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added more helper macros to the function declarations, to assist the Python wrapper generator. Fixed memleak in Mat::operator()(Range,Range) and the related functions (Mat::row, Mat::col etc.)

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This commit is contained in:
Vadim Pisarevsky
2010-10-27 18:26:39 +00:00
parent 4c29ffecc0
commit 83f6085773
18 changed files with 685 additions and 987 deletions
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242
modules/calib3d/include/opencv2/calib3d/calib3d.hpp
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@@ -429,10 +429,10 @@ namespace cv
{
//! converts rotation vector to rotation matrix or vice versa using Rodrigues transformation
CV_EXPORTS void Rodrigues(const Mat& src, Mat& dst);
CV_EXPORTS_W void Rodrigues(const Mat& src, CV_OUT Mat& dst);
//! converts rotation vector to rotation matrix or vice versa using Rodrigues transformation. Also computes the Jacobian matrix
CV_EXPORTS void Rodrigues(const Mat& src, Mat& dst, Mat& jacobian);
CV_EXPORTS_AS(RodriguesJ) void Rodrigues(const Mat& src, CV_OUT Mat& dst, CV_OUT Mat& jacobian);
//! type of the robust estimation algorithm
enum
@@ -442,9 +442,9 @@ enum
};
//! computes the best-fit perspective transformation mapping srcPoints to dstPoints.
CV_EXPORTS Mat findHomography( const Mat& srcPoints,
CV_EXPORTS_AS(findHomographyAndOutliers) Mat findHomography( const Mat& srcPoints,
const Mat& dstPoints,
Mat& mask, int method=0,
CV_OUT Mat& mask, int method=0,
double ransacReprojThreshold=3 );
//! computes the best-fit perspective transformation mapping srcPoints to dstPoints.
@@ -454,7 +454,7 @@ CV_EXPORTS Mat findHomography( const Mat& srcPoints,
double ransacReprojThreshold=3 );
//! computes the best-fit perspective transformation mapping srcPoints to dstPoints.
CV_EXPORTS Mat findHomography( const Mat& srcPoints,
CV_EXPORTS_W Mat findHomography( const Mat& srcPoints,
const Mat& dstPoints,
int method=0, double ransacReprojThreshold=3 );
@@ -462,60 +462,60 @@ CV_EXPORTS Mat findHomography( const Mat& srcPoints,
CV_EXPORTS void RQDecomp3x3( const Mat& M, Mat& R, Mat& Q );
//! Computes RQ decomposition of 3x3 matrix. Also, decomposes the output orthogonal matrix into the 3 primitive rotation matrices
CV_EXPORTS Vec3d RQDecomp3x3( const Mat& M, Mat& R, Mat& Q,
Mat& Qx, Mat& Qy, Mat& Qz );
CV_EXPORTS_W Vec3d RQDecomp3x3( const Mat& M, Mat& R, Mat& Q,
CV_OUT Mat& Qx, CV_OUT Mat& Qy, CV_OUT Mat& Qz );
//! Decomposes the projection matrix into camera matrix and the rotation martix and the translation vector
CV_EXPORTS void decomposeProjectionMatrix( const Mat& projMatrix, Mat& cameraMatrix,
Mat& rotMatrix, Mat& transVect );
//! Decomposes the projection matrix into camera matrix and the rotation martix and the translation vector. The rotation matrix is further decomposed
CV_EXPORTS void decomposeProjectionMatrix( const Mat& projMatrix, Mat& cameraMatrix,
Mat& rotMatrix, Mat& transVect,
Mat& rotMatrixX, Mat& rotMatrixY,
Mat& rotMatrixZ, Vec3d& eulerAngles );
CV_EXPORTS_W void decomposeProjectionMatrix( const Mat& projMatrix, CV_OUT Mat& cameraMatrix,
CV_OUT Mat& rotMatrix, CV_OUT Mat& transVect,
CV_OUT Mat& rotMatrixX, CV_OUT Mat& rotMatrixY,
CV_OUT Mat& rotMatrixZ, CV_OUT Vec3d& eulerAngles );
//! computes derivatives of the matrix product w.r.t each of the multiplied matrix coefficients
CV_EXPORTS void matMulDeriv( const Mat& A, const Mat& B, Mat& dABdA, Mat& dABdB );
CV_EXPORTS_W void matMulDeriv( const Mat& A, const Mat& B, CV_OUT Mat& dABdA, CV_OUT Mat& dABdB );
//! composes 2 [R|t] transformations together
CV_EXPORTS void composeRT( const Mat& rvec1, const Mat& tvec1,
CV_EXPORTS_W void composeRT( const Mat& rvec1, const Mat& tvec1,
const Mat& rvec2, const Mat& tvec2,
Mat& rvec3, Mat& tvec3 );
CV_OUT Mat& rvec3, CV_OUT Mat& tvec3 );
//! composes 2 [R|t] transformations together. Also computes the derivatives of the result w.r.t the arguments
CV_EXPORTS void composeRT( const Mat& rvec1, const Mat& tvec1,
CV_EXPORTS_AS(composeRT_J) 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_OUT Mat& rvec3, CV_OUT Mat& tvec3,
CV_OUT Mat& dr3dr1, CV_OUT Mat& dr3dt1,
CV_OUT Mat& dr3dr2, CV_OUT Mat& dr3dt2,
CV_OUT Mat& dt3dr1, CV_OUT Mat& dt3dt1,
CV_OUT Mat& dt3dr2, CV_OUT Mat& dt3dt2 );
//! projects points from the model coordinate space to the image coordinates. Takes the intrinsic and extrinsic camera parameters into account
CV_EXPORTS void projectPoints( const Mat& objectPoints,
const Mat& rvec, const Mat& tvec,
const Mat& cameraMatrix,
const Mat& distCoeffs,
vector<Point2f>& imagePoints );
CV_OUT vector<Point2f>& imagePoints );
//! projects points from the model coordinate space to the image coordinates. Also computes derivatives of the image coordinates w.r.t the intrinsic and extrinsic camera parameters
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,
CV_OUT vector<Point2f>& imagePoints,
CV_OUT Mat& dpdrot, CV_OUT Mat& dpdt, CV_OUT Mat& dpdf,
CV_OUT Mat& dpdc, CV_OUT Mat& dpddist,
double aspectRatio=0 );
//! computes the camera pose from a few 3D points and the corresponding projections. The outliers are not handled.
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_W void solvePnP( const Mat& objectPoints,
const Mat& imagePoints,
const Mat& cameraMatrix,
const Mat& distCoeffs,
CV_OUT Mat& rvec, CV_OUT Mat& tvec,
bool useExtrinsicGuess=false );
//! initializes camera matrix from a few 3D points and the corresponding projections.
CV_EXPORTS Mat initCameraMatrix2D( const vector<vector<Point3f> >& objectPoints,
@@ -528,14 +528,14 @@ enum { CALIB_CB_ADAPTIVE_THRESH = 1, CALIB_CB_NORMALIZE_IMAGE = 2,
//! finds checkerboard pattern of the specified size in the image
CV_EXPORTS bool findChessboardCorners( const Mat& image, Size patternSize,
vector<Point2f>& corners,
CV_OUT vector<Point2f>& corners,
int flags=CALIB_CB_ADAPTIVE_THRESH+
CALIB_CB_NORMALIZE_IMAGE );
CALIB_CB_NORMALIZE_IMAGE );
//! draws the checkerboard pattern (found or partly found) in the image
CV_EXPORTS void drawChessboardCorners( Mat& image, Size patternSize,
const Mat& corners,
bool patternWasFound );
CV_EXPORTS_W void drawChessboardCorners( Mat& image, Size patternSize,
const Mat& corners,
bool patternWasFound );
enum
{
@@ -559,78 +559,83 @@ enum
//! finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern.
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 );
const vector<vector<Point2f> >& imagePoints,
Size imageSize,
CV_IN_OUT Mat& cameraMatrix,
CV_IN_OUT Mat& distCoeffs,
CV_OUT vector<Mat>& rvecs, CV_OUT vector<Mat>& tvecs,
int flags=0 );
//! computes several useful camera characteristics from the camera matrix, camera frame resolution and the physical sensor size.
CV_EXPORTS void calibrationMatrixValues( const Mat& cameraMatrix,
CV_EXPORTS_W void calibrationMatrixValues( const Mat& cameraMatrix,
Size imageSize,
double apertureWidth,
double apertureHeight,
double& fovx,
double& fovy,
double& focalLength,
Point2d& principalPoint,
double& aspectRatio );
CV_OUT double& fovx,
CV_OUT double& fovy,
CV_OUT double& focalLength,
CV_OUT Point2d& principalPoint,
CV_OUT double& aspectRatio );
//! finds intrinsic and extrinsic parameters of a stereo camera
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 );
const vector<vector<Point2f> >& imagePoints1,
const vector<vector<Point2f> >& imagePoints2,
CV_IN_OUT Mat& cameraMatrix1, CV_IN_OUT Mat& distCoeffs1,
CV_IN_OUT Mat& cameraMatrix2, CV_IN_OUT Mat& distCoeffs2,
Size imageSize, CV_OUT Mat& R, CV_OUT Mat& T,
CV_OUT Mat& E, CV_OUT Mat& F,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT+
TermCriteria::EPS, 30, 1e-6),
int flags=CALIB_FIX_INTRINSIC );
//! computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters
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,
CV_OUT Mat& R1, CV_OUT Mat& R2,
CV_OUT Mat& P1, CV_OUT Mat& P2, CV_OUT Mat& Q,
int flags=CALIB_ZERO_DISPARITY );
//! computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters
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_W void stereoRectify( const Mat& cameraMatrix1, const Mat& distCoeffs1,
const Mat& cameraMatrix2, const Mat& distCoeffs2,
Size imageSize, const Mat& R, const Mat& T,
CV_OUT Mat& R1, CV_OUT Mat& R2,
CV_OUT Mat& P1, CV_OUT Mat& P2, CV_OUT Mat& Q,
double alpha, Size newImageSize=Size(),
CV_OUT Rect* validPixROI1=0, CV_OUT Rect* validPixROI2=0,
int flags=CALIB_ZERO_DISPARITY );
//! computes the rectification transformation for an uncalibrated stereo camera (zero distortion is assumed)
CV_EXPORTS bool stereoRectifyUncalibrated( const Mat& points1,
const Mat& points2,
const Mat& F, Size imgSize,
Mat& H1, Mat& H2,
double threshold=5 );
CV_EXPORTS_W bool stereoRectifyUncalibrated( const Mat& points1, const Mat& points2,
const Mat& F, Size imgSize,
CV_OUT Mat& H1, CV_OUT Mat& H2,
double threshold=5 );
//! computes the rectification transformations for 3-head camera, where the heads are on the same line.
CV_EXPORTS float rectify3( const Mat& cameraMatrix1, const Mat& distCoeffs1,
const Mat& cameraMatrix2, const Mat& distCoeffs2,
const Mat& cameraMatrix3, const Mat& distCoeffs3,
const vector<vector<Point2f> >& imgpt1,
const vector<vector<Point2f> >& imgpt3,
Size imageSize, const Mat& R12, const Mat& T12, const Mat& R13, const Mat& T13,
Mat& R1, Mat& R2, Mat& R3, Mat& P1, Mat& P2, Mat& P3, Mat& Q,
double alpha, Size newImgSize,
Rect* roi1, Rect* roi2, int flags );
//! computes the rectification transformations for 3-head camera, where all the heads are on the same line.
CV_EXPORTS float rectify3Collinear( const Mat& cameraMatrix1, const Mat& distCoeffs1,
const Mat& cameraMatrix2, const Mat& distCoeffs2,
const Mat& cameraMatrix3, const Mat& distCoeffs3,
const vector<vector<Point2f> >& imgpt1,
const vector<vector<Point2f> >& imgpt3,
Size imageSize, const Mat& R12, const Mat& T12,
const Mat& R13, const Mat& T13,
CV_OUT Mat& R1, CV_OUT Mat& R2, CV_OUT Mat& R3,
CV_OUT Mat& P1, CV_OUT Mat& P2, CV_OUT Mat& P3, CV_OUT Mat& Q,
double alpha, Size newImgSize,
CV_OUT Rect* roi1, CV_OUT Rect* roi2, int flags );
//! returns the optimal new camera matrix
CV_EXPORTS Mat getOptimalNewCameraMatrix( const Mat& cameraMatrix, const Mat& distCoeffs,
Size imageSize, double alpha, Size newImgSize=Size(),
Rect* validPixROI=0);
CV_EXPORTS_W Mat getOptimalNewCameraMatrix( const Mat& cameraMatrix, const Mat& distCoeffs,
Size imageSize, double alpha, Size newImgSize=Size(),
CV_OUT Rect* validPixROI=0);
//! converts point coordinates from normal pixel coordinates to homogeneous coordinates ((x,y)->(x,y,1))
CV_EXPORTS void convertPointsHomogeneous( const Mat& src, vector<Point3f>& dst );
CV_EXPORTS void convertPointsHomogeneous( const Mat& src, CV_OUT vector<Point3f>& dst );
//! converts point coordinates from homogeneous to normal pixel coordinates ((x,y,z)->(x/z, y/z))
CV_EXPORTS void convertPointsHomogeneous( const Mat& src, vector<Point2f>& dst );
CV_EXPORTS void convertPointsHomogeneous( const Mat& src, CV_OUT vector<Point2f>& dst );
//! the algorithm for finding fundamental matrix
enum
@@ -643,18 +648,18 @@ enum
//! finds fundamental matrix from a set of corresponding 2D points
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_OUT vector<uchar>& mask, int method=FM_RANSAC,
double param1=3., double param2=0.99 );
//! finds fundamental matrix from a set of corresponding 2D points
CV_EXPORTS Mat findFundamentalMat( const Mat& points1, const Mat& points2,
int method=FM_RANSAC,
double param1=3., double param2=0.99 );
CV_EXPORTS_W Mat findFundamentalMat( const Mat& points1, const Mat& points2,
int method=FM_RANSAC,
double param1=3., double param2=0.99 );
//! finds coordinates of epipolar lines corresponding the specified points
CV_EXPORTS void computeCorrespondEpilines( const Mat& points1,
int whichImage, const Mat& F,
vector<Vec3f>& lines );
int whichImage, const Mat& F,
CV_OUT vector<Vec3f>& lines );
template<> CV_EXPORTS void Ptr<CvStereoBMState>::delete_obj();
@@ -663,20 +668,20 @@ template<> CV_EXPORTS void Ptr<CvStereoBMState>::delete_obj();
The class implements BM stereo correspondence algorithm by K. Konolige.
*/
class CV_EXPORTS StereoBM
class CV_EXPORTS_W StereoBM
{
public:
enum { PREFILTER_NORMALIZED_RESPONSE = 0, PREFILTER_XSOBEL = 1,
BASIC_PRESET=0, FISH_EYE_PRESET=1, NARROW_PRESET=2 };
//! the default constructor
StereoBM();
CV_WRAP StereoBM();
//! the full constructor taking the camera-specific preset, number of disparities and the SAD window size
StereoBM(int preset, int ndisparities=0, int SADWindowSize=21);
CV_WRAP StereoBM(int preset, int ndisparities=0, int SADWindowSize=21);
//! the method that reinitializes the state. The previous content is destroyed
void init(int preset, int ndisparities=0, int SADWindowSize=21);
//! the stereo correspondence operator. Finds the disparity for the specified rectified stereo pair
void operator()( const Mat& left, const Mat& right, Mat& disparity, int disptype=CV_16S );
CV_WRAP_AS(compute) void operator()( const Mat& left, const Mat& right, Mat& disparity, int disptype=CV_16S );
//! pointer to the underlying CvStereoBMState
Ptr<CvStereoBMState> state;
@@ -688,16 +693,16 @@ public:
The class implements the original SGBM stereo correspondence algorithm by H. Hirschmuller and some its modification.
*/
class CV_EXPORTS StereoSGBM
class CV_EXPORTS_W StereoSGBM
{
public:
enum { DISP_SHIFT=4, DISP_SCALE = (1<<DISP_SHIFT) };
//! the default constructor
StereoSGBM();
CV_WRAP StereoSGBM();
//! the full constructor taking all the necessary algorithm parameters
StereoSGBM(int minDisparity, int numDisparities, int SADWindowSize,
CV_WRAP 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,
@@ -706,40 +711,41 @@ public:
virtual ~StereoSGBM();
//! the stereo correspondence operator that computes disparity map for the specified rectified stereo pair
virtual void operator()(const Mat& left, const Mat& right, Mat& disp);
CV_WRAP_AS(compute) 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;
CV_PROP_RW int minDisparity;
CV_PROP_RW int numberOfDisparities;
CV_PROP_RW int SADWindowSize;
CV_PROP_RW int preFilterCap;
CV_PROP_RW int uniquenessRatio;
CV_PROP_RW int P1;
CV_PROP_RW int P2;
CV_PROP_RW int speckleWindowSize;
CV_PROP_RW int speckleRange;
CV_PROP_RW int disp12MaxDiff;
CV_PROP_RW bool fullDP;
protected:
Mat buffer;
};
//! filters off speckles (small regions of incorrectly computed disparity)
CV_EXPORTS void filterSpeckles( Mat& img, double newVal, int maxSpeckleSize, double maxDiff, Mat& buf );
CV_EXPORTS_W void filterSpeckles( Mat& img, double newVal, int maxSpeckleSize, double maxDiff, Mat& buf );
//! computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by cv::stereoRectify())
CV_EXPORTS Rect getValidDisparityROI( Rect roi1, Rect roi2,
int minDisparity, int numberOfDisparities,
int SADWindowSize );
CV_EXPORTS_W Rect getValidDisparityROI( Rect roi1, Rect roi2,
int minDisparity, int numberOfDisparities,
int SADWindowSize );
//! validates disparity using the left-right check. The matrix "cost" should be computed by the stereo correspondence algorithm
CV_EXPORTS void validateDisparity( Mat& disparity, const Mat& cost,
int minDisparity, int numberOfDisparities,
int disp12MaxDisp=1 );
CV_EXPORTS_W void validateDisparity( Mat& disparity, const Mat& cost,
int minDisparity, int numberOfDisparities,
int disp12MaxDisp=1 );
//! reprojects disparity image to 3D: (x,y,d)->(X,Y,Z) using the matrix Q returned by cv::stereoRectify
CV_EXPORTS void reprojectImageTo3D( const Mat& disparity,
Mat& _3dImage, const Mat& Q,
bool handleMissingValues=false );
CV_EXPORTS_W void reprojectImageTo3D( const Mat& disparity,
CV_OUT Mat& _3dImage, const Mat& Q,
bool handleMissingValues=false );
}