_matrix,
1266 const CvMat* distortion_coeffs,
1267 CvArr* mapx, CvArr* mapy );
1269 /* Computes undistortion+rectification map for a head of stereo camera */
1270 CVAPI(void) cvInitUndistortRectifyMap( const CvMat* camera_matrix,
1271 const CvMat* dist_coeffs,
1272 const CvMat *R, const CvMat* new_camera_matrix,
1273 CvArr* mapx, CvArr* mapy );
1275 /* Computes the original (undistorted) feature coordinates
1276 from the observed (distorted) coordinates */
1277 CVAPI(void) cvUndistortPoints( const CvMat* src, CvMat* dst,
1278 const CvMat* camera_matrix,
1279 const CvMat* dist_coeffs,
1280 const CvMat* R CV_DEFAULT(0),
1281 const CvMat* P CV_DEFAULT(0));
1283 /* Computes the optimal new camera matrix according to the free scaling parameter alpha:
1284 alpha=0 - only valid pixels will be retained in the undistorted image
1285 alpha=1 - all the source image pixels will be retained in the undistorted image
1287 CVAPI(void) cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
1288 const CvMat* dist_coeffs,
1289 CvSize image_size, double alpha,
1290 CvMat* new_camera_matrix,
1291 CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
1292 CvRect* valid_pixel_ROI CV_DEFAULT(0) );
1294 /* Converts rotation vector to rotation matrix or vice versa */
1295 CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst,
1296 CvMat* jacobian CV_DEFAULT(0) );
1301 /* Finds perspective transformation between the object plane and image (view) plane */
1302 CVAPI(int) cvFindHomography( const CvMat* src_points,
1303 const CvMat* dst_points,
1305 int method CV_DEFAULT(0),
1306 double ransacReprojThreshold CV_DEFAULT(0),
1307 CvMat* mask CV_DEFAULT(0));
1309 /* Computes RQ decomposition for 3x3 matrices */
1310 CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
1311 CvMat *matrixQx CV_DEFAULT(NULL),
1312 CvMat *matrixQy CV_DEFAULT(NULL),
1313 CvMat *matrixQz CV_DEFAULT(NULL),
1314 CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
1316 /* Computes projection matrix decomposition */
1317 CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
1318 CvMat *rotMatr, CvMat *posVect,
1319 CvMat *rotMatrX CV_DEFAULT(NULL),
1320 CvMat *rotMatrY CV_DEFAULT(NULL),
1321 CvMat *rotMatrZ CV_DEFAULT(NULL),
1322 CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
1324 /* Computes d(AB)/dA and d(AB)/dB */
1325 CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
1327 /* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
1328 t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
1329 CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
1330 const CvMat* _rvec2, const CvMat* _tvec2,
1331 CvMat* _rvec3, CvMat* _tvec3,
1332 CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
1333 CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
1334 CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
1335 CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
1337 /* Projects object points to the view plane using
1338 the specified extrinsic and intrinsic camera parameters */
1339 CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
1340 const CvMat* translation_vector, const CvMat* camera_matrix,
1341 const CvMat* distortion_coeffs, CvMat* image_points,
1342 CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
1343 CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
1344 CvMat* dpddist CV_DEFAULT(NULL),
1345 double aspect_ratio CV_DEFAULT(0));
1347 /* Finds extrinsic camera parameters from
1348 a few known corresponding point pairs and intrinsic parameters */
1349 CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points,
1350 const CvMat* image_points,
1351 const CvMat* camera_matrix,
1352 const CvMat* distortion_coeffs,
1353 CvMat* rotation_vector,
1354 CvMat* translation_vector,
1355 int use_extrinsic_guess CV_DEFAULT(0) );
1357 /* Computes initial estimate of the intrinsic camera parameters
1358 in case of planar calibration target (e.g. chessboard) */
1359 CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points,
1360 const CvMat* image_points,
1361 const CvMat* npoints, CvSize image_size,
1362 CvMat* camera_matrix,
1363 double aspect_ratio CV_DEFAULT(1.) );
1365 #define CV_CALIB_CB_ADAPTIVE_THRESH 1
1366 #define CV_CALIB_CB_NORMALIZE_IMAGE 2
1367 #define CV_CALIB_CB_FILTER_QUADS 4
1368 #define CV_CALIB_CB_FAST_CHECK 8
1370 // Performs a fast check if a chessboard is in the input image. This is a workaround to
1371 // a problem of cvFindChessboardCorners being slow on images with no chessboard
1372 // - src: input image
1373 // - size: chessboard size
1374 // Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
1375 // 0 if there is no chessboard, -1 in case of error
1376 CVAPI(int) cvCheckChessboard(IplImage* src, CvSize size);
1378 /* Detects corners on a chessboard calibration pattern */
1379 CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size,
1380 CvPoint2D32f* corners,
1381 int* corner_count CV_DEFAULT(NULL),
1382 int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+
1383 CV_CALIB_CB_NORMALIZE_IMAGE) );
1385 /* Draws individual chessboard corners or the whole chessboard detected */
1386 CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
1387 CvPoint2D32f* corners,
1388 int count, int pattern_was_found );
1390 #define CV_CALIB_USE_INTRINSIC_GUESS 1
1391 #define CV_CALIB_FIX_ASPECT_RATIO 2
1392 #define CV_CALIB_FIX_PRINCIPAL_POINT 4
1393 #define CV_CALIB_ZERO_TANGENT_DIST 8
1394 #define CV_CALIB_FIX_FOCAL_LENGTH 16
1395 #define CV_CALIB_FIX_K1 32
1396 #define CV_CALIB_FIX_K2 64
1397 #define CV_CALIB_FIX_K3 128
1399 /* Finds intrinsic and extrinsic camera parameters
1400 from a few views of known calibration pattern */
1401 CVAPI(double) cvCalibrateCamera2( const CvMat* object_points,
1402 const CvMat* image_points,
1403 const CvMat* point_counts,
1405 CvMat* camera_matrix,
1406 CvMat* distortion_coeffs,
1407 CvMat* rotation_vectors CV_DEFAULT(NULL),
1408 CvMat* translation_vectors CV_DEFAULT(NULL),
1409 int flags CV_DEFAULT(0) );
1411 /* Computes various useful characteristics of the camera from the data computed by
1412 cvCalibrateCamera2 */
1413 CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix,
1415 double aperture_width CV_DEFAULT(0),
1416 double aperture_height CV_DEFAULT(0),
1417 double *fovx CV_DEFAULT(NULL),
1418 double *fovy CV_DEFAULT(NULL),
1419 double *focal_length CV_DEFAULT(NULL),
1420 CvPoint2D64f *principal_point CV_DEFAULT(NULL),
1421 double *pixel_aspect_ratio CV_DEFAULT(NULL));
1423 #define CV_CALIB_FIX_INTRINSIC 256
1424 #define CV_CALIB_SAME_FOCAL_LENGTH 512
1426 /* Computes the transformation from one camera coordinate system to another one
1427 from a few correspondent views of the same calibration target. Optionally, calibrates
1429 CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
1430 const CvMat* image_points2, const CvMat* npoints,
1431 CvMat* camera_matrix1, CvMat* dist_coeffs1,
1432 CvMat* camera_matrix2, CvMat* dist_coeffs2,
1433 CvSize image_size, CvMat* R, CvMat* T,
1434 CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
1435 CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
1436 CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)),
1437 int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC));
1439 #define CV_CALIB_ZERO_DISPARITY 1024
1441 /* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
1442 views parallel (=> to make all the epipolar lines horizontal or vertical) */
1443 CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
1444 const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
1445 CvSize image_size, const CvMat* R, const CvMat* T,
1446 CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
1447 CvMat* Q CV_DEFAULT(0),
1448 int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
1449 double alpha CV_DEFAULT(-1),
1450 CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
1451 CvRect* valid_pix_ROI1 CV_DEFAULT(0),
1452 CvRect* valid_pix_ROI2 CV_DEFAULT(0));
1454 /* Computes rectification transformations for uncalibrated pair of images using a set
1455 of point correspondences */
1456 CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
1457 const CvMat* F, CvSize img_size,
1458 CvMat* H1, CvMat* H2,
1459 double threshold CV_DEFAULT(5));
1461 typedef struct CvPOSITObject CvPOSITObject;
1463 /* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
1464 CVAPI(CvPOSITObject*) cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
1467 /* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
1468 an object given its model and projection in a weak-perspective case */
1469 CVAPI(void) cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points,
1470 double focal_length, CvTermCriteria criteria,
1471 CvMatr32f rotation_matrix, CvVect32f translation_vector);
1473 /* Releases CvPOSITObject structure */
1474 CVAPI(void) cvReleasePOSITObject( CvPOSITObject** posit_object );
1476 /* updates the number of RANSAC iterations */
1477 CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob,
1478 int model_points, int max_iters );
1480 CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
1482 /* Calculates fundamental matrix given a set of corresponding points */
1483 #define CV_FM_7POINT 1
1484 #define CV_FM_8POINT 2
1485 #define CV_FM_LMEDS_ONLY CV_LMEDS
1486 #define CV_FM_RANSAC_ONLY CV_RANSAC
1487 #define CV_FM_LMEDS CV_LMEDS
1488 #define CV_FM_RANSAC CV_RANSAC
1489 CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
1490 CvMat* fundamental_matrix,
1491 int method CV_DEFAULT(CV_FM_RANSAC),
1492 double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
1493 CvMat* status CV_DEFAULT(NULL) );
1495 /* For each input point on one of images
1496 computes parameters of the corresponding
1497 epipolar line on the other image */
1498 CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points,
1500 const CvMat* fundamental_matrix,
1501 CvMat* correspondent_lines );
1503 /* Triangulation functions */
1505 CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
1506 CvMat* projPoints1, CvMat* projPoints2,
1509 CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
1510 CvMat* new_points1, CvMat* new_points2);
1512 /* stereo correspondence parameters and functions */
1514 #define CV_STEREO_BM_NORMALIZED_RESPONSE 0
1515 #define CV_STEREO_BM_XSOBEL 1
1517 /* Block matching algorithm structure */
1518 typedef struct CvStereoBMState
1520 // pre-filtering (normalization of input images)
1521 int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
1522 int preFilterSize; // averaging window size: ~5x5..21x21
1523 int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
1525 // correspondence using Sum of Absolute Difference (SAD)
1526 int SADWindowSize; // ~5x5..21x21
1527 int minDisparity; // minimum disparity (can be negative)
1528 int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
1531 int textureThreshold; // the disparity is only computed for pixels
1532 // with textured enough neighborhood
1533 int uniquenessRatio; // accept the computed disparity d* only if
1534 // SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
1535 // for any d != d*+/-1 within the search range.
1536 int speckleWindowSize; // disparity variation window
1537 int speckleRange; // acceptable range of variation in window
1539 int trySmallerWindows; // if 1, the results may be more accurate,
1540 // at the expense of slower processing
1544 // temporary buffers
1545 CvMat* preFilteredImg0;
1546 CvMat* preFilteredImg1;
1547 CvMat* slidingSumBuf;
1553 #define CV_STEREO_BM_BASIC 0
1554 #define CV_STEREO_BM_FISH_EYE 1
1555 #define CV_STEREO_BM_NARROW 2
1557 CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
1558 int numberOfDisparities CV_DEFAULT(0));
1560 CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state );
1562 CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
1563 CvArr* disparity, CvStereoBMState* state );
1565 CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
1566 int numberOfDisparities, int SADWindowSize );
1568 CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost,
1569 int minDisparity, int numberOfDisparities,
1570 int disp12MaxDiff CV_DEFAULT(1) );
1572 /* Kolmogorov-Zabin stereo-correspondence algorithm (a.k.a. KZ1) */
1573 #define CV_STEREO_GC_OCCLUDED SHRT_MAX
1575 typedef struct CvStereoGCState
1578 int interactionRadius;
1579 float K, lambda, lambda1, lambda2;
1582 int numberOfDisparities;
1596 CVAPI(CvStereoGCState*) cvCreateStereoGCState( int numberOfDisparities, int maxIters );
1597 CVAPI(void) cvReleaseStereoGCState( CvStereoGCState** state );
1599 CVAPI(void) cvFindStereoCorrespondenceGC( const CvArr* left, const CvArr* right,
1600 CvArr* disparityLeft, CvArr* disparityRight,
1601 CvStereoGCState* state,
1602 int useDisparityGuess CV_DEFAULT(0) );
1604 /* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
1605 CVAPI(void) cvReprojectImageTo3D( const CvArr* disparityImage,
1606 CvArr* _3dImage, const CvMat* Q,
1607 int handleMissingValues CV_DEFAULT(0) );
1614 #ifndef SKIP_INCLUDES // for now only expose old interface to swig
1616 #endif // SKIP_INCLUDES
1619 /****************************************************************************************\
1620 * Backward compatibility *
1621 \****************************************************************************************/
1623 #ifndef CV_NO_BACKWARD_COMPATIBILITY
1624 #include "cvcompat.h"