// copy or use the software.
//
//
-// Intel License Agreement
+// License Agreement
// For Open Source Computer Vision Library
//
-// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
-// * The name of Intel Corporation may not be used to endorse or promote products
+// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
//
//M*/
-#ifndef _CV_HPP_
-#define _CV_HPP_
+#ifndef __OPENCV_CV_HPP__
+#define __OPENCV_CV_HPP__
#ifdef __cplusplus
enum { BORDER_REPLICATE=IPL_BORDER_REPLICATE, BORDER_CONSTANT=IPL_BORDER_CONSTANT,
BORDER_REFLECT=IPL_BORDER_REFLECT, BORDER_REFLECT_101=IPL_BORDER_REFLECT_101,
BORDER_REFLECT101=BORDER_REFLECT_101, BORDER_WRAP=IPL_BORDER_WRAP,
- BORDER_DEFAULT=BORDER_REFLECT_101, BORDER_ISOLATED=16 };
+ BORDER_TRANSPARENT, BORDER_DEFAULT=BORDER_REFLECT_101, BORDER_ISOLATED=16 };
-struct CV_EXPORTS BaseRowFilter
+CV_EXPORTS int borderInterpolate( int p, int len, int borderType );
+
+class CV_EXPORTS BaseRowFilter
{
+public:
BaseRowFilter();
virtual ~BaseRowFilter();
virtual void operator()(const uchar* src, uchar* dst,
};
-struct CV_EXPORTS BaseColumnFilter
+class CV_EXPORTS BaseColumnFilter
{
+public:
BaseColumnFilter();
virtual ~BaseColumnFilter();
virtual void operator()(const uchar** src, uchar* dst, int dststep,
};
-struct CV_EXPORTS BaseFilter
+class CV_EXPORTS BaseFilter
{
+public:
BaseFilter();
virtual ~BaseFilter();
virtual void operator()(const uchar** src, uchar* dst, int dststep,
};
-struct CV_EXPORTS FilterEngine
+class CV_EXPORTS FilterEngine
{
+public:
FilterEngine();
FilterEngine(const Ptr<BaseFilter>& _filter2D,
const Ptr<BaseRowFilter>& _rowFilter,
const Ptr<BaseColumnFilter>& _columnFilter,
int srcType, int dstType, int bufType,
- int _rowBorderType=BORDER_REPLICATE, int _columnBorderType=-1,
- const Scalar& _borderValue=Scalar(), int maxBufRows=-1);
+ int _rowBorderType=BORDER_REPLICATE,
+ int _columnBorderType=-1,
+ const Scalar& _borderValue=Scalar());
virtual ~FilterEngine();
void init(const Ptr<BaseFilter>& _filter2D,
const Ptr<BaseRowFilter>& _rowFilter,
const Ptr<BaseColumnFilter>& _columnFilter,
int srcType, int dstType, int bufType,
int _rowBorderType=BORDER_REPLICATE, int _columnBorderType=-1,
- const Scalar& _borderValue=Scalar(), int maxBufRows=-1);
- virtual void setROI(Size wholeSize, Rect roi);
- virtual int setROI(const Mat& src, const Rect& srcRoi=Rect(0,0,-1,-1));
- virtual int put(const uchar* src, int srcstep, int count);
- virtual int get(uchar* dst, int dststep, int maxCount);
+ const Scalar& _borderValue=Scalar());
+ virtual int start(Size wholeSize, Rect roi, int maxBufRows=-1);
+ virtual int start(const Mat& src, const Rect& srcRoi=Rect(0,0,-1,-1),
+ bool isolated=false, int maxBufRows=-1);
+ virtual int proceed(const uchar* src, int srcStep, int srcCount,
+ uchar* dst, int dstStep);
virtual void apply( const Mat& src, Mat& dst,
const Rect& srcRoi=Rect(0,0,-1,-1),
- Point dstOfs=Point(0,0));
- bool isSeparable() const { return filter2D.obj == 0; }
+ Point dstOfs=Point(0,0),
+ bool isolated=false);
+ bool isSeparable() const { return (const BaseFilter*)filter2D == 0; }
+ int remainingInputRows() const;
+ int remainingOutputRows() const;
int srcType, dstType, bufType;
Size ksize;
Rect roi;
int dx1, dx2;
int rowBorderType, columnBorderType;
- Vector<int> borderTab;
+ vector<int> borderTab;
int borderElemSize;
- Vector<uchar> ringBuf;
- Vector<uchar> srcRow;
- Vector<uchar> constBorderValue;
- Vector<uchar> constBorderRow;
- int bufStep, startY, startY0, endY, rowCount, dstY, lostRows;
- int firstStripeSize, nextStripeSize;
- Vector<uchar*> rows;
+ vector<uchar> ringBuf;
+ vector<uchar> srcRow;
+ vector<uchar> constBorderValue;
+ vector<uchar> constBorderRow;
+ int bufStep, startY, startY0, endY, rowCount, dstY;
+ vector<uchar*> rows;
Ptr<BaseFilter> filter2D;
Ptr<BaseRowFilter> rowFilter;
Point _anchor=Point(-1,-1), double delta=0,
int _rowBorderType=BORDER_DEFAULT,
int _columnBorderType=-1,
- const Scalar& _borderValue=Scalar(),
- int maxBufRows=-1);
+ const Scalar& _borderValue=Scalar());
CV_EXPORTS Ptr<FilterEngine> createLinearFilter(int srcType, int dstType,
const Mat& kernel, Point _anchor=Point(-1,-1),
double delta=0, int _rowBorderType=BORDER_DEFAULT,
- int _columnBorderType=-1, const Scalar& _borderValue=Scalar(),
- int maxBufRows=-1);
+ int _columnBorderType=-1, const Scalar& _borderValue=Scalar());
CV_EXPORTS Mat getGaussianKernel( int ksize, double sigma, int ktype=CV_64F );
CV_EXPORTS Ptr<BaseRowFilter> getMorphologyRowFilter(int op, int type, int ksize, int anchor=-1);
CV_EXPORTS Ptr<BaseColumnFilter> getMorphologyColumnFilter(int op, int type, int ksize, int anchor=-1);
CV_EXPORTS Ptr<BaseFilter> getMorphologyFilter(int op, int type, const Mat& kernel,
- Point anchor=Point(-1,-1));
+ Point anchor=Point(-1,-1));
static inline Scalar morphologyDefaultBorderValue() { return Scalar::all(DBL_MAX); }
CV_EXPORTS Ptr<FilterEngine> createMorphologyFilter(int op, int type, const Mat& kernel,
Point anchor=Point(-1,-1), int _rowBorderType=BORDER_CONSTANT,
int _columnBorderType=-1,
- const Scalar& _borderValue=morphologyDefaultBorderValue(),
- int maxBufRows=-1);
+ const Scalar& _borderValue=morphologyDefaultBorderValue());
enum { MORPH_RECT=0, MORPH_CROSS=1, MORPH_ELLIPSE=2 };
CV_EXPORTS Mat getStructuringElement(int shape, Size ksize, Point anchor=Point(-1,-1));
+template<> inline void Ptr<IplConvKernel>::delete_obj()
+{ cvReleaseStructuringElement(&obj); }
+
+
CV_EXPORTS void copyMakeBorder( const Mat& src, Mat& dst,
int top, int bottom, int left, int right,
- int borderType );
+ int borderType, const Scalar& value=Scalar() );
CV_EXPORTS void medianBlur( const Mat& src, Mat& dst, int ksize );
CV_EXPORTS void GaussianBlur( const Mat& src, Mat& dst, Size ksize,
int ksize=1, double scale=1, double delta=0,
int borderType=BORDER_DEFAULT );
+CV_EXPORTS void Canny( const Mat& image, Mat& edges,
+ double threshold1, double threshold2,
+ int apertureSize=3, bool L2gradient=false );
+
+CV_EXPORTS void cornerMinEigenVal( const Mat& src, Mat& dst,
+ int blockSize, int ksize=3,
+ int borderType=BORDER_DEFAULT );
+
+CV_EXPORTS void cornerHarris( const Mat& src, Mat& dst, int blockSize,
+ int ksize, double k,
+ int borderType=BORDER_DEFAULT );
+
+CV_EXPORTS void cornerEigenValsAndVecs( const Mat& src, Mat& dst,
+ int blockSize, int ksize,
+ int borderType=BORDER_DEFAULT );
+
+CV_EXPORTS void preCornerDetect( const Mat& src, Mat& dst, int ksize,
+ int borderType=BORDER_DEFAULT );
+
+CV_EXPORTS void cornerSubPix( const Mat& image, vector<Point2f>& corners,
+ Size winSize, Size zeroZone,
+ TermCriteria criteria );
+
+CV_EXPORTS void goodFeaturesToTrack( const Mat& image, vector<Point2f>& corners,
+ int maxCorners, double qualityLevel, double minDistance,
+ const Mat& mask=Mat(), int blockSize=3,
+ bool useHarrisDetector=false, double k=0.04 );
+
+CV_EXPORTS void HoughLines( const Mat& image, vector<Vec2f>& lines,
+ double rho, double theta, int threshold,
+ double srn=0, double stn=0 );
+
+CV_EXPORTS void HoughLinesP( Mat& image, vector<Vec4i>& lines,
+ double rho, double theta, int threshold,
+ double minLineLength=0, double maxLineGap=0 );
+
+CV_EXPORTS void HoughCircles( const Mat& image, vector<Vec3f>& circles,
+ int method, double dp, double minDist,
+ double param1=100, double param2=100,
+ int minRadius=0, int maxRadius=0 );
+
CV_EXPORTS void erode( const Mat& src, Mat& dst, const Mat& kernel,
Point anchor=Point(-1,-1), int iterations=1,
int borderType=BORDER_CONSTANT,
int borderType=BORDER_CONSTANT,
const Scalar& borderValue=morphologyDefaultBorderValue() );
-CV_EXPORTS void resize( const Mat& src, Mat& dst, int interpolation );
+enum { INTER_NEAREST=0, INTER_LINEAR=1, INTER_CUBIC=2, INTER_AREA=3,
+ INTER_LANCZOS4=4, INTER_MAX=7, WARP_INVERSE_MAP=16 };
+
+CV_EXPORTS void resize( const Mat& src, Mat& dst,
+ Size dsize, double fx=0, double fy=0,
+ int interpolation=INTER_LINEAR );
+
CV_EXPORTS void warpAffine( const Mat& src, Mat& dst,
- const Mat& M, int interpolation );
+ const Mat& M, Size dsize,
+ int flags=INTER_LINEAR,
+ int borderMode=BORDER_CONSTANT,
+ const Scalar& borderValue=Scalar());
CV_EXPORTS void warpPerspective( const Mat& src, Mat& dst,
- const Mat& M, int interpolation );
+ const Mat& M, Size dsize,
+ int flags=INTER_LINEAR,
+ int borderMode=BORDER_CONSTANT,
+ const Scalar& borderValue=Scalar());
+
+CV_EXPORTS void remap( const Mat& src, Mat& dst, const Mat& map1, const Mat& map2,
+ int interpolation, int borderMode=BORDER_CONSTANT,
+ const Scalar& borderValue=Scalar());
+
+CV_EXPORTS void convertMaps( const Mat& map1, const Mat& map2, Mat& dstmap1, Mat& dstmap2,
+ int dstmap1type, bool nninterpolation=false );
+
+CV_EXPORTS Mat getRotationMatrix2D( Point2f center, double angle, double scale );
+CV_EXPORTS Mat getPerspectiveTransform( const Point2f src[], const Point2f dst[] );
+CV_EXPORTS Mat getAffineTransform( const Point2f src[], const Point2f dst[] );
+CV_EXPORTS void invertAffineTransform(const Mat& M, Mat& iM);
+
+CV_EXPORTS void getRectSubPix( const Mat& image, Size patchSize,
+ Point2f center, Mat& patch, int patchType=-1 );
+
+CV_EXPORTS void integral( const Mat& src, Mat& sum, int sdepth=-1 );
+CV_EXPORTS void integral( const Mat& src, Mat& sum, Mat& sqsum, int sdepth=-1 );
+CV_EXPORTS void integral( const Mat& src, Mat& sum, Mat& sqsum, Mat& tilted, int sdepth=-1 );
+
+CV_EXPORTS void accumulate( const Mat& src, Mat& dst, const Mat& mask=Mat() );
+CV_EXPORTS void accumulateSquare( const Mat& src, Mat& dst, const Mat& mask=Mat() );
+CV_EXPORTS void accumulateProduct( const Mat& src1, const Mat& src2,
+ Mat& dst, const Mat& mask=Mat() );
+CV_EXPORTS void accumulateWeighted( const Mat& src, Mat& dst,
+ double alpha, const Mat& mask=Mat() );
+
+enum { THRESH_BINARY=0, THRESH_BINARY_INV=1, THRESH_TRUNC=2, THRESH_TOZERO=3,
+ THRESH_TOZERO_INV=4, THRESH_MASK=7, THRESH_OTSU=8 };
+
+CV_EXPORTS double threshold( const Mat& src, Mat& dst, double thresh, double maxval, int type );
+
+enum { ADAPTIVE_THRESH_MEAN_C=0, ADAPTIVE_THRESH_GAUSSIAN_C=1 };
+
+CV_EXPORTS void adaptiveThreshold( const Mat& src, Mat& dst, double maxValue,
+ int adaptiveMethod, int thresholdType,
+ int blockSize, double C );
+
+CV_EXPORTS void pyrDown( const Mat& src, Mat& dst, const Size& dstsize=Size());
+CV_EXPORTS void pyrUp( const Mat& src, Mat& dst, const Size& dstsize=Size());
+CV_EXPORTS void buildPyramid( const Mat& src, vector<Mat>& dst, int maxlevel );
+
+
+CV_EXPORTS void undistort( const Mat& src, Mat& dst, const Mat& cameraMatrix,
+ const Mat& distCoeffs, const Mat& newCameraMatrix=Mat() );
+CV_EXPORTS void initUndistortRectifyMap( const Mat& cameraMatrix, const Mat& distCoeffs,
+ const Mat& R, const Mat& newCameraMatrix,
+ Size size, int m1type, Mat& map1, Mat& map2 );
+CV_EXPORTS Mat getOptimalNewCameraMatrix( const Mat& cameraMatrix, const Mat& distCoeffs,
+ Size imageSize, double alpha, Size newImgSize=Size(),
+ Rect* validPixROI=0);
+CV_EXPORTS Mat getDefaultNewCameraMatrix( const Mat& cameraMatrix, Size imgsize=Size(),
+ bool centerPrincipalPoint=false );
+
+enum { OPTFLOW_USE_INITIAL_FLOW=4, OPTFLOW_FARNEBACK_GAUSSIAN=256 };
+
+CV_EXPORTS void calcOpticalFlowPyrLK( const Mat& prevImg, const Mat& nextImg,
+ const vector<Point2f>& prevPts, vector<Point2f>& nextPts,
+ vector<uchar>& status, vector<float>& err,
+ Size winSize=Size(15,15), int maxLevel=3,
+ TermCriteria criteria=TermCriteria(
+ TermCriteria::COUNT+TermCriteria::EPS,
+ 30, 0.01),
+ double derivLambda=0.5,
+ int flags=0 );
+
+CV_EXPORTS void calcOpticalFlowFarneback( const Mat& prev0, const Mat& next0,
+ Mat& flow0, double pyr_scale, int levels, int winsize,
+ int iterations, int poly_n, double poly_sigma, int flags );
+
+
+template<> inline void Ptr<CvHistogram>::delete_obj()
+{ cvReleaseHist(&obj); }
+
+CV_EXPORTS void calcHist( const Mat* images, int nimages,
+ const int* channels, const Mat& mask,
+ MatND& hist, int dims, const int* histSize,
+ const float** ranges, bool uniform=true,
+ bool accumulate=false );
+
+CV_EXPORTS void calcHist( const Mat* images, int nimages,
+ const int* channels, const Mat& mask,
+ SparseMat& hist, int dims, const int* histSize,
+ const float** ranges, bool uniform=true,
+ bool accumulate=false );
+
+CV_EXPORTS void calcBackProject( const Mat* images, int nimages,
+ const int* channels, const MatND& hist,
+ Mat& backProject, const float** ranges,
+ double scale=1, bool uniform=true );
+
+CV_EXPORTS void calcBackProject( const Mat* images, int nimages,
+ const int* channels, const SparseMat& hist,
+ Mat& backProject, const float** ranges,
+ double scale=1, bool uniform=true );
+
+CV_EXPORTS double compareHist( const MatND& H1, const MatND& H2, int method );
+
+CV_EXPORTS double compareHist( const SparseMat& H1, const SparseMat& H2, int method );
+
+CV_EXPORTS void equalizeHist( const Mat& src, Mat& dst );
+
+CV_EXPORTS void watershed( const Mat& image, Mat& markers );
+
+enum { GC_BGD = 0, // background
+ GC_FGD = 1, // foreground
+ GC_PR_BGD = 2, // most probably background
+ GC_PR_FGD = 3 // most probably foreground
+ };
+
+enum { GC_INIT_WITH_RECT = 0,
+ GC_INIT_WITH_MASK = 1,
+ GC_EVAL = 2
+ };
+
+CV_EXPORTS void grabCut( const Mat& img, Mat& mask, Rect rect,
+ Mat& bgdModel, Mat& fgdModel,
+ int iterCount, int mode = GC_EVAL );
+
+enum { INPAINT_NS=CV_INPAINT_NS, INPAINT_TELEA=CV_INPAINT_TELEA };
+
+CV_EXPORTS void inpaint( const Mat& src, const Mat& inpaintMask,
+ Mat& dst, double inpaintRange, int flags );
+
+CV_EXPORTS void distanceTransform( const Mat& src, Mat& dst, Mat& labels,
+ int distanceType, int maskSize );
+
+CV_EXPORTS void distanceTransform( const Mat& src, Mat& dst,
+ int distanceType, int maskSize );
+
+enum { FLOODFILL_FIXED_RANGE = 1 << 16,
+ FLOODFILL_MASK_ONLY = 1 << 17 };
+
+CV_EXPORTS int floodFill( Mat& image,
+ Point seedPoint, Scalar newVal, Rect* rect=0,
+ Scalar loDiff=Scalar(), Scalar upDiff=Scalar(),
+ int flags=4 );
+
+CV_EXPORTS int floodFill( Mat& image, Mat& mask,
+ Point seedPoint, Scalar newVal, Rect* rect=0,
+ Scalar loDiff=Scalar(), Scalar upDiff=Scalar(),
+ int flags=4 );
+
+CV_EXPORTS void cvtColor( const Mat& src, Mat& dst, int code, int dstCn=0 );
+
+class CV_EXPORTS Moments
+{
+public:
+ Moments();
+ Moments(double m00, double m10, double m01, double m20, double m11,
+ double m02, double m30, double m21, double m12, double m03 );
+ Moments( const CvMoments& moments );
+ operator CvMoments() const;
+
+ double m00, m10, m01, m20, m11, m02, m30, m21, m12, m03; // spatial moments
+ double mu20, mu11, mu02, mu30, mu21, mu12, mu03; // central moments
+ double nu20, nu11, nu02, nu30, nu21, nu12, nu03; // central normalized moments
+};
+
+CV_EXPORTS Moments moments( const Mat& array, bool binaryImage=false );
+
+CV_EXPORTS void HuMoments( const Moments& moments, double hu[7] );
+
+enum { TM_SQDIFF=CV_TM_SQDIFF, TM_SQDIFF_NORMED=CV_TM_SQDIFF_NORMED,
+ TM_CCORR=CV_TM_CCORR, TM_CCORR_NORMED=CV_TM_CCORR_NORMED,
+ TM_CCOEFF=CV_TM_CCOEFF, TM_CCOEFF_NORMED=CV_TM_CCOEFF_NORMED };
+
+CV_EXPORTS void matchTemplate( const Mat& image, const Mat& templ, Mat& result, int method );
+
+enum { RETR_EXTERNAL=CV_RETR_EXTERNAL, RETR_LIST=CV_RETR_LIST,
+ RETR_CCOMP=CV_RETR_CCOMP, RETR_TREE=CV_RETR_TREE };
+
+enum { CHAIN_APPROX_NONE=CV_CHAIN_APPROX_NONE,
+ CHAIN_APPROX_SIMPLE=CV_CHAIN_APPROX_SIMPLE,
+ CHAIN_APPROX_TC89_L1=CV_CHAIN_APPROX_TC89_L1,
+ CHAIN_APPROX_TC89_KCOS=CV_CHAIN_APPROX_TC89_KCOS };
+
+CV_EXPORTS void findContours( Mat& image, vector<vector<Point> >& contours,
+ vector<Vec4i>& hierarchy, int mode,
+ int method, Point offset=Point());
+
+CV_EXPORTS void findContours( Mat& image, vector<vector<Point> >& contours,
+ int mode, int method, Point offset=Point());
+
+CV_EXPORTS void drawContours( Mat& image, const vector<vector<Point> >& contours,
+ int contourIdx, const Scalar& color,
+ int thickness=1, int lineType=8,
+ const vector<Vec4i>& hierarchy=vector<Vec4i>(),
+ int maxLevel=INT_MAX, Point offset=Point() );
+
+CV_EXPORTS void approxPolyDP( const Mat& curve,
+ vector<Point>& approxCurve,
+ double epsilon, bool closed );
+CV_EXPORTS void approxPolyDP( const Mat& curve,
+ vector<Point2f>& approxCurve,
+ double epsilon, bool closed );
+
+CV_EXPORTS double arcLength( const Mat& curve, bool closed );
+CV_EXPORTS Rect boundingRect( const Mat& points );
+CV_EXPORTS double contourArea( const Mat& contour );
+CV_EXPORTS RotatedRect minAreaRect( const Mat& points );
+CV_EXPORTS void minEnclosingCircle( const Mat& points,
+ Point2f& center, float& radius );
+CV_EXPORTS double matchShapes( const Mat& contour1,
+ const Mat& contour2,
+ int method, double parameter );
+
+CV_EXPORTS void convexHull( const Mat& points, vector<int>& hull, bool clockwise=false );
+CV_EXPORTS void convexHull( const Mat& points, vector<Point>& hull, bool clockwise=false );
+CV_EXPORTS void convexHull( const Mat& points, vector<Point2f>& hull, bool clockwise=false );
+
+CV_EXPORTS bool isContourConvex( const Mat& contour );
+
+CV_EXPORTS RotatedRect fitEllipse( const Mat& points );
+
+CV_EXPORTS void fitLine( const Mat& points, Vec4f& line, int distType,
+ double param, double reps, double aeps );
+CV_EXPORTS void fitLine( const Mat& points, Vec6f& line, int distType,
+ double param, double reps, double aeps );
+
+CV_EXPORTS double pointPolygonTest( const Mat& contour,
+ Point2f pt, bool measureDist );
+
+CV_EXPORTS Mat estimateRigidTransform( const Mat& A, const Mat& B,
+ bool fullAffine );
+
+CV_EXPORTS void updateMotionHistory( const Mat& silhouette, Mat& mhi,
+ double timestamp, double duration );
+
+CV_EXPORTS void calcMotionGradient( const Mat& mhi, Mat& mask,
+ Mat& orientation,
+ double delta1, double delta2,
+ int apertureSize=3 );
+
+CV_EXPORTS double calcGlobalOrientation( const Mat& orientation, const Mat& mask,
+ const Mat& mhi, double timestamp,
+ double duration );
+// TODO: need good API for cvSegmentMotion
+
+CV_EXPORTS RotatedRect CamShift( const Mat& probImage, Rect& window,
+ TermCriteria criteria );
+
+CV_EXPORTS int meanShift( const Mat& probImage, Rect& window,
+ TermCriteria criteria );
+
+CV_EXPORTS int estimateAffine3D(const Mat& from, const Mat& to, Mat& out,
+ vector<uchar>& outliers,
+ double param1 = 3.0, double param2 = 0.99);
+
+class CV_EXPORTS KalmanFilter
+{
+public:
+ KalmanFilter();
+ KalmanFilter(int dynamParams, int measureParams, int controlParams=0);
+ void init(int dynamParams, int measureParams, int controlParams=0);
+
+ const Mat& predict(const Mat& control=Mat());
+ const Mat& correct(const Mat& measurement);
+
+ Mat statePre; // predicted state (x'(k)):
+ // x(k)=A*x(k-1)+B*u(k)
+ Mat statePost; // corrected state (x(k)):
+ // x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
+ Mat transitionMatrix; // state transition matrix (A)
+ Mat controlMatrix; // control matrix (B)
+ // (it is not used if there is no control)
+ Mat measurementMatrix; // measurement matrix (H)
+ Mat processNoiseCov; // process noise covariance matrix (Q)
+ Mat measurementNoiseCov;// measurement noise covariance matrix (R)
+ Mat errorCovPre; // priori error estimate covariance matrix (P'(k)):
+ // P'(k)=A*P(k-1)*At + Q)*/
+ Mat gain; // Kalman gain matrix (K(k)):
+ // K(k)=P'(k)*Ht*inv(H*P'(k)*Ht+R)
+ Mat errorCovPost; // posteriori error estimate covariance matrix (P(k)):
+ // P(k)=(I-K(k)*H)*P'(k)
+ Mat temp1; // temporary matrices
+ Mat temp2;
+ Mat temp3;
+ Mat temp4;
+ Mat temp5;
+};
+
+
+///////////////////////////// Object Detection ////////////////////////////
+
+CV_EXPORTS void groupRectangles(vector<Rect>& rectList, int groupThreshold, double eps=0.2);
+CV_EXPORTS void groupRectangles(vector<Rect>& rectList, vector<int>& weights, int groupThreshold, double eps=0.2);
+
+class CV_EXPORTS FeatureEvaluator
+{
+public:
+ enum { HAAR = 0, LBP = 1 };
+ virtual ~FeatureEvaluator();
+ virtual bool read(const FileNode& node);
+ virtual Ptr<FeatureEvaluator> clone() const;
+ virtual int getFeatureType() const;
+
+ virtual bool setImage(const Mat&, Size origWinSize);
+ virtual bool setWindow(Point p);
+
+ virtual double calcOrd(int featureIdx) const;
+ virtual int calcCat(int featureIdx) const;
+
+ static Ptr<FeatureEvaluator> create(int type);
+};
+
+template<> inline void Ptr<CvHaarClassifierCascade>::delete_obj()
+{ cvReleaseHaarClassifierCascade(&obj); }
+
+class CV_EXPORTS CascadeClassifier
+{
+public:
+ struct CV_EXPORTS DTreeNode
+ {
+ int featureIdx;
+ float threshold; // for ordered features only
+ int left;
+ int right;
+ };
+
+ struct CV_EXPORTS DTree
+ {
+ int nodeCount;
+ };
+
+ struct CV_EXPORTS Stage
+ {
+ int first;
+ int ntrees;
+ float threshold;
+ };
+
+ enum { BOOST = 0 };
+ enum { DO_CANNY_PRUNING = CV_HAAR_DO_CANNY_PRUNING,
+ SCALE_IMAGE = CV_HAAR_SCALE_IMAGE,
+ FIND_BIGGEST_OBJECT = CV_HAAR_FIND_BIGGEST_OBJECT,
+ DO_ROUGH_SEARCH = CV_HAAR_DO_ROUGH_SEARCH };
+
+ CascadeClassifier();
+ CascadeClassifier(const string& filename);
+ ~CascadeClassifier();
+
+ bool empty() const;
+ bool load(const string& filename);
+ bool read(const FileNode& node);
+ void detectMultiScale( const Mat& image,
+ vector<Rect>& objects,
+ double scaleFactor=1.1,
+ int minNeighbors=3, int flags=0,
+ Size minSize=Size());
+
+ bool setImage( Ptr<FeatureEvaluator>&, const Mat& );
+ int runAt( Ptr<FeatureEvaluator>&, Point );
+
+ bool is_stump_based;
+
+ int stageType;
+ int featureType;
+ int ncategories;
+ Size origWinSize;
+
+ vector<Stage> stages;
+ vector<DTree> classifiers;
+ vector<DTreeNode> nodes;
+ vector<float> leaves;
+ vector<int> subsets;
+
+ Ptr<FeatureEvaluator> feval;
+ Ptr<CvHaarClassifierCascade> oldCascade;
+};
+
+
+CV_EXPORTS void undistortPoints( const Mat& src, vector<Point2f>& dst,
+ const Mat& cameraMatrix, const Mat& distCoeffs,
+ const Mat& R=Mat(), const Mat& P=Mat());
+CV_EXPORTS void undistortPoints( const Mat& src, Mat& dst,
+ const Mat& cameraMatrix, const Mat& distCoeffs,
+ const Mat& R=Mat(), const Mat& P=Mat());
+
+CV_EXPORTS void Rodrigues(const Mat& src, Mat& dst);
+CV_EXPORTS void Rodrigues(const Mat& src, Mat& dst, Mat& jacobian);
+
+enum { LMEDS=4, RANSAC=8 };
+
+CV_EXPORTS Mat findHomography( const Mat& srcPoints,
+ const Mat& dstPoints,
+ Mat& mask, int method=0,
+ double ransacReprojThreshold=0 );
+
+CV_EXPORTS Mat findHomography( const Mat& srcPoints,
+ const Mat& dstPoints,
+ vector<uchar>& mask, int method=0,
+ double ransacReprojThreshold=0 );
+
+CV_EXPORTS Mat findHomography( const Mat& srcPoints,
+ const Mat& dstPoints,
+ int method=0, double ransacReprojThreshold=0 );
+
+/* Computes RQ decomposition for 3x3 matrices */
+CV_EXPORTS void RQDecomp3x3( const Mat& M, Mat& R, Mat& Q );
+CV_EXPORTS Vec3d RQDecomp3x3( const Mat& M, Mat& R, Mat& Q,
+ Mat& Qx, Mat& Qy, Mat& Qz );
+
+CV_EXPORTS void decomposeProjectionMatrix( const Mat& projMatrix, Mat& cameraMatrix,
+ Mat& rotMatrix, Mat& transVect );
+CV_EXPORTS void decomposeProjectionMatrix( const Mat& projMatrix, Mat& cameraMatrix,
+ Mat& rotMatrix, Mat& transVect,
+ Mat& rotMatrixX, Mat& rotMatrixY,
+ Mat& rotMatrixZ, Vec3d& eulerAngles );
+
+CV_EXPORTS void matMulDeriv( const Mat& A, const Mat& B, Mat& dABdA, Mat& dABdB );
+
+CV_EXPORTS void composeRT( const Mat& rvec1, const Mat& tvec1,
+ const Mat& rvec2, const Mat& tvec2,
+ Mat& rvec3, Mat& tvec3 );
+
+CV_EXPORTS void composeRT( const Mat& rvec1, const Mat& tvec1,
+ const Mat& rvec2, const Mat& tvec2,
+ Mat& rvec3, Mat& tvec3,
+ Mat& dr3dr1, Mat& dr3dt1,
+ Mat& dr3dr2, Mat& dr3dt2,
+ Mat& dt3dr1, Mat& dt3dt1,
+ Mat& dt3dr2, Mat& dt3dt2 );
+
+CV_EXPORTS void projectPoints( const Mat& objectPoints,
+ const Mat& rvec, const Mat& tvec,
+ const Mat& cameraMatrix,
+ const Mat& distCoeffs,
+ vector<Point2f>& imagePoints );
+
+CV_EXPORTS void projectPoints( const Mat& objectPoints,
+ const Mat& rvec, const Mat& tvec,
+ const Mat& cameraMatrix,
+ const Mat& distCoeffs,
+ vector<Point2f>& imagePoints,
+ Mat& dpdrot, Mat& dpdt, Mat& dpdf,
+ Mat& dpdc, Mat& dpddist,
+ double aspectRatio=0 );
+
+CV_EXPORTS void solvePnP( const Mat& objectPoints,
+ const Mat& imagePoints,
+ const Mat& cameraMatrix,
+ const Mat& distCoeffs,
+ Mat& rvec, Mat& tvec,
+ bool useExtrinsicGuess=false );
+
+CV_EXPORTS Mat initCameraMatrix2D( const vector<vector<Point3f> >& objectPoints,
+ const vector<vector<Point2f> >& imagePoints,
+ Size imageSize, double aspectRatio=1. );
+
+enum { CALIB_CB_ADAPTIVE_THRESH = CV_CALIB_CB_ADAPTIVE_THRESH,
+ CALIB_CB_NORMALIZE_IMAGE = CV_CALIB_CB_NORMALIZE_IMAGE,
+ CALIB_CB_FILTER_QUADS = CV_CALIB_CB_FILTER_QUADS };
+
+CV_EXPORTS bool findChessboardCorners( const Mat& image, Size patternSize,
+ vector<Point2f>& corners,
+ int flags=CV_CALIB_CB_ADAPTIVE_THRESH+
+ CV_CALIB_CB_NORMALIZE_IMAGE );
+
+CV_EXPORTS void drawChessboardCorners( Mat& image, Size patternSize,
+ const Mat& corners,
+ bool patternWasFound );
+
+enum
+{
+ CALIB_USE_INTRINSIC_GUESS = CV_CALIB_USE_INTRINSIC_GUESS,
+ CALIB_FIX_ASPECT_RATIO = CV_CALIB_FIX_ASPECT_RATIO,
+ CALIB_FIX_PRINCIPAL_POINT = CV_CALIB_FIX_PRINCIPAL_POINT,
+ CALIB_ZERO_TANGENT_DIST = CV_CALIB_ZERO_TANGENT_DIST,
+ CALIB_FIX_FOCAL_LENGTH = CV_CALIB_FIX_FOCAL_LENGTH,
+ CALIB_FIX_K1 = CV_CALIB_FIX_K1,
+ CALIB_FIX_K2 = CV_CALIB_FIX_K2,
+ CALIB_FIX_K3 = CV_CALIB_FIX_K3,
+ // only for stereo
+ CALIB_FIX_INTRINSIC = CV_CALIB_FIX_INTRINSIC,
+ CALIB_SAME_FOCAL_LENGTH = CV_CALIB_SAME_FOCAL_LENGTH,
+ // for stereo rectification
+ CALIB_ZERO_DISPARITY = CV_CALIB_ZERO_DISPARITY
+};
+
+CV_EXPORTS double calibrateCamera( const vector<vector<Point3f> >& objectPoints,
+ const vector<vector<Point2f> >& imagePoints,
+ Size imageSize,
+ Mat& cameraMatrix, Mat& distCoeffs,
+ vector<Mat>& rvecs, vector<Mat>& tvecs,
+ int flags=0 );
+
+CV_EXPORTS void calibrationMatrixValues( const Mat& cameraMatrix,
+ Size imageSize,
+ double apertureWidth,
+ double apertureHeight,
+ double& fovx,
+ double& fovy,
+ double& focalLength,
+ Point2d& principalPoint,
+ double& aspectRatio );
+
+CV_EXPORTS double stereoCalibrate( const vector<vector<Point3f> >& objectPoints,
+ const vector<vector<Point2f> >& imagePoints1,
+ const vector<vector<Point2f> >& imagePoints2,
+ Mat& cameraMatrix1, Mat& distCoeffs1,
+ Mat& cameraMatrix2, Mat& distCoeffs2,
+ Size imageSize, Mat& R, Mat& T,
+ Mat& E, Mat& F,
+ TermCriteria criteria = TermCriteria(TermCriteria::COUNT+
+ TermCriteria::EPS, 30, 1e-6),
+ int flags=CALIB_FIX_INTRINSIC );
+
+CV_EXPORTS void stereoRectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
+ const Mat& cameraMatrix2, const Mat& distCoeffs2,
+ Size imageSize, const Mat& R, const Mat& T,
+ Mat& R1, Mat& R2, Mat& P1, Mat& P2, Mat& Q,
+ int flags=CALIB_ZERO_DISPARITY );
+
+CV_EXPORTS void stereoRectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
+ const Mat& cameraMatrix2, const Mat& distCoeffs2,
+ Size imageSize, const Mat& R, const Mat& T,
+ Mat& R1, Mat& R2, Mat& P1, Mat& P2, Mat& Q,
+ double alpha, Size newImageSize=Size(),
+ Rect* validPixROI1=0, Rect* validPixROI2=0,
+ int flags=CALIB_ZERO_DISPARITY );
+
+CV_EXPORTS bool stereoRectifyUncalibrated( const Mat& points1,
+ const Mat& points2,
+ const Mat& F, Size imgSize,
+ Mat& H1, Mat& H2,
+ double threshold=5 );
+CV_EXPORTS void convertPointsHomogeneous( const Mat& src, vector<Point3f>& dst );
+CV_EXPORTS void convertPointsHomogeneous( const Mat& src, vector<Point2f>& dst );
+
+enum
+{
+ FM_7POINT = CV_FM_7POINT,
+ FM_8POINT = CV_FM_8POINT,
+ FM_LMEDS = CV_FM_LMEDS,
+ FM_RANSAC = CV_FM_RANSAC
+};
+
+CV_EXPORTS Mat findFundamentalMat( const Mat& points1, const Mat& points2,
+ vector<uchar>& mask, int method=FM_RANSAC,
+ double param1=3., double param2=0.99 );
+
+CV_EXPORTS Mat findFundamentalMat( const Mat& points1, const Mat& points2,
+ int method=FM_RANSAC,
+ double param1=3., double param2=0.99 );
+
+CV_EXPORTS void computeCorrespondEpilines( const Mat& points1,
+ int whichImage, const Mat& F,
+ vector<Vec3f>& lines );
+
+template<> inline void Ptr<CvStereoBMState>::delete_obj()
+{ cvReleaseStereoBMState(&obj); }
+
+// Block matching stereo correspondence algorithm
+class CV_EXPORTS StereoBM
+{
+public:
+ enum { PREFILTER_NORMALIZED_RESPONSE = CV_STEREO_BM_NORMALIZED_RESPONSE,
+ PREFILTER_XSOBEL = CV_STEREO_BM_XSOBEL,
+ BASIC_PRESET=CV_STEREO_BM_BASIC,
+ FISH_EYE_PRESET=CV_STEREO_BM_FISH_EYE,
+ NARROW_PRESET=CV_STEREO_BM_NARROW };
+
+ StereoBM();
+ StereoBM(int preset, int ndisparities=0, int SADWindowSize=21);
+ void init(int preset, int ndisparities=0, int SADWindowSize=21);
+ void operator()( const Mat& left, const Mat& right, Mat& disparity, int disptype=CV_16S );
+
+ Ptr<CvStereoBMState> state;
+};
+
+
+class CV_EXPORTS StereoSGBM
+{
+public:
+ enum { DISP_SHIFT=4, DISP_SCALE = (1<<DISP_SHIFT) };
+
+ StereoSGBM();
+ StereoSGBM(int minDisparity, int numDisparities, int SADWindowSize,
+ int P1=0, int P2=0, int disp12MaxDiff=0,
+ int preFilterCap=0, int uniquenessRatio=0,
+ int speckleWindowSize=0, int speckleRange=0,
+ bool fullDP=false);
+ virtual ~StereoSGBM();
+
+ virtual void operator()(const Mat& left, const Mat& right, Mat& disp);
+
+ int minDisparity;
+ int numberOfDisparities;
+ int SADWindowSize;
+ int preFilterCap;
+ int uniquenessRatio;
+ int P1, P2;
+ int speckleWindowSize;
+ int speckleRange;
+ int disp12MaxDiff;
+ bool fullDP;
+
+protected:
+ Mat buffer;
+};
+
+
+CV_EXPORTS void filterSpeckles( Mat& img, double newVal, int maxSpeckleSize, double maxDiff, Mat& buf );
+
+CV_EXPORTS Rect getValidDisparityROI( Rect roi1, Rect roi2,
+ int minDisparity, int numberOfDisparities,
+ int SADWindowSize );
+
+CV_EXPORTS void validateDisparity( Mat& disparity, const Mat& cost,
+ int minDisparity, int numberOfDisparities,
+ int disp12MaxDisp=1 );
+
+CV_EXPORTS void reprojectImageTo3D( const Mat& disparity,
+ Mat& _3dImage, const Mat& Q,
+ bool handleMissingValues=false );
+
+class CV_EXPORTS KeyPoint
+{
+public:
+ KeyPoint() : pt(0,0), size(0), angle(-1), response(0), octave(0), class_id(-1) {}
+ KeyPoint(Point2f _pt, float _size, float _angle=-1,
+ float _response=0, int _octave=0, int _class_id=-1)
+ : pt(_pt), size(_size), angle(_angle),
+ response(_response), octave(_octave), class_id(_class_id) {}
+ KeyPoint(float x, float y, float _size, float _angle=-1,
+ float _response=0, int _octave=0, int _class_id=-1)
+ : pt(x, y), size(_size), angle(_angle),
+ response(_response), octave(_octave), class_id(_class_id) {}
+
+ Point2f pt;
+ float size;
+ float angle;
+ float response;
+ int octave;
+ int class_id;
+};
+
+CV_EXPORTS void write(FileStorage& fs, const string& name, const vector<KeyPoint>& keypoints);
+CV_EXPORTS void read(const FileNode& node, vector<KeyPoint>& keypoints);
+
+class CV_EXPORTS SURF : public CvSURFParams
+{
+public:
+ SURF();
+ SURF(double _hessianThreshold, int _nOctaves=4,
+ int _nOctaveLayers=2, bool _extended=false);
+
+ int descriptorSize() const;
+ void operator()(const Mat& img, const Mat& mask,
+ vector<KeyPoint>& keypoints) const;
+ void operator()(const Mat& img, const Mat& mask,
+ vector<KeyPoint>& keypoints,
+ vector<float>& descriptors,
+ bool useProvidedKeypoints=false) const;
+};
+
+
+class CV_EXPORTS MSER : public CvMSERParams
+{
+public:
+ MSER();
+ MSER( int _delta, int _min_area, int _max_area,
+ float _max_variation, float _min_diversity,
+ int _max_evolution, double _area_threshold,
+ double _min_margin, int _edge_blur_size );
+ void operator()(Mat& image, vector<vector<Point> >& msers, const Mat& mask) const;
+};
+
+
+class CV_EXPORTS StarDetector : public CvStarDetectorParams
+{
+public:
+ StarDetector();
+ StarDetector(int _maxSize, int _responseThreshold,
+ int _lineThresholdProjected,
+ int _lineThresholdBinarized,
+ int _suppressNonmaxSize);
+
+ void operator()(const Mat& image, vector<KeyPoint>& keypoints) const;
+};
+
}
//////////////////////////////////////////////////////////////////////////////////////////
-struct CV_EXPORTS CvLevMarq
+class CV_EXPORTS CvLevMarq
{
+public:
CvLevMarq();
CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
void step();
enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
- CvMat* mask;
- CvMat* prevParam;
- CvMat* param;
- CvMat* J;
- CvMat* err;
- CvMat* JtJ;
- CvMat* JtJN;
- CvMat* JtErr;
- CvMat* JtJV;
- CvMat* JtJW;
+ cv::Ptr<CvMat> mask;
+ cv::Ptr<CvMat> prevParam;
+ cv::Ptr<CvMat> param;
+ cv::Ptr<CvMat> J;
+ cv::Ptr<CvMat> err;
+ cv::Ptr<CvMat> JtJ;
+ cv::Ptr<CvMat> JtJN;
+ cv::Ptr<CvMat> JtErr;
+ cv::Ptr<CvMat> JtJV;
+ cv::Ptr<CvMat> JtJW;
double prevErrNorm, errNorm;
int lambdaLg10;
CvTermCriteria criteria;
int h1, h2;
};
-struct CvLSHOperations {
+struct CvLSHOperations
+{
virtual ~CvLSHOperations() {}
virtual int vector_add(const void* data) = 0;
virtual int hash_lookup(lsh_hash h, int l, int* ret_i, int ret_i_max) = 0;
};
-
#endif /* __cplusplus */
-#endif /* _CV_HPP_ */
+#endif
/* End of file. */
projects / opencv.git / blobdiff