#include "_cv.h"
#include "_cvmodelest.h"
+using namespace cv;
+
template<typename T> int icvCompressPoints( T* ptr, const uchar* mask, int mstep, int count )
{
int i, j;
: CvModelEstimator2(_modelPoints, cvSize(3,3), 1)
{
assert( _modelPoints == 4 || _modelPoints == 5 );
+ checkPartialSubsets = false;
}
int CvHomographyEstimator::runKernel( const CvMat* m1, const CvMat* m2, CvMat* H )
double LtL[9][9], W[9][9], V[9][9];
CvMat _LtL = cvMat( 9, 9, CV_64F, LtL );
- CvMat _W = cvMat( 9, 9, CV_64F, W );
- CvMat _V = cvMat( 9, 9, CV_64F, V );
+ CvMat matW = cvMat( 9, 9, CV_64F, W );
+ CvMat matV = cvMat( 9, 9, CV_64F, V );
CvMat _H0 = cvMat( 3, 3, CV_64F, V[8] );
CvMat _Htemp = cvMat( 3, 3, CV_64F, V[7] );
CvPoint2D64f cM={0,0}, cm={0,0}, sM={0,0}, sm={0,0};
sM.y += fabs(M[i].y - cM.y);
}
+ if( fabs(sm.x) < DBL_EPSILON || fabs(sm.y) < DBL_EPSILON ||
+ fabs(sM.x) < DBL_EPSILON || fabs(sM.y) < DBL_EPSILON )
+ return 0;
sm.x = count/sm.x; sm.y = count/sm.y;
sM.x = count/sM.x; sM.y = count/sM.y;
}
cvCompleteSymm( &_LtL );
- //cvSVD( &_LtL, &_W, 0, &_V, CV_SVD_MODIFY_A + CV_SVD_V_T );
- cvEigenVV( &_LtL, &_V, &_W );
+ //cvSVD( &_LtL, &matW, 0, &matV, CV_SVD_MODIFY_A + CV_SVD_V_T );
+ cvEigenVV( &_LtL, &matV, &matW );
cvMatMul( &_invHnorm, &_H0, &_Htemp );
cvMatMul( &_Htemp, &_Hnorm2, &_H0 );
cvConvertScale( &_H0, H, 1./_H0.data.db[8] );
const double confidence = 0.995;
const int maxIters = 2000;
bool result = false;
- CvMat *m = 0, *M = 0, *tempMask = 0;
-
- CV_FUNCNAME( "cvFindHomography" );
-
- __BEGIN__;
+ Ptr<CvMat> m, M, tempMask;
double H[9];
- CvMat _H = cvMat( 3, 3, CV_64FC1, H );
+ CvMat matH = cvMat( 3, 3, CV_64FC1, H );
int count;
- CV_ASSERT( CV_IS_MAT(imagePoints) && CV_IS_MAT(objectPoints) );
+ CV_Assert( CV_IS_MAT(imagePoints) && CV_IS_MAT(objectPoints) );
count = MAX(imagePoints->cols, imagePoints->rows);
- CV_ASSERT( count >= 4 );
+ CV_Assert( count >= 4 );
m = cvCreateMat( 1, count, CV_64FC2 );
cvConvertPointsHomogeneous( imagePoints, m );
if( mask )
{
- CV_ASSERT( CV_IS_MASK_ARR(mask) && CV_IS_MAT_CONT(mask->type) &&
+ CV_Assert( CV_IS_MASK_ARR(mask) && CV_IS_MAT_CONT(mask->type) &&
(mask->rows == 1 || mask->cols == 1) &&
mask->rows*mask->cols == count );
- tempMask = mask;
+ tempMask = cvCloneMat(mask);
}
else if( count > 4 )
tempMask = cvCreateMat( 1, count, CV_8U );
- if( tempMask )
+ if( !tempMask.empty() )
cvSet( tempMask, cvScalarAll(1.) );
- {
- CvHomographyEstimator estimator( MIN(count, 5) );
+ CvHomographyEstimator estimator( MIN(count, 4) );
if( count == 4 )
method = 0;
if( method == CV_LMEDS )
- result = estimator.runLMeDS( M, m, &_H, tempMask, confidence, maxIters );
+ result = estimator.runLMeDS( M, m, &matH, tempMask, confidence, maxIters );
else if( method == CV_RANSAC )
- result = estimator.runRANSAC( M, m, &_H, tempMask, ransacReprojThreshold, confidence, maxIters);
+ result = estimator.runRANSAC( M, m, &matH, tempMask, ransacReprojThreshold, confidence, maxIters);
else
- result = estimator.runKernel( M, m, &_H ) > 0;
+ result = estimator.runKernel( M, m, &matH ) > 0;
if( result && count > 4 )
{
icvCompressPoints( (CvPoint2D64f*)M->data.ptr, tempMask->data.ptr, 1, count );
count = icvCompressPoints( (CvPoint2D64f*)m->data.ptr, tempMask->data.ptr, 1, count );
M->cols = m->cols = count;
- estimator.refine( M, m, &_H, 10 );
- }
+ estimator.refine( M, m, &matH, 10 );
}
if( result )
- cvConvert( &_H, __H );
-
- __END__;
-
- cvReleaseMat( &m );
- cvReleaseMat( &M );
- if( tempMask != mask )
- cvReleaseMat( &tempMask );
+ cvConvert( &matH, __H );
+
+ if( mask && tempMask )
+ cvCopy( tempMask, mask );
return (int)result;
}
}
-CV_IMPL int
-cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
- CvMat* fmatrix, int method,
- double param1, double param2, CvMat* mask )
+CV_IMPL int cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
+ CvMat* fmatrix, int method,
+ double param1, double param2, CvMat* mask )
{
int result = 0;
- CvMat *m1 = 0, *m2 = 0, *tempMask = 0;
-
- CV_FUNCNAME( "cvFindFundamentalMat" );
-
- __BEGIN__;
+ Ptr<CvMat> m1, m2, tempMask;
double F[3*9];
CvMat _F3x3 = cvMat( 3, 3, CV_64FC1, F ), _F9x3 = cvMat( 9, 3, CV_64FC1, F );
int count;
- CV_ASSERT( CV_IS_MAT(points1) && CV_IS_MAT(points2) && CV_ARE_SIZES_EQ(points1, points2) );
- CV_ASSERT( CV_IS_MAT(fmatrix) && fmatrix->cols == 3 &&
+ CV_Assert( CV_IS_MAT(points1) && CV_IS_MAT(points2) && CV_ARE_SIZES_EQ(points1, points2) );
+ CV_Assert( CV_IS_MAT(fmatrix) && fmatrix->cols == 3 &&
(fmatrix->rows == 3 || (fmatrix->rows == 9 && method == CV_FM_7POINT)) );
count = MAX(points1->cols, points1->rows);
if( count < 7 )
- EXIT;
+ return 0;
m1 = cvCreateMat( 1, count, CV_64FC2 );
cvConvertPointsHomogeneous( points1, m1 );
if( mask )
{
- CV_ASSERT( CV_IS_MASK_ARR(mask) && CV_IS_MAT_CONT(mask->type) &&
+ CV_Assert( CV_IS_MASK_ARR(mask) && CV_IS_MAT_CONT(mask->type) &&
(mask->rows == 1 || mask->cols == 1) &&
mask->rows*mask->cols == count );
- tempMask = cvCreateMatHeader(1, count, CV_8U);
- cvSetData(tempMask, mask->data.ptr, 0);
+ tempMask = cvCloneMat(mask);
}
else if( count > 8 )
tempMask = cvCreateMat( 1, count, CV_8U );
- if( tempMask )
+ if( !tempMask.empty() )
cvSet( tempMask, cvScalarAll(1.) );
- {
CvFMEstimator estimator( MIN(count, (method & 3) == CV_FM_7POINT ? 7 : 8) );
if( count == 7 )
result = estimator.run7Point(m1, m2, &_F9x3);
else
result = estimator.runLMeDS(m1, m2, &_F3x3, tempMask, param2 );
if( result <= 0 )
- EXIT;
+ return 0;
/*icvCompressPoints( (CvPoint2D64f*)m1->data.ptr, tempMask->data.ptr, 1, count );
count = icvCompressPoints( (CvPoint2D64f*)m2->data.ptr, tempMask->data.ptr, 1, count );
assert( count >= 8 );
m1->cols = m2->cols = count;
estimator.run8Point(m1, m2, &_F3x3);*/
}
- }
if( result )
cvConvert( fmatrix->rows == 3 ? &_F3x3 : &_F9x3, fmatrix );
-
- __END__;
-
- cvReleaseMat( &m1 );
- cvReleaseMat( &m2 );
- if( tempMask != mask )
- cvReleaseMat( &tempMask );
+
+ if( mask && tempMask )
+ cvCopy( tempMask, mask );
return result;
}
-CV_IMPL void
-cvComputeCorrespondEpilines( const CvMat* points, int pointImageID,
- const CvMat* fmatrix, CvMat* lines )
+CV_IMPL void cvComputeCorrespondEpilines( const CvMat* points, int pointImageID,
+ const CvMat* fmatrix, CvMat* lines )
{
- CV_FUNCNAME( "cvComputeCorrespondEpilines" );
-
- __BEGIN__;
-
int abc_stride, abc_plane_stride, abc_elem_size;
int plane_stride, stride, elem_size;
int i, dims, count, depth, cn, abc_dims, abc_count, abc_depth, abc_cn;
CvMat F = cvMat( 3, 3, CV_64F, f );
if( !CV_IS_MAT(points) )
- CV_ERROR( !points ? CV_StsNullPtr : CV_StsBadArg, "points parameter is not a valid matrix" );
+ CV_Error( !points ? CV_StsNullPtr : CV_StsBadArg, "points parameter is not a valid matrix" );
depth = CV_MAT_DEPTH(points->type);
cn = CV_MAT_CN(points->type);
if( (depth != CV_32F && depth != CV_64F) || (cn != 1 && cn != 2 && cn != 3) )
- CV_ERROR( CV_StsUnsupportedFormat, "The format of point matrix is unsupported" );
+ CV_Error( CV_StsUnsupportedFormat, "The format of point matrix is unsupported" );
if( points->rows > points->cols )
{
else
{
if( (points->rows > 1 && cn > 1) || (points->rows == 1 && cn == 1) )
- CV_ERROR( CV_StsBadSize, "The point matrix does not have a proper layout (2xn, 3xn, nx2 or nx3)" );
+ CV_Error( CV_StsBadSize, "The point matrix does not have a proper layout (2xn, 3xn, nx2 or nx3)" );
dims = cn * points->rows;
count = points->cols;
}
if( dims != 2 && dims != 3 )
- CV_ERROR( CV_StsOutOfRange, "The dimensionality of points must be 2 or 3" );
+ CV_Error( CV_StsOutOfRange, "The dimensionality of points must be 2 or 3" );
if( !CV_IS_MAT(fmatrix) )
- CV_ERROR( !fmatrix ? CV_StsNullPtr : CV_StsBadArg, "fmatrix is not a valid matrix" );
+ CV_Error( !fmatrix ? CV_StsNullPtr : CV_StsBadArg, "fmatrix is not a valid matrix" );
if( CV_MAT_TYPE(fmatrix->type) != CV_32FC1 && CV_MAT_TYPE(fmatrix->type) != CV_64FC1 )
- CV_ERROR( CV_StsUnsupportedFormat, "fundamental matrix must have 32fC1 or 64fC1 type" );
+ CV_Error( CV_StsUnsupportedFormat, "fundamental matrix must have 32fC1 or 64fC1 type" );
if( fmatrix->cols != 3 || fmatrix->rows != 3 )
- CV_ERROR( CV_StsBadSize, "fundamental matrix must be 3x3" );
+ CV_Error( CV_StsBadSize, "fundamental matrix must be 3x3" );
if( !CV_IS_MAT(lines) )
- CV_ERROR( !lines ? CV_StsNullPtr : CV_StsBadArg, "lines parameter is not a valid matrix" );
+ CV_Error( !lines ? CV_StsNullPtr : CV_StsBadArg, "lines parameter is not a valid matrix" );
abc_depth = CV_MAT_DEPTH(lines->type);
abc_cn = CV_MAT_CN(lines->type);
if( (abc_depth != CV_32F && abc_depth != CV_64F) || (abc_cn != 1 && abc_cn != 3) )
- CV_ERROR( CV_StsUnsupportedFormat, "The format of the matrix of lines is unsupported" );
+ CV_Error( CV_StsUnsupportedFormat, "The format of the matrix of lines is unsupported" );
if( lines->rows > lines->cols )
{
else
{
if( (lines->rows > 1 && abc_cn > 1) || (lines->rows == 1 && abc_cn == 1) )
- CV_ERROR( CV_StsBadSize, "The lines matrix does not have a proper layout (3xn or nx3)" );
+ CV_Error( CV_StsBadSize, "The lines matrix does not have a proper layout (3xn or nx3)" );
abc_dims = abc_cn * lines->rows;
abc_count = lines->cols;
}
if( abc_dims != 3 )
- CV_ERROR( CV_StsOutOfRange, "The lines matrix does not have a proper layout (3xn or nx3)" );
+ CV_Error( CV_StsOutOfRange, "The lines matrix does not have a proper layout (3xn or nx3)" );
if( abc_count != count )
- CV_ERROR( CV_StsUnmatchedSizes, "The numbers of points and lines are different" );
+ CV_Error( CV_StsUnmatchedSizes, "The numbers of points and lines are different" );
elem_size = CV_ELEM_SIZE(depth);
abc_elem_size = CV_ELEM_SIZE(abc_depth);
abc_stride = lines->rows == 1 ? 3*abc_elem_size : lines->step;
}
- CV_CALL( cvConvert( fmatrix, &F ));
+ cvConvert( fmatrix, &F );
if( pointImageID == 2 )
cvTranspose( &F, &F );
bp += abc_stride;
cp += abc_stride;
}
-
- __END__;
}
-CV_IMPL void
-cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst )
+CV_IMPL void cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst )
{
- CvMat* temp = 0;
- CvMat* denom = 0;
-
- CV_FUNCNAME( "cvConvertPointsHomogeneous" );
-
- __BEGIN__;
+ Ptr<CvMat> temp, denom;
int i, s_count, s_dims, d_count, d_dims;
CvMat _src, _dst, _ones;
CvMat* ones = 0;
if( !CV_IS_MAT(src) )
- CV_ERROR( !src ? CV_StsNullPtr : CV_StsBadArg,
+ CV_Error( !src ? CV_StsNullPtr : CV_StsBadArg,
"The input parameter is not a valid matrix" );
if( !CV_IS_MAT(dst) )
- CV_ERROR( !dst ? CV_StsNullPtr : CV_StsBadArg,
+ CV_Error( !dst ? CV_StsNullPtr : CV_StsBadArg,
"The output parameter is not a valid matrix" );
if( src == dst || src->data.ptr == dst->data.ptr )
{
if( src != dst && (!CV_ARE_TYPES_EQ(src, dst) || !CV_ARE_SIZES_EQ(src,dst)) )
- CV_ERROR( CV_StsBadArg, "Invalid inplace operation" );
- EXIT;
+ CV_Error( CV_StsBadArg, "Invalid inplace operation" );
+ return;
}
if( src->rows > src->cols )
{
if( !((src->cols > 1) ^ (CV_MAT_CN(src->type) > 1)) )
- CV_ERROR( CV_StsBadSize, "Either the number of channels or columns or rows must be =1" );
+ CV_Error( CV_StsBadSize, "Either the number of channels or columns or rows must be =1" );
s_dims = CV_MAT_CN(src->type)*src->cols;
s_count = src->rows;
else
{
if( !((src->rows > 1) ^ (CV_MAT_CN(src->type) > 1)) )
- CV_ERROR( CV_StsBadSize, "Either the number of channels or columns or rows must be =1" );
+ CV_Error( CV_StsBadSize, "Either the number of channels or columns or rows must be =1" );
s_dims = CV_MAT_CN(src->type)*src->rows;
s_count = src->cols;
if( dst->rows > dst->cols )
{
if( !((dst->cols > 1) ^ (CV_MAT_CN(dst->type) > 1)) )
- CV_ERROR( CV_StsBadSize,
+ CV_Error( CV_StsBadSize,
"Either the number of channels or columns or rows in the input matrix must be =1" );
d_dims = CV_MAT_CN(dst->type)*dst->cols;
else
{
if( !((dst->rows > 1) ^ (CV_MAT_CN(dst->type) > 1)) )
- CV_ERROR( CV_StsBadSize,
+ CV_Error( CV_StsBadSize,
"Either the number of channels or columns or rows in the output matrix must be =1" );
d_dims = CV_MAT_CN(dst->type)*dst->rows;
dst = cvReshape( dst, &_dst, 1, d_count );
if( s_count != d_count )
- CV_ERROR( CV_StsUnmatchedSizes, "Both matrices must have the same number of points" );
+ CV_Error( CV_StsUnmatchedSizes, "Both matrices must have the same number of points" );
if( CV_MAT_DEPTH(src->type) < CV_32F || CV_MAT_DEPTH(dst->type) < CV_32F )
- CV_ERROR( CV_StsUnsupportedFormat,
+ CV_Error( CV_StsUnsupportedFormat,
"Both matrices must be floating-point (single or double precision)" );
if( s_dims < 2 || s_dims > 4 || d_dims < 2 || d_dims > 4 )
- CV_ERROR( CV_StsOutOfRange,
+ CV_Error( CV_StsOutOfRange,
"Both input and output point dimensionality must be 2, 3 or 4" );
if( s_dims < d_dims - 1 || s_dims > d_dims + 1 )
- CV_ERROR( CV_StsUnmatchedSizes,
+ CV_Error( CV_StsUnmatchedSizes,
"The dimensionalities of input and output point sets differ too much" );
if( s_dims == d_dims - 1 )
{
if( !CV_ARE_TYPES_EQ( src, dst ))
{
- CV_CALL( temp = cvCreateMat( src->rows, src->cols, dst->type ));
+ temp = cvCreateMat( src->rows, src->cols, dst->type );
cvConvert( src, temp );
src = temp;
}
if( !CV_ARE_TYPES_EQ( src, dst ))
{
- CV_CALL( temp = cvCreateMat( src->rows, src->cols, dst->type ));
+ temp = cvCreateMat( src->rows, src->cols, dst->type );
cvConvert( src, temp );
src = temp;
}
else
d_stride = dst->step / elem_size, d_plane_stride = 1;
- CV_CALL( denom = cvCreateMat( 1, d_count, dst->type ));
+ denom = cvCreateMat( 1, d_count, dst->type );
if( CV_MAT_DEPTH(dst->type) == CV_32F )
{
}
}
}
-
- __END__;
-
- cvReleaseMat( &denom );
- cvReleaseMat( &temp );
}
namespace cv
Mat H(3, 3, CV_64F);
CvMat _pt1 = Mat(points1), _pt2 = Mat(points2);
- CvMat _H = H, _mask, *pmask = 0;
+ CvMat matH = H, _mask, *pmask = 0;
if( mask )
{
mask->resize(points1.cols*points1.rows*points1.channels()/2);
pmask = &(_mask = cvMat(1, (int)mask->size(), CV_8U, (void*)&(*mask)[0]));
}
- bool ok = cvFindHomography( &_pt1, &_pt2, &_H, method, ransacReprojThreshold, pmask ) > 0;
+ bool ok = cvFindHomography( &_pt1, &_pt2, &matH, method, ransacReprojThreshold, pmask ) > 0;
if( !ok )
H = Scalar(0);
return H;
Mat F(3, 3, CV_64F);
CvMat _pt1 = Mat(points1), _pt2 = Mat(points2);
- CvMat _F = F, _mask, *pmask = 0;
+ CvMat matF = F, _mask, *pmask = 0;
if( mask )
{
mask->resize(points1.cols*points1.rows*points1.channels()/2);
pmask = &(_mask = cvMat(1, (int)mask->size(), CV_8U, (void*)&(*mask)[0]));
}
- int n = cvFindFundamentalMat( &_pt1, &_pt2, &_F, method, param1, param2, pmask );
+ int n = cvFindFundamentalMat( &_pt1, &_pt2, &matF, method, param1, param2, pmask );
if( n <= 0 )
F = Scalar(0);
return F;
points.cols*points.channels() == 2));
lines.resize(points.cols*points.rows*points.channels()/2);
- CvMat _points = points, _lines = Mat(lines), _F = F;
- cvComputeCorrespondEpilines(&_points, whichImage, &_F, &_lines);
+ CvMat _points = points, _lines = Mat(lines), matF = F;
+ cvComputeCorrespondEpilines(&_points, whichImage, &matF, &_lines);
}
void cv::convertPointsHomogeneous( const Mat& src, vector<Point3f>& dst )
projects / opencv.git / blobdiff