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Merge pull request #803 from taka-no-me:split_c_cpp3

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This commit is contained in:
Andrey Kamaev 2013-04-12 15:01:47 +04:00 committed by OpenCV Buildbot
commit b0933dd473
181 changed files with 2366 additions and 2208 deletions
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2
apps/haartraining/CMakeLists.txt
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@ -1,4 +1,4 @@
SET(OPENCV_HAARTRAINING_DEPS opencv_core opencv_imgproc opencv_photo opencv_highgui opencv_objdetect opencv_calib3d opencv_video opencv_features2d opencv_flann opencv_legacy) SET(OPENCV_HAARTRAINING_DEPS opencv_core opencv_imgproc opencv_photo opencv_ml opencv_highgui opencv_objdetect opencv_calib3d opencv_video opencv_features2d opencv_flann opencv_legacy)
ocv_check_dependencies(${OPENCV_HAARTRAINING_DEPS}) ocv_check_dependencies(${OPENCV_HAARTRAINING_DEPS})
if(NOT OCV_DEPENDENCIES_FOUND) if(NOT OCV_DEPENDENCIES_FOUND)

4
apps/haartraining/cvclassifier.h
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@ -112,7 +112,9 @@ CV_INLINE float cvLogRatio( float val )
/* each trainData matrix row is a sample */ /* each trainData matrix row is a sample */
#define CV_ROW_SAMPLE 1 #define CV_ROW_SAMPLE 1
#define CV_IS_ROW_SAMPLE( flags ) ( ( flags ) & CV_ROW_SAMPLE ) #ifndef CV_IS_ROW_SAMPLE
# define CV_IS_ROW_SAMPLE( flags ) ( ( flags ) & CV_ROW_SAMPLE )
#endif
/* Classifier supports tune function */ /* Classifier supports tune function */
#define CV_TUNABLE (1 << 1) #define CV_TUNABLE (1 << 1)

1
apps/traincascade/HOGfeatures.cpp
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@ -1,4 +1,5 @@
#include "opencv2/core.hpp" #include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#include "HOGfeatures.h" #include "HOGfeatures.h"
#include "cascadeclassifier.h" #include "cascadeclassifier.h"

1
apps/traincascade/haarfeatures.cpp
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@ -1,4 +1,5 @@
#include "opencv2/core.hpp" #include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#include "haarfeatures.h" #include "haarfeatures.h"
#include "cascadeclassifier.h" #include "cascadeclassifier.h"

1
apps/traincascade/lbpfeatures.cpp
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@ -1,4 +1,5 @@
#include "opencv2/core.hpp" #include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp"
#include "lbpfeatures.h" #include "lbpfeatures.h"
#include "cascadeclassifier.h" #include "cascadeclassifier.h"

14
cmake/OpenCVDetectOpenCL.cmake
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@ -13,6 +13,13 @@ else(APPLE)
DOC "OpenCL root directory" DOC "OpenCL root directory"
NO_DEFAULT_PATH) NO_DEFAULT_PATH)
find_path(OPENCL_INCLUDE_DIR
NAMES OpenCL/cl.h CL/cl.h
HINTS ${OPENCL_ROOT_DIR}
PATH_SUFFIXES include include/nvidia-current
DOC "OpenCL include directory"
NO_DEFAULT_PATH)
find_path(OPENCL_INCLUDE_DIR find_path(OPENCL_INCLUDE_DIR
NAMES OpenCL/cl.h CL/cl.h NAMES OpenCL/cl.h CL/cl.h
HINTS ${OPENCL_ROOT_DIR} HINTS ${OPENCL_ROOT_DIR}
@ -25,6 +32,13 @@ else(APPLE)
set(OPENCL_POSSIBLE_LIB_SUFFIXES lib/Win32 lib/x86) set(OPENCL_POSSIBLE_LIB_SUFFIXES lib/Win32 lib/x86)
endif() endif()
find_library(OPENCL_LIBRARY
NAMES OpenCL
HINTS ${OPENCL_ROOT_DIR}
PATH_SUFFIXES ${OPENCL_POSSIBLE_LIB_SUFFIXES}
DOC "OpenCL library"
NO_DEFAULT_PATH)
find_library(OPENCL_LIBRARY find_library(OPENCL_LIBRARY
NAMES OpenCL NAMES OpenCL
HINTS ${OPENCL_ROOT_DIR} HINTS ${OPENCL_ROOT_DIR}

9
include/opencv/cv.h
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@ -63,12 +63,9 @@
#include "opencv2/core/core_c.h" #include "opencv2/core/core_c.h"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/photo/photo_c.h" #include "opencv2/photo/photo_c.h"
#include "opencv2/video/tracking_c.h"
#include "opencv2/video.hpp" #include "opencv2/objdetect/objdetect_c.h"
#include "opencv2/features2d.hpp" #include "opencv2/legacy.hpp"
#include "opencv2/flann.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/objdetect.hpp"
#include "opencv2/legacy/compat.hpp" #include "opencv2/legacy/compat.hpp"
#if !defined(CV_IMPL) #if !defined(CV_IMPL)

4
include/opencv/cv.hpp
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@ -51,6 +51,10 @@
#include "opencv2/core.hpp" #include "opencv2/core.hpp"
#include "opencv2/imgproc.hpp" #include "opencv2/imgproc.hpp"
#include "opencv2/photo.hpp" #include "opencv2/photo.hpp"
#include "opencv2/video.hpp"
#include "opencv2/highgui.hpp" #include "opencv2/highgui.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/objdetect.hpp"
#endif #endif

8
include/opencv/cvaux.h
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@ -49,14 +49,12 @@
#include "opencv2/core/core_c.h" #include "opencv2/core/core_c.h"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/photo/photo_c.h" #include "opencv2/photo/photo_c.h"
#include "opencv2/video/tracking_c.h"
#include "opencv2/video.hpp" #include "opencv2/objdetect/objdetect_c.h"
#include "opencv2/features2d.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/objdetect.hpp"
#include "opencv2/legacy.hpp" #include "opencv2/legacy.hpp"
#include "opencv2/legacy/compat.hpp" #include "opencv2/legacy/compat.hpp"
#include "opencv2/legacy/blobtrack.hpp" #include "opencv2/legacy/blobtrack.hpp"
#include "opencv2/contrib.hpp" #include "opencv2/contrib.hpp"
#endif #endif

10
modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst
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@ -115,7 +115,7 @@ calibrateCamera
--------------- ---------------
Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern. Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
.. ocv:function:: double calibrateCamera( InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria( TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON) ) .. ocv:function:: double calibrateCamera( InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags=0, TermCriteria criteria=TermCriteria( TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) )
.. ocv:pyfunction:: cv2.calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs[, rvecs[, tvecs[, flags[, criteria]]]]) -> retval, cameraMatrix, distCoeffs, rvecs, tvecs .. ocv:pyfunction:: cv2.calibrateCamera(objectPoints, imagePoints, imageSize, cameraMatrix, distCoeffs[, rvecs[, tvecs[, flags[, criteria]]]]) -> retval, cameraMatrix, distCoeffs, rvecs, tvecs
@ -454,7 +454,7 @@ findChessboardCorners
------------------------- -------------------------
Finds the positions of internal corners of the chessboard. Finds the positions of internal corners of the chessboard.
.. ocv:function:: bool findChessboardCorners( InputArray image, Size patternSize, OutputArray corners, int flags=CALIB_CB_ADAPTIVE_THRESH+CALIB_CB_NORMALIZE_IMAGE ) .. ocv:function:: bool findChessboardCorners( InputArray image, Size patternSize, OutputArray corners, int flags=CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE )
.. ocv:pyfunction:: cv2.findChessboardCorners(image, patternSize[, corners[, flags]]) -> retval, corners .. ocv:pyfunction:: cv2.findChessboardCorners(image, patternSize[, corners[, flags]]) -> retval, corners
@ -515,7 +515,7 @@ Finds centers in the grid of circles.
.. ocv:function:: bool findCirclesGrid( InputArray image, Size patternSize, OutputArray centers, int flags=CALIB_CB_SYMMETRIC_GRID, const Ptr<FeatureDetector> &blobDetector = new SimpleBlobDetector() ) .. ocv:function:: bool findCirclesGrid( InputArray image, Size patternSize, OutputArray centers, int flags=CALIB_CB_SYMMETRIC_GRID, const Ptr<FeatureDetector> &blobDetector = new SimpleBlobDetector() )
.. ocv:pyfunction:: cv2.findCirclesGridDefault(image, patternSize[, centers[, flags]]) -> retval, centers .. ocv:pyfunction:: cv2.findCirclesGrid(image, patternSize[, centers[, flags[, blobDetector]]]) -> retval, centers
:param image: grid view of input circles; it must be an 8-bit grayscale or color image. :param image: grid view of input circles; it must be an 8-bit grayscale or color image.
@ -694,7 +694,7 @@ findEssentialMat
------------------ ------------------
Calculates an essential matrix from the corresponding points in two images. Calculates an essential matrix from the corresponding points in two images.
.. ocv:function:: Mat findEssentialMat( InputArray points1, InputArray points2, double focal=1.0, Point2d pp=Point2d(0, 0), int method=CV_RANSAC, double prob=0.999, double threshold=1.0, OutputArray mask=noArray() ) .. ocv:function:: Mat findEssentialMat( InputArray points1, InputArray points2, double focal=1.0, Point2d pp=Point2d(0, 0), int method=RANSAC, double prob=0.999, double threshold=1.0, OutputArray mask=noArray() )
:param points1: Array of ``N`` ``(N >= 5)`` 2D points from the first image. The point coordinates should be floating-point (single or double precision). :param points1: Array of ``N`` ``(N >= 5)`` 2D points from the first image. The point coordinates should be floating-point (single or double precision).
@ -975,7 +975,7 @@ initCameraMatrix2D
---------------------- ----------------------
Finds an initial camera matrix from 3D-2D point correspondences. Finds an initial camera matrix from 3D-2D point correspondences.
.. ocv:function:: Mat initCameraMatrix2D( InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, double aspectRatio=1.) .. ocv:function:: Mat initCameraMatrix2D( InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size imageSize, double aspectRatio=1.0 )
.. ocv:pyfunction:: cv2.initCameraMatrix2D(objectPoints, imagePoints, imageSize[, aspectRatio]) -> retval .. ocv:pyfunction:: cv2.initCameraMatrix2D(objectPoints, imagePoints, imageSize[, aspectRatio]) -> retval

707
modules/calib3d/include/opencv2/calib3d.hpp
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@ -7,7 +7,7 @@
// copy or use the software. // copy or use the software.
// //
// //
// License Agreement // License Agreement
// For Open Source Computer Vision Library // For Open Source Computer Vision Library
// //
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
@ -44,562 +44,184 @@
#ifndef __OPENCV_CALIB3D_HPP__ #ifndef __OPENCV_CALIB3D_HPP__
#define __OPENCV_CALIB3D_HPP__ #define __OPENCV_CALIB3D_HPP__
#ifdef __cplusplus #include "opencv2/core.hpp"
# include "opencv2/core.hpp"
#endif
#include "opencv2/core/core_c.h"
#include "opencv2/features2d.hpp" #include "opencv2/features2d.hpp"
#ifdef __cplusplus
extern "C" {
#endif
/****************************************************************************************\
* Camera Calibration, Pose Estimation and Stereo *
\****************************************************************************************/
typedef struct CvPOSITObject CvPOSITObject;
/* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
CVAPI(CvPOSITObject*) cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
/* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
an object given its model and projection in a weak-perspective case */
CVAPI(void) cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points,
double focal_length, CvTermCriteria criteria,
float* rotation_matrix, float* translation_vector);
/* Releases CvPOSITObject structure */
CVAPI(void) cvReleasePOSITObject( CvPOSITObject** posit_object );
/* updates the number of RANSAC iterations */
CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob,
int model_points, int max_iters );
CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
/* Calculates fundamental matrix given a set of corresponding points */
#define CV_FM_7POINT 1
#define CV_FM_8POINT 2
#define CV_LMEDS 4
#define CV_RANSAC 8
#define CV_FM_LMEDS_ONLY CV_LMEDS
#define CV_FM_RANSAC_ONLY CV_RANSAC
#define CV_FM_LMEDS CV_LMEDS
#define CV_FM_RANSAC CV_RANSAC
enum
{
CV_ITERATIVE = 0,
CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
CV_P3P = 2 // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
};
CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
CvMat* fundamental_matrix,
int method CV_DEFAULT(CV_FM_RANSAC),
double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
CvMat* status CV_DEFAULT(NULL) );
/* For each input point on one of images
computes parameters of the corresponding
epipolar line on the other image */
CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points,
int which_image,
const CvMat* fundamental_matrix,
CvMat* correspondent_lines );
/* Triangulation functions */
CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
CvMat* projPoints1, CvMat* projPoints2,
CvMat* points4D);
CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
CvMat* new_points1, CvMat* new_points2);
/* Computes the optimal new camera matrix according to the free scaling parameter alpha:
alpha=0 - only valid pixels will be retained in the undistorted image
alpha=1 - all the source image pixels will be retained in the undistorted image
*/
CVAPI(void) cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
const CvMat* dist_coeffs,
CvSize image_size, double alpha,
CvMat* new_camera_matrix,
CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
CvRect* valid_pixel_ROI CV_DEFAULT(0),
int center_principal_point CV_DEFAULT(0));
/* Converts rotation vector to rotation matrix or vice versa */
CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst,
CvMat* jacobian CV_DEFAULT(0) );
/* Finds perspective transformation between the object plane and image (view) plane */
CVAPI(int) cvFindHomography( const CvMat* src_points,
const CvMat* dst_points,
CvMat* homography,
int method CV_DEFAULT(0),
double ransacReprojThreshold CV_DEFAULT(3),
CvMat* mask CV_DEFAULT(0));
/* Computes RQ decomposition for 3x3 matrices */
CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
CvMat *matrixQx CV_DEFAULT(NULL),
CvMat *matrixQy CV_DEFAULT(NULL),
CvMat *matrixQz CV_DEFAULT(NULL),
CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
/* Computes projection matrix decomposition */
CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
CvMat *rotMatr, CvMat *posVect,
CvMat *rotMatrX CV_DEFAULT(NULL),
CvMat *rotMatrY CV_DEFAULT(NULL),
CvMat *rotMatrZ CV_DEFAULT(NULL),
CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
/* Computes d(AB)/dA and d(AB)/dB */
CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
/* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
const CvMat* _rvec2, const CvMat* _tvec2,
CvMat* _rvec3, CvMat* _tvec3,
CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
/* Projects object points to the view plane using
the specified extrinsic and intrinsic camera parameters */
CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
const CvMat* translation_vector, const CvMat* camera_matrix,
const CvMat* distortion_coeffs, CvMat* image_points,
CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
CvMat* dpddist CV_DEFAULT(NULL),
double aspect_ratio CV_DEFAULT(0));
/* Finds extrinsic camera parameters from
a few known corresponding point pairs and intrinsic parameters */
CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points,
const CvMat* image_points,
const CvMat* camera_matrix,
const CvMat* distortion_coeffs,
CvMat* rotation_vector,
CvMat* translation_vector,
int use_extrinsic_guess CV_DEFAULT(0) );
/* Computes initial estimate of the intrinsic camera parameters
in case of planar calibration target (e.g. chessboard) */
CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points,
const CvMat* image_points,
const CvMat* npoints, CvSize image_size,
CvMat* camera_matrix,
double aspect_ratio CV_DEFAULT(1.) );
#define CV_CALIB_CB_ADAPTIVE_THRESH 1
#define CV_CALIB_CB_NORMALIZE_IMAGE 2
#define CV_CALIB_CB_FILTER_QUADS 4
#define CV_CALIB_CB_FAST_CHECK 8
// Performs a fast check if a chessboard is in the input image. This is a workaround to
// a problem of cvFindChessboardCorners being slow on images with no chessboard
// - src: input image
// - size: chessboard size
// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
// 0 if there is no chessboard, -1 in case of error
CVAPI(int) cvCheckChessboard(IplImage* src, CvSize size);
/* Detects corners on a chessboard calibration pattern */
CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size,
CvPoint2D32f* corners,
int* corner_count CV_DEFAULT(NULL),
int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );
/* Draws individual chessboard corners or the whole chessboard detected */
CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
CvPoint2D32f* corners,
int count, int pattern_was_found );
#define CV_CALIB_USE_INTRINSIC_GUESS 1
#define CV_CALIB_FIX_ASPECT_RATIO 2
#define CV_CALIB_FIX_PRINCIPAL_POINT 4
#define CV_CALIB_ZERO_TANGENT_DIST 8
#define CV_CALIB_FIX_FOCAL_LENGTH 16
#define CV_CALIB_FIX_K1 32
#define CV_CALIB_FIX_K2 64
#define CV_CALIB_FIX_K3 128
#define CV_CALIB_FIX_K4 2048
#define CV_CALIB_FIX_K5 4096
#define CV_CALIB_FIX_K6 8192
#define CV_CALIB_RATIONAL_MODEL 16384
#define CV_CALIB_THIN_PRISM_MODEL 32768
#define CV_CALIB_FIX_S1_S2_S3_S4 65536
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
CVAPI(double) cvCalibrateCamera2( const CvMat* object_points,
const CvMat* image_points,
const CvMat* point_counts,
CvSize image_size,
CvMat* camera_matrix,
CvMat* distortion_coeffs,
CvMat* rotation_vectors CV_DEFAULT(NULL),
CvMat* translation_vectors CV_DEFAULT(NULL),
int flags CV_DEFAULT(0),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
/* Computes various useful characteristics of the camera from the data computed by
cvCalibrateCamera2 */
CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix,
CvSize image_size,
double aperture_width CV_DEFAULT(0),
double aperture_height CV_DEFAULT(0),
double *fovx CV_DEFAULT(NULL),
double *fovy CV_DEFAULT(NULL),
double *focal_length CV_DEFAULT(NULL),
CvPoint2D64f *principal_point CV_DEFAULT(NULL),
double *pixel_aspect_ratio CV_DEFAULT(NULL));
#define CV_CALIB_FIX_INTRINSIC 256
#define CV_CALIB_SAME_FOCAL_LENGTH 512
/* Computes the transformation from one camera coordinate system to another one
from a few correspondent views of the same calibration target. Optionally, calibrates
both cameras */
CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
const CvMat* image_points2, const CvMat* npoints,
CvMat* camera_matrix1, CvMat* dist_coeffs1,
CvMat* camera_matrix2, CvMat* dist_coeffs2,
CvSize image_size, CvMat* R, CvMat* T,
CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)),
int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC));
#define CV_CALIB_ZERO_DISPARITY 1024
/* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
views parallel (=> to make all the epipolar lines horizontal or vertical) */
CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
CvSize image_size, const CvMat* R, const CvMat* T,
CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
CvMat* Q CV_DEFAULT(0),
int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
double alpha CV_DEFAULT(-1),
CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
CvRect* valid_pix_ROI1 CV_DEFAULT(0),
CvRect* valid_pix_ROI2 CV_DEFAULT(0));
/* Computes rectification transformations for uncalibrated pair of images using a set
of point correspondences */
CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
const CvMat* F, CvSize img_size,
CvMat* H1, CvMat* H2,
double threshold CV_DEFAULT(5));
/* stereo correspondence parameters and functions */
#define CV_STEREO_BM_NORMALIZED_RESPONSE 0
#define CV_STEREO_BM_XSOBEL 1
/* Block matching algorithm structure */
typedef struct CvStereoBMState
{
// pre-filtering (normalization of input images)
int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
int preFilterSize; // averaging window size: ~5x5..21x21
int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
// correspondence using Sum of Absolute Difference (SAD)
int SADWindowSize; // ~5x5..21x21
int minDisparity; // minimum disparity (can be negative)
int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
// post-filtering
int textureThreshold; // the disparity is only computed for pixels
// with textured enough neighborhood
int uniquenessRatio; // accept the computed disparity d* only if
// SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
// for any d != d*+/-1 within the search range.
int speckleWindowSize; // disparity variation window
int speckleRange; // acceptable range of variation in window
int trySmallerWindows; // if 1, the results may be more accurate,
// at the expense of slower processing
CvRect roi1, roi2;
int disp12MaxDiff;
// temporary buffers
CvMat* preFilteredImg0;
CvMat* preFilteredImg1;
CvMat* slidingSumBuf;
CvMat* cost;
CvMat* disp;
} CvStereoBMState;
#define CV_STEREO_BM_BASIC 0
#define CV_STEREO_BM_FISH_EYE 1
#define CV_STEREO_BM_NARROW 2
CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
int numberOfDisparities CV_DEFAULT(0));
CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state );
CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
CvArr* disparity, CvStereoBMState* state );
CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
int numberOfDisparities, int SADWindowSize );
CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost,
int minDisparity, int numberOfDisparities,
int disp12MaxDiff CV_DEFAULT(1) );
/* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
CVAPI(void) cvReprojectImageTo3D( const CvArr* disparityImage,
CvArr* _3dImage, const CvMat* Q,
int handleMissingValues CV_DEFAULT(0) );
#ifdef __cplusplus
}
//////////////////////////////////////////////////////////////////////////////////////////
class CV_EXPORTS CvLevMarq
{
public:
CvLevMarq();
CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
bool completeSymmFlag=false );
~CvLevMarq();
void init( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
bool completeSymmFlag=false );
bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
void clear();
void step();
enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
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 state;
int iters;
bool completeSymmFlag;
};
namespace cv namespace cv
{ {
//! converts rotation vector to rotation matrix or vice versa using Rodrigues transformation
CV_EXPORTS_W void Rodrigues(InputArray src, OutputArray dst, OutputArray jacobian=noArray());
//! type of the robust estimation algorithm //! type of the robust estimation algorithm
enum enum { LMEDS = 4, //!< least-median algorithm
{ RANSAC = 8 //!< RANSAC algorithm
LMEDS=CV_LMEDS, //!< least-median algorithm };
RANSAC=CV_RANSAC //!< RANSAC algorithm
}; enum { ITERATIVE = 0,
EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
P3P = 2 // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
};
enum { CALIB_CB_ADAPTIVE_THRESH = 1,
CALIB_CB_NORMALIZE_IMAGE = 2,
CALIB_CB_FILTER_QUADS = 4,
CALIB_CB_FAST_CHECK = 8
};
enum { CALIB_CB_SYMMETRIC_GRID = 1,
CALIB_CB_ASYMMETRIC_GRID = 2,
CALIB_CB_CLUSTERING = 4
};
enum { CALIB_USE_INTRINSIC_GUESS = 0x00001,
CALIB_FIX_ASPECT_RATIO = 0x00002,
CALIB_FIX_PRINCIPAL_POINT = 0x00004,
CALIB_ZERO_TANGENT_DIST = 0x00008,
CALIB_FIX_FOCAL_LENGTH = 0x00010,
CALIB_FIX_K1 = 0x00020,
CALIB_FIX_K2 = 0x00040,
CALIB_FIX_K3 = 0x00080,
CALIB_FIX_K4 = 0x00800,
CALIB_FIX_K5 = 0x01000,
CALIB_FIX_K6 = 0x02000,
CALIB_RATIONAL_MODEL = 0x04000,
CALIB_THIN_PRISM_MODEL = 0x08000,
CALIB_FIX_S1_S2_S3_S4 = 0x10000,
// only for stereo
CALIB_FIX_INTRINSIC = 0x00100,
CALIB_SAME_FOCAL_LENGTH = 0x00200,
// for stereo rectification
CALIB_ZERO_DISPARITY = 0x00400
};
//! the algorithm for finding fundamental matrix
enum { FM_7POINT = 1, //!< 7-point algorithm
FM_8POINT = 2, //!< 8-point algorithm
FM_LMEDS = 4, //!< least-median algorithm
FM_RANSAC = 8 //!< RANSAC algorithm
};
//! converts rotation vector to rotation matrix or vice versa using Rodrigues transformation
CV_EXPORTS_W void Rodrigues( InputArray src, OutputArray dst, OutputArray jacobian = noArray() );
//! computes the best-fit perspective transformation mapping srcPoints to dstPoints. //! computes the best-fit perspective transformation mapping srcPoints to dstPoints.
CV_EXPORTS_W Mat findHomography( InputArray srcPoints, InputArray dstPoints, CV_EXPORTS_W Mat findHomography( InputArray srcPoints, InputArray dstPoints,
int method=0, double ransacReprojThreshold=3, int method = 0, double ransacReprojThreshold = 3,
OutputArray mask=noArray()); OutputArray mask=noArray());
//! variant of findHomography for backward compatibility //! variant of findHomography for backward compatibility
CV_EXPORTS Mat findHomography( InputArray srcPoints, InputArray dstPoints, CV_EXPORTS Mat findHomography( InputArray srcPoints, InputArray dstPoints,
OutputArray mask, int method=0, double ransacReprojThreshold=3); OutputArray mask, int method = 0, double ransacReprojThreshold = 3 );
//! Computes RQ decomposition of 3x3 matrix //! Computes RQ decomposition of 3x3 matrix
CV_EXPORTS_W Vec3d RQDecomp3x3( InputArray src, OutputArray mtxR, OutputArray mtxQ, CV_EXPORTS_W Vec3d RQDecomp3x3( InputArray src, OutputArray mtxR, OutputArray mtxQ,
OutputArray Qx=noArray(), OutputArray Qx = noArray(),
OutputArray Qy=noArray(), OutputArray Qy = noArray(),
OutputArray Qz=noArray()); OutputArray Qz = noArray());
//! Decomposes the projection matrix into camera matrix and the rotation martix and the translation vector //! Decomposes the projection matrix into camera matrix and the rotation martix and the translation vector
CV_EXPORTS_W void decomposeProjectionMatrix( InputArray projMatrix, OutputArray cameraMatrix, CV_EXPORTS_W void decomposeProjectionMatrix( InputArray projMatrix, OutputArray cameraMatrix,
OutputArray rotMatrix, OutputArray transVect, OutputArray rotMatrix, OutputArray transVect,
OutputArray rotMatrixX=noArray(), OutputArray rotMatrixX = noArray(),
OutputArray rotMatrixY=noArray(), OutputArray rotMatrixY = noArray(),
OutputArray rotMatrixZ=noArray(), OutputArray rotMatrixZ = noArray(),
OutputArray eulerAngles=noArray() ); OutputArray eulerAngles =noArray() );
//! computes derivatives of the matrix product w.r.t each of the multiplied matrix coefficients //! computes derivatives of the matrix product w.r.t each of the multiplied matrix coefficients
CV_EXPORTS_W void matMulDeriv( InputArray A, InputArray B, CV_EXPORTS_W void matMulDeriv( InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB );
OutputArray dABdA,
OutputArray dABdB );
//! composes 2 [R|t] transformations together. Also computes the derivatives of the result w.r.t the arguments //! composes 2 [R|t] transformations together. Also computes the derivatives of the result w.r.t the arguments
CV_EXPORTS_W void composeRT( InputArray rvec1, InputArray tvec1, CV_EXPORTS_W void composeRT( InputArray rvec1, InputArray tvec1,
InputArray rvec2, InputArray tvec2, InputArray rvec2, InputArray tvec2,
OutputArray rvec3, OutputArray tvec3, OutputArray rvec3, OutputArray tvec3,
OutputArray dr3dr1=noArray(), OutputArray dr3dt1=noArray(), OutputArray dr3dr1 = noArray(), OutputArray dr3dt1 = noArray(),
OutputArray dr3dr2=noArray(), OutputArray dr3dt2=noArray(), OutputArray dr3dr2 = noArray(), OutputArray dr3dt2 = noArray(),
OutputArray dt3dr1=noArray(), OutputArray dt3dt1=noArray(), OutputArray dt3dr1 = noArray(), OutputArray dt3dt1 = noArray(),
OutputArray dt3dr2=noArray(), OutputArray dt3dt2=noArray() ); OutputArray dt3dr2 = noArray(), OutputArray dt3dt2 = noArray() );
//! 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 //! 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_W void projectPoints( InputArray objectPoints, CV_EXPORTS_W void projectPoints( InputArray objectPoints,
InputArray rvec, InputArray tvec, InputArray rvec, InputArray tvec,
InputArray cameraMatrix, InputArray distCoeffs, InputArray cameraMatrix, InputArray distCoeffs,
OutputArray imagePoints, OutputArray imagePoints,
OutputArray jacobian=noArray(), OutputArray jacobian = noArray(),
double aspectRatio=0 ); double aspectRatio = 0 );
//! computes the camera pose from a few 3D points and the corresponding projections. The outliers are not handled. //! computes the camera pose from a few 3D points and the corresponding projections. The outliers are not handled.
enum
{
ITERATIVE=CV_ITERATIVE,
EPNP=CV_EPNP,
P3P=CV_P3P
};
CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints, CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs, InputArray cameraMatrix, InputArray distCoeffs,
OutputArray rvec, OutputArray tvec, OutputArray rvec, OutputArray tvec,
bool useExtrinsicGuess=false, int flags=ITERATIVE); bool useExtrinsicGuess = false, int flags = ITERATIVE );
//! computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible. //! computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.
CV_EXPORTS_W void solvePnPRansac( InputArray objectPoints, CV_EXPORTS_W void solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
InputArray cameraMatrix, OutputArray rvec, OutputArray tvec,
InputArray distCoeffs, bool useExtrinsicGuess = false, int iterationsCount = 100,
OutputArray rvec, float reprojectionError = 8.0, int minInliersCount = 100,
OutputArray tvec, OutputArray inliers = noArray(), int flags = ITERATIVE );
bool useExtrinsicGuess = false,
int iterationsCount = 100,
float reprojectionError = 8.0,
int minInliersCount = 100,
OutputArray inliers = noArray(),
int flags = ITERATIVE);
//! initializes camera matrix from a few 3D points and the corresponding projections. //! initializes camera matrix from a few 3D points and the corresponding projections.
CV_EXPORTS_W Mat initCameraMatrix2D( InputArrayOfArrays objectPoints, CV_EXPORTS_W Mat initCameraMatrix2D( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints, InputArrayOfArrays imagePoints,
Size imageSize, double aspectRatio=1. ); Size imageSize, double aspectRatio = 1.0 );
enum { CALIB_CB_ADAPTIVE_THRESH = 1, CALIB_CB_NORMALIZE_IMAGE = 2,
CALIB_CB_FILTER_QUADS = 4, CALIB_CB_FAST_CHECK = 8 };
//! finds checkerboard pattern of the specified size in the image //! finds checkerboard pattern of the specified size in the image
CV_EXPORTS_W bool findChessboardCorners( InputArray image, Size patternSize, CV_EXPORTS_W bool findChessboardCorners( InputArray image, Size patternSize, OutputArray corners,
OutputArray corners, int flags = CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE );
int flags=CALIB_CB_ADAPTIVE_THRESH+CALIB_CB_NORMALIZE_IMAGE );
//! finds subpixel-accurate positions of the chessboard corners //! finds subpixel-accurate positions of the chessboard corners
CV_EXPORTS bool find4QuadCornerSubpix(InputArray img, InputOutputArray corners, Size region_size); CV_EXPORTS bool find4QuadCornerSubpix( InputArray img, InputOutputArray corners, Size region_size );
//! draws the checkerboard pattern (found or partly found) in the image //! draws the checkerboard pattern (found or partly found) in the image
CV_EXPORTS_W void drawChessboardCorners( InputOutputArray image, Size patternSize, CV_EXPORTS_W void drawChessboardCorners( InputOutputArray image, Size patternSize,
InputArray corners, bool patternWasFound ); InputArray corners, bool patternWasFound );
enum { CALIB_CB_SYMMETRIC_GRID = 1, CALIB_CB_ASYMMETRIC_GRID = 2,
CALIB_CB_CLUSTERING = 4 };
//! finds circles' grid pattern of the specified size in the image //! finds circles' grid pattern of the specified size in the image
CV_EXPORTS_W bool findCirclesGrid( InputArray image, Size patternSize, CV_EXPORTS_W bool findCirclesGrid( InputArray image, Size patternSize,
OutputArray centers, int flags=CALIB_CB_SYMMETRIC_GRID, OutputArray centers, int flags = CALIB_CB_SYMMETRIC_GRID,
const Ptr<FeatureDetector> &blobDetector = new SimpleBlobDetector()); const Ptr<FeatureDetector> &blobDetector = new SimpleBlobDetector());
//! the deprecated function. Use findCirclesGrid() instead of it.
CV_EXPORTS_W bool findCirclesGridDefault( InputArray image, Size patternSize,
OutputArray centers, int flags=CALIB_CB_SYMMETRIC_GRID );
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,
CALIB_FIX_K4 = CV_CALIB_FIX_K4,
CALIB_FIX_K5 = CV_CALIB_FIX_K5,
CALIB_FIX_K6 = CV_CALIB_FIX_K6,
CALIB_RATIONAL_MODEL = CV_CALIB_RATIONAL_MODEL,
CALIB_THIN_PRISM_MODEL = CV_CALIB_THIN_PRISM_MODEL,
CALIB_FIX_S1_S2_S3_S4=CV_CALIB_FIX_S1_S2_S3_S4,
// 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
};
//! finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern. //! finds intrinsic and extrinsic camera parameters from several fews of a known calibration pattern.
CV_EXPORTS_W double calibrateCamera( InputArrayOfArrays objectPoints, CV_EXPORTS_W double calibrateCamera( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints, InputArrayOfArrays imagePoints, Size imageSize,
Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
InputOutputArray cameraMatrix,
InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
int flags=0, TermCriteria criteria = TermCriteria( int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT+TermCriteria::EPS, 30, DBL_EPSILON) ); TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
//! computes several useful camera characteristics from the camera matrix, camera frame resolution and the physical sensor size. //! computes several useful camera characteristics from the camera matrix, camera frame resolution and the physical sensor size.
CV_EXPORTS_W void calibrationMatrixValues( InputArray cameraMatrix, CV_EXPORTS_W void calibrationMatrixValues( InputArray cameraMatrix, Size imageSize,
Size imageSize, double apertureWidth, double apertureHeight,
double apertureWidth, CV_OUT double& fovx, CV_OUT double& fovy,
double apertureHeight, CV_OUT double& focalLength, CV_OUT Point2d& principalPoint,
CV_OUT double& fovx, CV_OUT double& aspectRatio );
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 //! finds intrinsic and extrinsic parameters of a stereo camera
CV_EXPORTS_W double stereoCalibrate( InputArrayOfArrays objectPoints, CV_EXPORTS_W double stereoCalibrate( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputArrayOfArrays imagePoints2, InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1,
InputOutputArray cameraMatrix1, InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2,
InputOutputArray distCoeffs1, Size imageSize, OutputArray R,OutputArray T, OutputArray E, OutputArray F,
InputOutputArray cameraMatrix2,
InputOutputArray distCoeffs2,
Size imageSize, OutputArray R,
OutputArray T, OutputArray E, OutputArray F,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6), TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6),
int flags=CALIB_FIX_INTRINSIC ); int flags = CALIB_FIX_INTRINSIC );
//! computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters //! computes the rectification transformation for a stereo camera from its intrinsic and extrinsic parameters
CV_EXPORTS_W void stereoRectify( InputArray cameraMatrix1, InputArray distCoeffs1, CV_EXPORTS_W void stereoRectify( InputArray cameraMatrix1, InputArray distCoeffs1,
InputArray cameraMatrix2, InputArray distCoeffs2, InputArray cameraMatrix2, InputArray distCoeffs2,
Size imageSize, InputArray R, InputArray T, Size imageSize, InputArray R, InputArray T,
OutputArray R1, OutputArray R2, OutputArray R1, OutputArray R2,
OutputArray P1, OutputArray P2, OutputArray P1, OutputArray P2,
OutputArray Q, int flags=CALIB_ZERO_DISPARITY, OutputArray Q, int flags = CALIB_ZERO_DISPARITY,
double alpha=-1, Size newImageSize=Size(), double alpha = -1, Size newImageSize = Size(),
CV_OUT Rect* validPixROI1=0, CV_OUT Rect* validPixROI2=0 ); CV_OUT Rect* validPixROI1 = 0, CV_OUT Rect* validPixROI2 = 0 );
//! computes the rectification transformation for an uncalibrated stereo camera (zero distortion is assumed) //! computes the rectification transformation for an uncalibrated stereo camera (zero distortion is assumed)
CV_EXPORTS_W bool stereoRectifyUncalibrated( InputArray points1, InputArray points2, CV_EXPORTS_W bool stereoRectifyUncalibrated( InputArray points1, InputArray points2,
InputArray F, Size imgSize, InputArray F, Size imgSize,
OutputArray H1, OutputArray H2, OutputArray H1, OutputArray H2,
double threshold=5 ); double threshold = 5 );
//! computes the rectification transformations for 3-head camera, where all the heads are on the same line. //! computes the rectification transformations for 3-head camera, where all the heads are on the same line.
CV_EXPORTS_W float rectify3Collinear( InputArray cameraMatrix1, InputArray distCoeffs1, CV_EXPORTS_W float rectify3Collinear( InputArray cameraMatrix1, InputArray distCoeffs1,
@ -615,8 +237,9 @@ CV_EXPORTS_W float rectify3Collinear( InputArray cameraMatrix1, InputArray distC
//! returns the optimal new camera matrix //! returns the optimal new camera matrix
CV_EXPORTS_W Mat getOptimalNewCameraMatrix( InputArray cameraMatrix, InputArray distCoeffs, CV_EXPORTS_W Mat getOptimalNewCameraMatrix( InputArray cameraMatrix, InputArray distCoeffs,
Size imageSize, double alpha, Size newImgSize=Size(), Size imageSize, double alpha, Size newImgSize = Size(),
CV_OUT Rect* validPixROI=0, bool centerPrincipalPoint=false); CV_OUT Rect* validPixROI = 0,
bool centerPrincipalPoint = false);
//! converts point coordinates from normal pixel coordinates to homogeneous coordinates ((x,y)->(x,y,1)) //! converts point coordinates from normal pixel coordinates to homogeneous coordinates ((x,y)->(x,y,1))
CV_EXPORTS_W void convertPointsToHomogeneous( InputArray src, OutputArray dst ); CV_EXPORTS_W void convertPointsToHomogeneous( InputArray src, OutputArray dst );
@ -627,44 +250,36 @@ CV_EXPORTS_W void convertPointsFromHomogeneous( InputArray src, OutputArray dst
//! for backward compatibility //! for backward compatibility
CV_EXPORTS void convertPointsHomogeneous( InputArray src, OutputArray dst ); CV_EXPORTS void convertPointsHomogeneous( InputArray src, OutputArray dst );
//! the algorithm for finding fundamental matrix
enum
{
FM_7POINT = CV_FM_7POINT, //!< 7-point algorithm
FM_8POINT = CV_FM_8POINT, //!< 8-point algorithm
FM_LMEDS = CV_FM_LMEDS, //!< least-median algorithm
FM_RANSAC = CV_FM_RANSAC //!< RANSAC algorithm
};
//! finds fundamental matrix from a set of corresponding 2D points //! finds fundamental matrix from a set of corresponding 2D points
CV_EXPORTS_W Mat findFundamentalMat( InputArray points1, InputArray points2, CV_EXPORTS_W Mat findFundamentalMat( InputArray points1, InputArray points2,
int method=FM_RANSAC, int method = FM_RANSAC,
double param1=3., double param2=0.99, double param1 = 3., double param2 = 0.99,
OutputArray mask=noArray()); OutputArray mask = noArray() );
//! variant of findFundamentalMat for backward compatibility //! variant of findFundamentalMat for backward compatibility
CV_EXPORTS Mat findFundamentalMat( InputArray points1, InputArray points2, CV_EXPORTS Mat findFundamentalMat( InputArray points1, InputArray points2,
OutputArray mask, int method=FM_RANSAC, OutputArray mask, int method = FM_RANSAC,
double param1=3., double param2=0.99); double param1 = 3., double param2 = 0.99 );
//! finds essential matrix from a set of corresponding 2D points using five-point algorithm //! finds essential matrix from a set of corresponding 2D points using five-point algorithm
CV_EXPORTS Mat findEssentialMat( InputArray points1, InputArray points2, double focal = 1.0, Point2d pp = Point2d(0, 0), CV_EXPORTS Mat findEssentialMat( InputArray points1, InputArray points2,
int method = CV_RANSAC, double focal = 1.0, Point2d pp = Point2d(0, 0),
double prob = 0.999, double threshold = 1.0, OutputArray mask = noArray() ); int method = RANSAC, double prob = 0.999,
double threshold = 1.0, OutputArray mask = noArray() );
//! decompose essential matrix to possible rotation matrix and one translation vector //! decompose essential matrix to possible rotation matrix and one translation vector
CV_EXPORTS void decomposeEssentialMat( InputArray E, OutputArray R1, OutputArray R2, OutputArray t ); CV_EXPORTS void decomposeEssentialMat( InputArray E, OutputArray R1, OutputArray R2, OutputArray t );
//! recover relative camera pose from a set of corresponding 2D points //! recover relative camera pose from a set of corresponding 2D points
CV_EXPORTS int recoverPose( InputArray E, InputArray points1, InputArray points2, OutputArray R, OutputArray t, CV_EXPORTS int recoverPose( InputArray E, InputArray points1, InputArray points2,
OutputArray R, OutputArray t,
double focal = 1.0, Point2d pp = Point2d(0, 0), double focal = 1.0, Point2d pp = Point2d(0, 0),
InputOutputArray mask = noArray()); InputOutputArray mask = noArray() );
//! finds coordinates of epipolar lines corresponding the specified points //! finds coordinates of epipolar lines corresponding the specified points
CV_EXPORTS void computeCorrespondEpilines( InputArray points, CV_EXPORTS void computeCorrespondEpilines( InputArray points, int whichImage,
int whichImage, InputArray F, InputArray F, OutputArray lines );
OutputArray lines );
CV_EXPORTS_W void triangulatePoints( InputArray projMatr1, InputArray projMatr2, CV_EXPORTS_W void triangulatePoints( InputArray projMatr1, InputArray projMatr2,
InputArray projPoints1, InputArray projPoints2, InputArray projPoints1, InputArray projPoints2,
@ -673,13 +288,39 @@ CV_EXPORTS_W void triangulatePoints( InputArray projMatr1, InputArray projMatr2,
CV_EXPORTS_W void correctMatches( InputArray F, InputArray points1, InputArray points2, CV_EXPORTS_W void correctMatches( InputArray F, InputArray points1, InputArray points2,
OutputArray newPoints1, OutputArray newPoints2 ); OutputArray newPoints1, OutputArray newPoints2 );
//! filters off speckles (small regions of incorrectly computed disparity)
CV_EXPORTS_W void filterSpeckles( InputOutputArray img, double newVal,
int maxSpeckleSize, double maxDiff,
InputOutputArray buf = noArray() );
//! computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by cv::stereoRectify())
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_W void validateDisparity( InputOutputArray disparity, InputArray 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_W void reprojectImageTo3D( InputArray disparity,
OutputArray _3dImage, InputArray Q,
bool handleMissingValues = false,
int ddepth = -1 );
CV_EXPORTS_W int estimateAffine3D(InputArray src, InputArray dst,
OutputArray out, OutputArray inliers,
double ransacThreshold = 3, double confidence = 0.99);
template<> CV_EXPORTS void Ptr<CvStereoBMState>::delete_obj();
class CV_EXPORTS_W StereoMatcher : public Algorithm class CV_EXPORTS_W StereoMatcher : public Algorithm
{ {
public: public:
enum { DISP_SHIFT=4, DISP_SCALE=(1 << DISP_SHIFT) }; enum { DISP_SHIFT = 4,
DISP_SCALE = (1 << DISP_SHIFT)
};
CV_WRAP virtual void compute( InputArray left, InputArray right, CV_WRAP virtual void compute( InputArray left, InputArray right,
OutputArray disparity ) = 0; OutputArray disparity ) = 0;
@ -704,10 +345,13 @@ public:
}; };
class CV_EXPORTS_W StereoBM : public StereoMatcher class CV_EXPORTS_W StereoBM : public StereoMatcher
{ {
public: public:
enum { PREFILTER_NORMALIZED_RESPONSE = 0, PREFILTER_XSOBEL = 1 }; enum { PREFILTER_NORMALIZED_RESPONSE = 0,
PREFILTER_XSOBEL = 1
};
CV_WRAP virtual int getPreFilterType() const = 0; CV_WRAP virtual int getPreFilterType() const = 0;
CV_WRAP virtual void setPreFilterType(int preFilterType) = 0; CV_WRAP virtual void setPreFilterType(int preFilterType) = 0;
@ -734,13 +378,15 @@ public:
CV_WRAP virtual void setROI2(Rect roi2) = 0; CV_WRAP virtual void setROI2(Rect roi2) = 0;
}; };
CV_EXPORTS_W Ptr<StereoBM> createStereoBM(int numDisparities=0, int blockSize=21); CV_EXPORTS_W Ptr<StereoBM> createStereoBM(int numDisparities = 0, int blockSize = 21);
class CV_EXPORTS_W StereoSGBM : public StereoMatcher class CV_EXPORTS_W StereoSGBM : public StereoMatcher
{ {
public: public:
enum { MODE_SGBM=0, MODE_HH=1 }; enum { MODE_SGBM = 0,
MODE_HH = 1
};
CV_WRAP virtual int getPreFilterCap() const = 0; CV_WRAP virtual int getPreFilterCap() const = 0;
CV_WRAP virtual void setPreFilterCap(int preFilterCap) = 0; CV_WRAP virtual void setPreFilterCap(int preFilterCap) = 0;
@ -760,38 +406,11 @@ public:
CV_EXPORTS_W Ptr<StereoSGBM> createStereoSGBM(int minDisparity, int numDisparities, int blockSize, CV_EXPORTS_W Ptr<StereoSGBM> createStereoSGBM(int minDisparity, int numDisparities, int blockSize,
int P1=0, int P2=0, int disp12MaxDiff=0, int P1 = 0, int P2 = 0, int disp12MaxDiff = 0,
int preFilterCap=0, int uniquenessRatio=0, int preFilterCap = 0, int uniquenessRatio = 0,
int speckleWindowSize=0, int speckleRange=0, int speckleWindowSize = 0, int speckleRange = 0,
int mode=StereoSGBM::MODE_SGBM); int mode = StereoSGBM::MODE_SGBM);
//! filters off speckles (small regions of incorrectly computed disparity) } // cv
CV_EXPORTS_W void filterSpeckles( InputOutputArray img, double newVal,
int maxSpeckleSize, double maxDiff,
InputOutputArray buf=noArray() );
//! computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by cv::stereoRectify())
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_W void validateDisparity( InputOutputArray disparity, InputArray 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_W void reprojectImageTo3D( InputArray disparity,
OutputArray _3dImage, InputArray Q,
bool handleMissingValues=false,
int ddepth=-1 );
CV_EXPORTS_W int estimateAffine3D(InputArray src, InputArray dst,
OutputArray out, OutputArray inliers,
double ransacThreshold=3, double confidence=0.99);
}
#endif
#endif #endif

413
modules/calib3d/include/opencv2/calib3d/calib3d_c.h Normal file
View File

@ -0,0 +1,413 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * 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
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_CALIB3D_C_H__
#define __OPENCV_CALIB3D_C_H__
#include "opencv2/core/core_c.h"
#ifdef __cplusplus
extern "C" {
#endif
/****************************************************************************************\
* Camera Calibration, Pose Estimation and Stereo *
\****************************************************************************************/
typedef struct CvPOSITObject CvPOSITObject;
/* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
CVAPI(CvPOSITObject*) cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
/* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
an object given its model and projection in a weak-perspective case */
CVAPI(void) cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points,
double focal_length, CvTermCriteria criteria,
float* rotation_matrix, float* translation_vector);
/* Releases CvPOSITObject structure */
CVAPI(void) cvReleasePOSITObject( CvPOSITObject** posit_object );
/* updates the number of RANSAC iterations */
CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob,
int model_points, int max_iters );
CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
/* Calculates fundamental matrix given a set of corresponding points */
#define CV_FM_7POINT 1
#define CV_FM_8POINT 2
#define CV_LMEDS 4
#define CV_RANSAC 8
#define CV_FM_LMEDS_ONLY CV_LMEDS
#define CV_FM_RANSAC_ONLY CV_RANSAC
#define CV_FM_LMEDS CV_LMEDS
#define CV_FM_RANSAC CV_RANSAC
enum
{
CV_ITERATIVE = 0,
CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
CV_P3P = 2 // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
};
CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
CvMat* fundamental_matrix,
int method CV_DEFAULT(CV_FM_RANSAC),
double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
CvMat* status CV_DEFAULT(NULL) );
/* For each input point on one of images
computes parameters of the corresponding
epipolar line on the other image */
CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points,
int which_image,
const CvMat* fundamental_matrix,
CvMat* correspondent_lines );
/* Triangulation functions */
CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
CvMat* projPoints1, CvMat* projPoints2,
CvMat* points4D);
CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
CvMat* new_points1, CvMat* new_points2);
/* Computes the optimal new camera matrix according to the free scaling parameter alpha:
alpha=0 - only valid pixels will be retained in the undistorted image
alpha=1 - all the source image pixels will be retained in the undistorted image
*/
CVAPI(void) cvGetOptimalNewCameraMatrix( const CvMat* camera_matrix,
const CvMat* dist_coeffs,
CvSize image_size, double alpha,
CvMat* new_camera_matrix,
CvSize new_imag_size CV_DEFAULT(cvSize(0,0)),
CvRect* valid_pixel_ROI CV_DEFAULT(0),
int center_principal_point CV_DEFAULT(0));
/* Converts rotation vector to rotation matrix or vice versa */
CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst,
CvMat* jacobian CV_DEFAULT(0) );
/* Finds perspective transformation between the object plane and image (view) plane */
CVAPI(int) cvFindHomography( const CvMat* src_points,
const CvMat* dst_points,
CvMat* homography,
int method CV_DEFAULT(0),
double ransacReprojThreshold CV_DEFAULT(3),
CvMat* mask CV_DEFAULT(0));
/* Computes RQ decomposition for 3x3 matrices */
CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
CvMat *matrixQx CV_DEFAULT(NULL),
CvMat *matrixQy CV_DEFAULT(NULL),
CvMat *matrixQz CV_DEFAULT(NULL),
CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
/* Computes projection matrix decomposition */
CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
CvMat *rotMatr, CvMat *posVect,
CvMat *rotMatrX CV_DEFAULT(NULL),
CvMat *rotMatrY CV_DEFAULT(NULL),
CvMat *rotMatrZ CV_DEFAULT(NULL),
CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
/* Computes d(AB)/dA and d(AB)/dB */
CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
/* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
const CvMat* _rvec2, const CvMat* _tvec2,
CvMat* _rvec3, CvMat* _tvec3,
CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
/* Projects object points to the view plane using
the specified extrinsic and intrinsic camera parameters */
CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
const CvMat* translation_vector, const CvMat* camera_matrix,
const CvMat* distortion_coeffs, CvMat* image_points,
CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
CvMat* dpddist CV_DEFAULT(NULL),
double aspect_ratio CV_DEFAULT(0));
/* Finds extrinsic camera parameters from
a few known corresponding point pairs and intrinsic parameters */
CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points,
const CvMat* image_points,
const CvMat* camera_matrix,
const CvMat* distortion_coeffs,
CvMat* rotation_vector,
CvMat* translation_vector,
int use_extrinsic_guess CV_DEFAULT(0) );
/* Computes initial estimate of the intrinsic camera parameters
in case of planar calibration target (e.g. chessboard) */
CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points,
const CvMat* image_points,
const CvMat* npoints, CvSize image_size,
CvMat* camera_matrix,
double aspect_ratio CV_DEFAULT(1.) );
#define CV_CALIB_CB_ADAPTIVE_THRESH 1
#define CV_CALIB_CB_NORMALIZE_IMAGE 2
#define CV_CALIB_CB_FILTER_QUADS 4
#define CV_CALIB_CB_FAST_CHECK 8
// Performs a fast check if a chessboard is in the input image. This is a workaround to
// a problem of cvFindChessboardCorners being slow on images with no chessboard
// - src: input image
// - size: chessboard size
// Returns 1 if a chessboard can be in this image and findChessboardCorners should be called,
// 0 if there is no chessboard, -1 in case of error
CVAPI(int) cvCheckChessboard(IplImage* src, CvSize size);
/* Detects corners on a chessboard calibration pattern */
CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size,
CvPoint2D32f* corners,
int* corner_count CV_DEFAULT(NULL),
int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+CV_CALIB_CB_NORMALIZE_IMAGE) );
/* Draws individual chessboard corners or the whole chessboard detected */
CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
CvPoint2D32f* corners,
int count, int pattern_was_found );
#define CV_CALIB_USE_INTRINSIC_GUESS 1
#define CV_CALIB_FIX_ASPECT_RATIO 2
#define CV_CALIB_FIX_PRINCIPAL_POINT 4
#define CV_CALIB_ZERO_TANGENT_DIST 8
#define CV_CALIB_FIX_FOCAL_LENGTH 16
#define CV_CALIB_FIX_K1 32
#define CV_CALIB_FIX_K2 64
#define CV_CALIB_FIX_K3 128
#define CV_CALIB_FIX_K4 2048
#define CV_CALIB_FIX_K5 4096
#define CV_CALIB_FIX_K6 8192
#define CV_CALIB_RATIONAL_MODEL 16384
#define CV_CALIB_THIN_PRISM_MODEL 32768
#define CV_CALIB_FIX_S1_S2_S3_S4 65536
/* Finds intrinsic and extrinsic camera parameters
from a few views of known calibration pattern */
CVAPI(double) cvCalibrateCamera2( const CvMat* object_points,
const CvMat* image_points,
const CvMat* point_counts,
CvSize image_size,
CvMat* camera_matrix,
CvMat* distortion_coeffs,
CvMat* rotation_vectors CV_DEFAULT(NULL),
CvMat* translation_vectors CV_DEFAULT(NULL),
int flags CV_DEFAULT(0),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,DBL_EPSILON)) );
/* Computes various useful characteristics of the camera from the data computed by
cvCalibrateCamera2 */
CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix,
CvSize image_size,
double aperture_width CV_DEFAULT(0),
double aperture_height CV_DEFAULT(0),
double *fovx CV_DEFAULT(NULL),
double *fovy CV_DEFAULT(NULL),
double *focal_length CV_DEFAULT(NULL),
CvPoint2D64f *principal_point CV_DEFAULT(NULL),
double *pixel_aspect_ratio CV_DEFAULT(NULL));
#define CV_CALIB_FIX_INTRINSIC 256
#define CV_CALIB_SAME_FOCAL_LENGTH 512
/* Computes the transformation from one camera coordinate system to another one
from a few correspondent views of the same calibration target. Optionally, calibrates
both cameras */
CVAPI(double) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
const CvMat* image_points2, const CvMat* npoints,
CvMat* camera_matrix1, CvMat* dist_coeffs1,
CvMat* camera_matrix2, CvMat* dist_coeffs2,
CvSize image_size, CvMat* R, CvMat* T,
CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)),
int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC));
#define CV_CALIB_ZERO_DISPARITY 1024
/* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
views parallel (=> to make all the epipolar lines horizontal or vertical) */
CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
CvSize image_size, const CvMat* R, const CvMat* T,
CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
CvMat* Q CV_DEFAULT(0),
int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY),
double alpha CV_DEFAULT(-1),
CvSize new_image_size CV_DEFAULT(cvSize(0,0)),
CvRect* valid_pix_ROI1 CV_DEFAULT(0),
CvRect* valid_pix_ROI2 CV_DEFAULT(0));
/* Computes rectification transformations for uncalibrated pair of images using a set
of point correspondences */
CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
const CvMat* F, CvSize img_size,
CvMat* H1, CvMat* H2,
double threshold CV_DEFAULT(5));
/* stereo correspondence parameters and functions */
#define CV_STEREO_BM_NORMALIZED_RESPONSE 0
#define CV_STEREO_BM_XSOBEL 1
/* Block matching algorithm structure */
typedef struct CvStereoBMState
{
// pre-filtering (normalization of input images)
int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
int preFilterSize; // averaging window size: ~5x5..21x21
int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
// correspondence using Sum of Absolute Difference (SAD)
int SADWindowSize; // ~5x5..21x21
int minDisparity; // minimum disparity (can be negative)
int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
// post-filtering
int textureThreshold; // the disparity is only computed for pixels
// with textured enough neighborhood
int uniquenessRatio; // accept the computed disparity d* only if
// SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
// for any d != d*+/-1 within the search range.
int speckleWindowSize; // disparity variation window
int speckleRange; // acceptable range of variation in window
int trySmallerWindows; // if 1, the results may be more accurate,
// at the expense of slower processing
CvRect roi1, roi2;
int disp12MaxDiff;
// temporary buffers
CvMat* preFilteredImg0;
CvMat* preFilteredImg1;
CvMat* slidingSumBuf;
CvMat* cost;
CvMat* disp;
} CvStereoBMState;
#define CV_STEREO_BM_BASIC 0
#define CV_STEREO_BM_FISH_EYE 1
#define CV_STEREO_BM_NARROW 2
CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
int numberOfDisparities CV_DEFAULT(0));
CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state );
CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
CvArr* disparity, CvStereoBMState* state );
CVAPI(CvRect) cvGetValidDisparityROI( CvRect roi1, CvRect roi2, int minDisparity,
int numberOfDisparities, int SADWindowSize );
CVAPI(void) cvValidateDisparity( CvArr* disparity, const CvArr* cost,
int minDisparity, int numberOfDisparities,
int disp12MaxDiff CV_DEFAULT(1) );
/* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
CVAPI(void) cvReprojectImageTo3D( const CvArr* disparityImage,
CvArr* _3dImage, const CvMat* Q,
int handleMissingValues CV_DEFAULT(0) );
#ifdef __cplusplus
} // extern "C"
//////////////////////////////////////////////////////////////////////////////////////////
class CV_EXPORTS CvLevMarq
{
public:
CvLevMarq();
CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
bool completeSymmFlag=false );
~CvLevMarq();
void init( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
bool completeSymmFlag=false );
bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
void clear();
void step();
enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
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 state;
int iters;
bool completeSymmFlag;
};
#endif
#endif /* __OPENCV_CALIB3D_C_H__ */

6
modules/calib3d/perf/perf_pnp.cpp
View File

@ -10,7 +10,7 @@ using namespace perf;
using std::tr1::make_tuple; using std::tr1::make_tuple;
using std::tr1::get; using std::tr1::get;
CV_ENUM(pnpAlgo, CV_ITERATIVE, CV_EPNP /*, CV_P3P*/) CV_ENUM(pnpAlgo, ITERATIVE, EPNP /*, P3P*/)
typedef std::tr1::tuple<int, pnpAlgo> PointsNum_Algo_t; typedef std::tr1::tuple<int, pnpAlgo> PointsNum_Algo_t;
typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo; typedef perf::TestBaseWithParam<PointsNum_Algo_t> PointsNum_Algo;
@ -20,7 +20,7 @@ typedef perf::TestBaseWithParam<int> PointsNum;
PERF_TEST_P(PointsNum_Algo, solvePnP, PERF_TEST_P(PointsNum_Algo, solvePnP,
testing::Combine( testing::Combine(
testing::Values(/*4,*/ 3*9, 7*13), //TODO: find why results on 4 points are too unstable testing::Values(/*4,*/ 3*9, 7*13), //TODO: find why results on 4 points are too unstable
testing::Values((int)CV_ITERATIVE, (int)CV_EPNP) testing::Values((int)ITERATIVE, (int)EPNP)
) )
) )
{ {
@ -93,7 +93,7 @@ PERF_TEST(PointsNum_Algo, solveP3P)
TEST_CYCLE_N(1000) TEST_CYCLE_N(1000)
{ {
solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, CV_P3P); solvePnP(points3d, points2d, intrinsics, distortion, rvec, tvec, false, P3P);
} }
SANITY_CHECK(rvec, 1e-6); SANITY_CHECK(rvec, 1e-6);

1
modules/calib3d/src/calibinit.cpp
View File

@ -61,6 +61,7 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/calib3d/calib3d_c.h"
#include "circlesgrid.hpp" #include "circlesgrid.hpp"
#include <stdarg.h> #include <stdarg.h>

5
modules/calib3d/src/calibration.cpp
View File

@ -42,6 +42,7 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/calib3d/calib3d_c.h"
#include <stdio.h> #include <stdio.h>
#include <iterator> #include <iterator>
@ -825,7 +826,7 @@ CV_IMPL void cvProjectPoints2( const CvMat* objectPoints,
dpdk_p[dpdk_step+7] = fy*y*cdist*(-icdist2)*icdist2*r6; dpdk_p[dpdk_step+7] = fy*y*cdist*(-icdist2)*icdist2*r6;
if( _dpdk->cols > 8 ) if( _dpdk->cols > 8 )
{ {
dpdk_p[8] = fx*r2; //s1 dpdk_p[8] = fx*r2; //s1
dpdk_p[9] = fx*r4; //s2 dpdk_p[9] = fx*r4; //s2
dpdk_p[10] = 0;//s3 dpdk_p[10] = 0;//s3
dpdk_p[11] = 0;//s4 dpdk_p[11] = 0;//s4
@ -1255,7 +1256,7 @@ CV_IMPL double cvCalibrateCamera2( const CvMat* objectPoints,
//when the thin prism model is used the distortion coefficients matrix must have 12 parameters //when the thin prism model is used the distortion coefficients matrix must have 12 parameters
if((flags & CV_CALIB_THIN_PRISM_MODEL) && (distCoeffs->cols*distCoeffs->rows != 12)) if((flags & CV_CALIB_THIN_PRISM_MODEL) && (distCoeffs->cols*distCoeffs->rows != 12))
CV_Error( CV_StsBadArg, "Thin prism model must have 12 parameters in the distortion matrix" ); CV_Error( CV_StsBadArg, "Thin prism model must have 12 parameters in the distortion matrix" );
nimages = npoints->rows*npoints->cols; nimages = npoints->rows*npoints->cols;
npstep = npoints->rows == 1 ? 1 : npoints->step/CV_ELEM_SIZE(npoints->type); npstep = npoints->rows == 1 ? 1 : npoints->step/CV_ELEM_SIZE(npoints->type);

1
modules/calib3d/src/checkchessboard.cpp
View File

@ -41,6 +41,7 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/calib3d/calib3d_c.h"
#include <vector> #include <vector>
#include <algorithm> #include <algorithm>

53
modules/calib3d/src/circlesgrid.cpp
View File

@ -202,12 +202,12 @@ void CirclesGridClusterFinder::findCorners(const std::vector<cv::Point2f> &hull2
//corners are the most sharp angles (6) //corners are the most sharp angles (6)
Mat anglesMat = Mat(angles); Mat anglesMat = Mat(angles);
Mat sortedIndices; Mat sortedIndices;
sortIdx(anglesMat, sortedIndices, CV_SORT_EVERY_COLUMN + CV_SORT_DESCENDING); sortIdx(anglesMat, sortedIndices, SORT_EVERY_COLUMN + SORT_DESCENDING);
CV_Assert(sortedIndices.type() == CV_32SC1); CV_Assert(sortedIndices.type() == CV_32SC1);
CV_Assert(sortedIndices.cols == 1); CV_Assert(sortedIndices.cols == 1);
const int cornersCount = isAsymmetricGrid ? 6 : 4; const int cornersCount = isAsymmetricGrid ? 6 : 4;
Mat cornersIndices; Mat cornersIndices;
cv::sort(sortedIndices.rowRange(0, cornersCount), cornersIndices, CV_SORT_EVERY_COLUMN + CV_SORT_ASCENDING); cv::sort(sortedIndices.rowRange(0, cornersCount), cornersIndices, SORT_EVERY_COLUMN + SORT_ASCENDING);
corners.clear(); corners.clear();
for(int i=0; i<cornersCount; i++) for(int i=0; i<cornersCount; i++)
{ {
@ -438,15 +438,15 @@ bool Graph::doesVertexExist(size_t id) const
void Graph::addVertex(size_t id) void Graph::addVertex(size_t id)
{ {
assert( !doesVertexExist( id ) ); CV_Assert( !doesVertexExist( id ) );
vertices.insert(std::pair<size_t, Vertex> (id, Vertex())); vertices.insert(std::pair<size_t, Vertex> (id, Vertex()));
} }
void Graph::addEdge(size_t id1, size_t id2) void Graph::addEdge(size_t id1, size_t id2)
{ {
assert( doesVertexExist( id1 ) ); CV_Assert( doesVertexExist( id1 ) );
assert( doesVertexExist( id2 ) ); CV_Assert( doesVertexExist( id2 ) );
vertices[id1].neighbors.insert(id2); vertices[id1].neighbors.insert(id2);
vertices[id2].neighbors.insert(id1); vertices[id2].neighbors.insert(id1);
@ -454,8 +454,8 @@ void Graph::addEdge(size_t id1, size_t id2)
void Graph::removeEdge(size_t id1, size_t id2) void Graph::removeEdge(size_t id1, size_t id2)
{ {
assert( doesVertexExist( id1 ) ); CV_Assert( doesVertexExist( id1 ) );
assert( doesVertexExist( id2 ) ); CV_Assert( doesVertexExist( id2 ) );
vertices[id1].neighbors.erase(id2); vertices[id1].neighbors.erase(id2);
vertices[id2].neighbors.erase(id1); vertices[id2].neighbors.erase(id1);
@ -463,8 +463,8 @@ void Graph::removeEdge(size_t id1, size_t id2)
bool Graph::areVerticesAdjacent(size_t id1, size_t id2) const bool Graph::areVerticesAdjacent(size_t id1, size_t id2) const
{ {
assert( doesVertexExist( id1 ) ); CV_Assert( doesVertexExist( id1 ) );
assert( doesVertexExist( id2 ) ); CV_Assert( doesVertexExist( id2 ) );
Vertices::const_iterator it = vertices.find(id1); Vertices::const_iterator it = vertices.find(id1);
return it->second.neighbors.find(id2) != it->second.neighbors.end(); return it->second.neighbors.find(id2) != it->second.neighbors.end();
@ -477,7 +477,7 @@ size_t Graph::getVerticesCount() const
size_t Graph::getDegree(size_t id) const size_t Graph::getDegree(size_t id) const
{ {
assert( doesVertexExist(id) ); CV_Assert( doesVertexExist(id) );
Vertices::const_iterator it = vertices.find(id); Vertices::const_iterator it = vertices.find(id);
return it->second.neighbors.size(); return it->second.neighbors.size();
@ -495,7 +495,7 @@ void Graph::floydWarshall(cv::Mat &distanceMatrix, int infinity) const
distanceMatrix.at<int> ((int)it1->first, (int)it1->first) = 0; distanceMatrix.at<int> ((int)it1->first, (int)it1->first) = 0;
for (Neighbors::const_iterator it2 = it1->second.neighbors.begin(); it2 != it1->second.neighbors.end(); it2++) for (Neighbors::const_iterator it2 = it1->second.neighbors.begin(); it2 != it1->second.neighbors.end(); it2++)
{ {
assert( it1->first != *it2 ); CV_Assert( it1->first != *it2 );
distanceMatrix.at<int> ((int)it1->first, (int)*it2) = edgeWeight; distanceMatrix.at<int> ((int)it1->first, (int)*it2) = edgeWeight;
} }
} }
@ -524,7 +524,7 @@ void Graph::floydWarshall(cv::Mat &distanceMatrix, int infinity) const
const Graph::Neighbors& Graph::getNeighbors(size_t id) const const Graph::Neighbors& Graph::getNeighbors(size_t id) const
{ {
assert( doesVertexExist(id) ); CV_Assert( doesVertexExist(id) );
Vertices::const_iterator it = vertices.find(id); Vertices::const_iterator it = vertices.find(id);
return it->second.neighbors; return it->second.neighbors;
@ -604,7 +604,7 @@ bool CirclesGridFinder::findHoles()
} }
default: default:
CV_Error(CV_StsBadArg, "Unkown pattern type"); CV_Error(Error::StsBadArg, "Unkown pattern type");
} }
return (isDetectionCorrect()); return (isDetectionCorrect());
//CV_Error( 0, "Detection is not correct" ); //CV_Error( 0, "Detection is not correct" );
@ -813,7 +813,7 @@ void CirclesGridFinder::findMCS(const std::vector<Point2f> &basis, std::vector<G
Mat CirclesGridFinder::rectifyGrid(Size detectedGridSize, const std::vector<Point2f>& centers, Mat CirclesGridFinder::rectifyGrid(Size detectedGridSize, const std::vector<Point2f>& centers,
const std::vector<Point2f> &keypoints, std::vector<Point2f> &warpedKeypoints) const std::vector<Point2f> &keypoints, std::vector<Point2f> &warpedKeypoints)
{ {
assert( !centers.empty() ); CV_Assert( !centers.empty() );
const float edgeLength = 30; const float edgeLength = 30;
const Point2f offset(150, 150); const Point2f offset(150, 150);
@ -832,7 +832,7 @@ Mat CirclesGridFinder::rectifyGrid(Size detectedGridSize, const std::vector<Poin
} }
} }
Mat H = findHomography(Mat(centers), Mat(dstPoints), CV_RANSAC); Mat H = findHomography(Mat(centers), Mat(dstPoints), RANSAC);
//Mat H = findHomography( Mat( corners ), Mat( dstPoints ) ); //Mat H = findHomography( Mat( corners ), Mat( dstPoints ) );
std::vector<Point2f> srcKeypoints; std::vector<Point2f> srcKeypoints;
@ -912,7 +912,7 @@ void CirclesGridFinder::findCandidateLine(std::vector<size_t> &line, size_t seed
} }
} }
assert( line.size() == seeds.size() ); CV_Assert( line.size() == seeds.size() );
} }
void CirclesGridFinder::findCandidateHoles(std::vector<size_t> &above, std::vector<size_t> &below, bool addRow, Point2f basisVec, void CirclesGridFinder::findCandidateHoles(std::vector<size_t> &above, std::vector<size_t> &below, bool addRow, Point2f basisVec,
@ -927,9 +927,9 @@ void CirclesGridFinder::findCandidateHoles(std::vector<size_t> &above, std::vect
size_t lastIdx = addRow ? holes.size() - 1 : holes[0].size() - 1; size_t lastIdx = addRow ? holes.size() - 1 : holes[0].size() - 1;
findCandidateLine(below, lastIdx, addRow, basisVec, belowSeeds); findCandidateLine(below, lastIdx, addRow, basisVec, belowSeeds);
assert( below.size() == above.size() ); CV_Assert( below.size() == above.size() );
assert( belowSeeds.size() == aboveSeeds.size() ); CV_Assert( belowSeeds.size() == aboveSeeds.size() );
assert( below.size() == belowSeeds.size() ); CV_Assert( below.size() == belowSeeds.size() );
} }
bool CirclesGridFinder::areCentersNew(const std::vector<size_t> &newCenters, const std::vector<std::vector<size_t> > &holes) bool CirclesGridFinder::areCentersNew(const std::vector<size_t> &newCenters, const std::vector<std::vector<size_t> > &holes)
@ -1000,10 +1000,10 @@ void CirclesGridFinder::insertWinner(float aboveConfidence, float belowConfidenc
float CirclesGridFinder::computeGraphConfidence(const std::vector<Graph> &basisGraphs, bool addRow, float CirclesGridFinder::computeGraphConfidence(const std::vector<Graph> &basisGraphs, bool addRow,
const std::vector<size_t> &points, const std::vector<size_t> &seeds) const std::vector<size_t> &points, const std::vector<size_t> &seeds)
{ {
assert( points.size() == seeds.size() ); CV_Assert( points.size() == seeds.size() );
float confidence = 0; float confidence = 0;
const size_t vCount = basisGraphs[0].getVerticesCount(); const size_t vCount = basisGraphs[0].getVerticesCount();
assert( basisGraphs[0].getVerticesCount() == basisGraphs[1].getVerticesCount() ); CV_Assert( basisGraphs[0].getVerticesCount() == basisGraphs[1].getVerticesCount() );
for (size_t i = 0; i < seeds.size(); i++) for (size_t i = 0; i < seeds.size(); i++)
{ {
@ -1087,7 +1087,7 @@ void CirclesGridFinder::findBasis(const std::vector<Point2f> &samples, std::vect
const int clustersCount = 4; const int clustersCount = 4;
kmeans(Mat(samples).reshape(1, 0), clustersCount, bestLabels, termCriteria, parameters.kmeansAttempts, kmeans(Mat(samples).reshape(1, 0), clustersCount, bestLabels, termCriteria, parameters.kmeansAttempts,
KMEANS_RANDOM_CENTERS, centers); KMEANS_RANDOM_CENTERS, centers);
assert( centers.type() == CV_32FC1 ); CV_Assert( centers.type() == CV_32FC1 );
std::vector<int> basisIndices; std::vector<int> basisIndices;
//TODO: only remove duplicate //TODO: only remove duplicate
@ -1204,7 +1204,7 @@ void CirclesGridFinder::computeRNG(Graph &rng, std::vector<cv::Point2f> &vectors
void computePredecessorMatrix(const Mat &dm, int verticesCount, Mat &predecessorMatrix) void computePredecessorMatrix(const Mat &dm, int verticesCount, Mat &predecessorMatrix)
{ {
assert( dm.type() == CV_32SC1 ); CV_Assert( dm.type() == CV_32SC1 );
predecessorMatrix.create(verticesCount, verticesCount, CV_32SC1); predecessorMatrix.create(verticesCount, verticesCount, CV_32SC1);
predecessorMatrix = -1; predecessorMatrix = -1;
for (int i = 0; i < predecessorMatrix.rows; i++) for (int i = 0; i < predecessorMatrix.rows; i++)
@ -1253,7 +1253,6 @@ size_t CirclesGridFinder::findLongestPath(std::vector<Graph> &basisGraphs, Path
double maxVal; double maxVal;
Point maxLoc; Point maxLoc;
assert (infinity < 0);
minMaxLoc(distanceMatrix, 0, &maxVal, 0, &maxLoc); minMaxLoc(distanceMatrix, 0, &maxVal, 0, &maxLoc);
if (maxVal > longestPaths[0].length) if (maxVal > longestPaths[0].length)
@ -1594,9 +1593,3 @@ size_t CirclesGridFinder::getFirstCorner(std::vector<Point> &largeCornerIndices,
return cornerIdx; return cornerIdx;
} }
bool cv::findCirclesGridDefault( InputArray image, Size patternSize,
OutputArray centers, int flags )
{
return findCirclesGrid(image, patternSize, centers, flags);
}

1
modules/calib3d/src/compat_ptsetreg.cpp
View File

@ -41,6 +41,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
/************************************************************************************\ /************************************************************************************\
Some backward compatibility stuff, to be moved to legacy or compat module Some backward compatibility stuff, to be moved to legacy or compat module

5
modules/calib3d/src/compat_stereo.cpp
View File

@ -41,6 +41,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
CvStereoBMState* cvCreateStereoBMState( int /*preset*/, int numberOfDisparities ) CvStereoBMState* cvCreateStereoBMState( int /*preset*/, int numberOfDisparities )
{ {
@ -83,10 +84,6 @@ void cvReleaseStereoBMState( CvStereoBMState** state )
cvFree( state ); cvFree( state );
} }
template<> void cv::Ptr<CvStereoBMState>::delete_obj()
{ cvReleaseStereoBMState(&obj); }
void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr, void cvFindStereoCorrespondenceBM( const CvArr* leftarr, const CvArr* rightarr,
CvArr* disparr, CvStereoBMState* state ) CvArr* disparr, CvStereoBMState* state )
{ {

1
modules/calib3d/src/epnp.h
View File

@ -2,6 +2,7 @@
#define epnp_h #define epnp_h
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/core/core_c.h"
class epnp { class epnp {
public: public:

2
modules/calib3d/src/five-point.cpp
View File

@ -435,7 +435,7 @@ cv::Mat cv::findEssentialMat( InputArray _points1, InputArray _points2, double f
threshold /= focal; threshold /= focal;
Mat E; Mat E;
if( method == CV_RANSAC ) if( method == RANSAC )
createRANSACPointSetRegistrator(new EMEstimatorCallback, 5, threshold, prob)->run(points1, points2, E, _mask); createRANSACPointSetRegistrator(new EMEstimatorCallback, 5, threshold, prob)->run(points1, points2, E, _mask);
else else
createLMeDSPointSetRegistrator(new EMEstimatorCallback, 5, prob)->run(points1, points2, E, _mask); createLMeDSPointSetRegistrator(new EMEstimatorCallback, 5, prob)->run(points1, points2, E, _mask);

22
modules/calib3d/src/fundam.cpp
View File

@ -181,12 +181,12 @@ public:
LtL[j][k] += Lx[j]*Lx[k] + Ly[j]*Ly[k]; LtL[j][k] += Lx[j]*Lx[k] + Ly[j]*Ly[k];
} }
completeSymm( _LtL ); completeSymm( _LtL );
eigen( _LtL, matW, matV ); eigen( _LtL, matW, matV );
_Htemp = _invHnorm*_H0; _Htemp = _invHnorm*_H0;
_H0 = _Htemp*_Hnorm2; _H0 = _Htemp*_Hnorm2;
_H0.convertTo(_model, _H0.type(), 1./_H0.at<double>(2,2) ); _H0.convertTo(_model, _H0.type(), 1./_H0.at<double>(2,2) );
return 1; return 1;
} }
@ -292,7 +292,7 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
{ {
npoints = p.checkVector(3, -1, false); npoints = p.checkVector(3, -1, false);
if( npoints < 0 ) if( npoints < 0 )
CV_Error(CV_StsBadArg, "The input arrays should be 2D or 3D point sets"); CV_Error(Error::StsBadArg, "The input arrays should be 2D or 3D point sets");
if( npoints == 0 ) if( npoints == 0 )
return Mat(); return Mat();
convertPointsFromHomogeneous(p, p); convertPointsFromHomogeneous(p, p);
@ -317,7 +317,7 @@ cv::Mat cv::findHomography( InputArray _points1, InputArray _points2,
else if( method == LMEDS ) else if( method == LMEDS )
result = createLMeDSPointSetRegistrator(cb, 4, confidence, maxIters)->run(src, dst, H, tempMask); result = createLMeDSPointSetRegistrator(cb, 4, confidence, maxIters)->run(src, dst, H, tempMask);
else else
CV_Error(CV_StsBadArg, "Unknown estimation method"); CV_Error(Error::StsBadArg, "Unknown estimation method");
if( result && npoints > 4 ) if( result && npoints > 4 )
{ {
@ -475,7 +475,7 @@ static int run7Point( const Mat& _m1, const Mat& _m2, Mat& _fmatrix )
return n; return n;
} }
static int run8Point( const Mat& _m1, const Mat& _m2, Mat& _fmatrix ) static int run8Point( const Mat& _m1, const Mat& _m2, Mat& _fmatrix )
{ {
double a[9*9], w[9], v[9*9]; double a[9*9], w[9], v[9*9];
@ -585,11 +585,11 @@ static int run8Point( const Mat& _m1, const Mat& _m2, Mat& _fmatrix )
gemm( T2, F0, 1., 0, 0., TF, GEMM_1_T ); gemm( T2, F0, 1., 0, 0., TF, GEMM_1_T );
F0 = Mat(3, 3, CV_64F, fmatrix); F0 = Mat(3, 3, CV_64F, fmatrix);
gemm( TF, T1, 1., 0, 0., F0, 0 ); gemm( TF, T1, 1., 0, 0., F0, 0 );
// make F(3,3) = 1 // make F(3,3) = 1
if( fabs(F0.at<double>(2,2)) > FLT_EPSILON ) if( fabs(F0.at<double>(2,2)) > FLT_EPSILON )
F0 *= 1./F0.at<double>(2,2); F0 *= 1./F0.at<double>(2,2);
return 1; return 1;
} }
@ -671,7 +671,7 @@ cv::Mat cv::findFundamentalMat( InputArray _points1, InputArray _points2,
{ {
npoints = p.checkVector(3, -1, false); npoints = p.checkVector(3, -1, false);
if( npoints < 0 ) if( npoints < 0 )
CV_Error(CV_StsBadArg, "The input arrays should be 2D or 3D point sets"); CV_Error(Error::StsBadArg, "The input arrays should be 2D or 3D point sets");
if( npoints == 0 ) if( npoints == 0 )
return Mat(); return Mat();
convertPointsFromHomogeneous(p, p); convertPointsFromHomogeneous(p, p);
@ -739,7 +739,7 @@ void cv::computeCorrespondEpilines( InputArray _points, int whichImage,
{ {
npoints = points.checkVector(3); npoints = points.checkVector(3);
if( npoints < 0 ) if( npoints < 0 )
CV_Error( CV_StsBadArg, "The input should be a 2D or 3D point set"); CV_Error( Error::StsBadArg, "The input should be a 2D or 3D point set");
Mat temp; Mat temp;
convertPointsFromHomogeneous(points, temp); convertPointsFromHomogeneous(points, temp);
points = temp; points = temp;
@ -893,7 +893,7 @@ void cv::convertPointsFromHomogeneous( InputArray _src, OutputArray _dst )
} }
} }
else else
CV_Error(CV_StsUnsupportedFormat, ""); CV_Error(Error::StsUnsupportedFormat, "");
} }
@ -974,7 +974,7 @@ void cv::convertPointsToHomogeneous( InputArray _src, OutputArray _dst )
} }
} }
else else
CV_Error(CV_StsUnsupportedFormat, ""); CV_Error(Error::StsUnsupportedFormat, "");
} }

1
modules/calib3d/src/posit.cpp
View File

@ -39,6 +39,7 @@
// //
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
/* POSIT structure */ /* POSIT structure */
struct CvPOSITObject struct CvPOSITObject

2
modules/calib3d/src/ptsetreg.cpp
View File

@ -53,7 +53,7 @@ namespace cv
int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters ) int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters )
{ {
if( modelPoints <= 0 ) if( modelPoints <= 0 )
CV_Error( CV_StsOutOfRange, "the number of model points should be positive" ); CV_Error( Error::StsOutOfRange, "the number of model points should be positive" );
p = MAX(p, 0.); p = MAX(p, 0.);
p = MIN(p, 1.); p = MIN(p, 1.);

2
modules/calib3d/src/quadsubpix.cpp
View File

@ -108,7 +108,7 @@ static void findCorner(const std::vector<Point2f>& contour, Point2f point, Point
min_idx = (int)i; min_idx = (int)i;
} }
} }
assert(min_idx >= 0); CV_Assert(min_idx >= 0);
// temporary solution, have to make something more precise // temporary solution, have to make something more precise
corner = contour[min_idx]; corner = contour[min_idx];

10
modules/calib3d/src/solvepnp.cpp
View File

@ -43,6 +43,8 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "epnp.h" #include "epnp.h"
#include "p3p.h" #include "p3p.h"
#include "opencv2/calib3d/calib3d_c.h"
#include <iostream> #include <iostream>
using namespace cv; using namespace cv;
@ -57,7 +59,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
_tvec.create(3, 1, CV_64F); _tvec.create(3, 1, CV_64F);
Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat(); Mat cameraMatrix = _cameraMatrix.getMat(), distCoeffs = _distCoeffs.getMat();
if (flags == CV_EPNP) if (flags == EPNP)
{ {
cv::Mat undistortedPoints; cv::Mat undistortedPoints;
cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs); cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
@ -68,7 +70,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
cv::Rodrigues(R, rvec); cv::Rodrigues(R, rvec);
return true; return true;
} }
else if (flags == CV_P3P) else if (flags == P3P)
{ {
CV_Assert( npoints == 4); CV_Assert( npoints == 4);
cv::Mat undistortedPoints; cv::Mat undistortedPoints;
@ -81,7 +83,7 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
cv::Rodrigues(R, rvec); cv::Rodrigues(R, rvec);
return result; return result;
} }
else if (flags == CV_ITERATIVE) else if (flags == ITERATIVE)
{ {
CvMat c_objectPoints = opoints, c_imagePoints = ipoints; CvMat c_objectPoints = opoints, c_imagePoints = ipoints;
CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs; CvMat c_cameraMatrix = cameraMatrix, c_distCoeffs = distCoeffs;
@ -342,7 +344,7 @@ void cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
if (localInliers.size() >= (size_t)pnpransac::MIN_POINTS_COUNT) if (localInliers.size() >= (size_t)pnpransac::MIN_POINTS_COUNT)
{ {
if (flags != CV_P3P) if (flags != P3P)
{ {
int i, pointsCount = (int)localInliers.size(); int i, pointsCount = (int)localInliers.size();
Mat inlierObjectPoints(1, pointsCount, CV_32FC3), inlierImagePoints(1, pointsCount, CV_32FC2); Mat inlierObjectPoints(1, pointsCount, CV_32FC3), inlierImagePoints(1, pointsCount, CV_32FC2);

32
modules/calib3d/src/stereobm.cpp
View File

@ -84,7 +84,7 @@ struct StereoBMParams
int disp12MaxDiff; int disp12MaxDiff;
int dispType; int dispType;
}; };
static void prefilterNorm( const Mat& src, Mat& dst, int winsize, int ftzero, uchar* buf ) static void prefilterNorm( const Mat& src, Mat& dst, int winsize, int ftzero, uchar* buf )
{ {
@ -783,46 +783,46 @@ public:
{ {
params = StereoBMParams(_numDisparities, _SADWindowSize); params = StereoBMParams(_numDisparities, _SADWindowSize);
} }
void compute( InputArray leftarr, InputArray rightarr, OutputArray disparr ) void compute( InputArray leftarr, InputArray rightarr, OutputArray disparr )
{ {
Mat left0 = leftarr.getMat(), right0 = rightarr.getMat(); Mat left0 = leftarr.getMat(), right0 = rightarr.getMat();
int dtype = disparr.fixedType() ? disparr.type() : params.dispType; int dtype = disparr.fixedType() ? disparr.type() : params.dispType;
if (left0.size() != right0.size()) if (left0.size() != right0.size())
CV_Error( CV_StsUnmatchedSizes, "All the images must have the same size" ); CV_Error( Error::StsUnmatchedSizes, "All the images must have the same size" );
if (left0.type() != CV_8UC1 || right0.type() != CV_8UC1) if (left0.type() != CV_8UC1 || right0.type() != CV_8UC1)
CV_Error( CV_StsUnsupportedFormat, "Both input images must have CV_8UC1" ); CV_Error( Error::StsUnsupportedFormat, "Both input images must have CV_8UC1" );
if (dtype != CV_16SC1 && dtype != CV_32FC1) if (dtype != CV_16SC1 && dtype != CV_32FC1)
CV_Error( CV_StsUnsupportedFormat, "Disparity image must have CV_16SC1 or CV_32FC1 format" ); CV_Error( Error::StsUnsupportedFormat, "Disparity image must have CV_16SC1 or CV_32FC1 format" );
disparr.create(left0.size(), dtype); disparr.create(left0.size(), dtype);
Mat disp0 = disparr.getMat(); Mat disp0 = disparr.getMat();
if( params.preFilterType != PREFILTER_NORMALIZED_RESPONSE && if( params.preFilterType != PREFILTER_NORMALIZED_RESPONSE &&
params.preFilterType != PREFILTER_XSOBEL ) params.preFilterType != PREFILTER_XSOBEL )
CV_Error( CV_StsOutOfRange, "preFilterType must be = CV_STEREO_BM_NORMALIZED_RESPONSE" ); CV_Error( Error::StsOutOfRange, "preFilterType must be = CV_STEREO_BM_NORMALIZED_RESPONSE" );
if( params.preFilterSize < 5 || params.preFilterSize > 255 || params.preFilterSize % 2 == 0 ) if( params.preFilterSize < 5 || params.preFilterSize > 255 || params.preFilterSize % 2 == 0 )
CV_Error( CV_StsOutOfRange, "preFilterSize must be odd and be within 5..255" ); CV_Error( Error::StsOutOfRange, "preFilterSize must be odd and be within 5..255" );
if( params.preFilterCap < 1 || params.preFilterCap > 63 ) if( params.preFilterCap < 1 || params.preFilterCap > 63 )
CV_Error( CV_StsOutOfRange, "preFilterCap must be within 1..63" ); CV_Error( Error::StsOutOfRange, "preFilterCap must be within 1..63" );
if( params.SADWindowSize < 5 || params.SADWindowSize > 255 || params.SADWindowSize % 2 == 0 || if( params.SADWindowSize < 5 || params.SADWindowSize > 255 || params.SADWindowSize % 2 == 0 ||
params.SADWindowSize >= std::min(left0.cols, left0.rows) ) params.SADWindowSize >= std::min(left0.cols, left0.rows) )
CV_Error( CV_StsOutOfRange, "SADWindowSize must be odd, be within 5..255 and be not larger than image width or height" ); CV_Error( Error::StsOutOfRange, "SADWindowSize must be odd, be within 5..255 and be not larger than image width or height" );
if( params.numDisparities <= 0 || params.numDisparities % 16 != 0 ) if( params.numDisparities <= 0 || params.numDisparities % 16 != 0 )
CV_Error( CV_StsOutOfRange, "numDisparities must be positive and divisble by 16" ); CV_Error( Error::StsOutOfRange, "numDisparities must be positive and divisble by 16" );
if( params.textureThreshold < 0 ) if( params.textureThreshold < 0 )
CV_Error( CV_StsOutOfRange, "texture threshold must be non-negative" ); CV_Error( Error::StsOutOfRange, "texture threshold must be non-negative" );
if( params.uniquenessRatio < 0 ) if( params.uniquenessRatio < 0 )
CV_Error( CV_StsOutOfRange, "uniqueness ratio must be non-negative" ); CV_Error( Error::StsOutOfRange, "uniqueness ratio must be non-negative" );
preFilteredImg0.create( left0.size(), CV_8U ); preFilteredImg0.create( left0.size(), CV_8U );
preFilteredImg1.create( left0.size(), CV_8U ); preFilteredImg1.create( left0.size(), CV_8U );
@ -887,15 +887,15 @@ public:
R2.area() > 0 ? Rect(0, 0, width, height) : validDisparityRect, R2.area() > 0 ? Rect(0, 0, width, height) : validDisparityRect,
params.minDisparity, params.numDisparities, params.minDisparity, params.numDisparities,
params.SADWindowSize); params.SADWindowSize);
parallel_for_(Range(0, nstripes), parallel_for_(Range(0, nstripes),
FindStereoCorrespInvoker(left, right, disp, &params, nstripes, FindStereoCorrespInvoker(left, right, disp, &params, nstripes,
bufSize0, useShorts, validDisparityRect, bufSize0, useShorts, validDisparityRect,
slidingSumBuf, cost)); slidingSumBuf, cost));
if( params.speckleRange >= 0 && params.speckleWindowSize > 0 ) if( params.speckleRange >= 0 && params.speckleWindowSize > 0 )
filterSpeckles(disp, FILTERED, params.speckleWindowSize, params.speckleRange, slidingSumBuf); filterSpeckles(disp, FILTERED, params.speckleWindowSize, params.speckleRange, slidingSumBuf);
if (disp0.data != disp.data) if (disp0.data != disp.data)
disp.convertTo(disp0, disp0.type(), 1./(1 << DISPARITY_SHIFT), 0); disp.convertTo(disp0, disp0.type(), 1./(1 << DISPARITY_SHIFT), 0);
} }
@ -963,7 +963,7 @@ public:
void read(const FileNode& fn) void read(const FileNode& fn)
{ {
FileNode n = fn["name"]; FileNode n = fn["name"];
CV_Assert( n.isString() && strcmp(n.node->data.str.ptr, name_) == 0 ); CV_Assert( n.isString() && String(n) == name_ );
params.minDisparity = (int)fn["minDisparity"]; params.minDisparity = (int)fn["minDisparity"];
params.numDisparities = (int)fn["numDisparities"]; params.numDisparities = (int)fn["numDisparities"];
params.SADWindowSize = (int)fn["blockSize"]; params.SADWindowSize = (int)fn["blockSize"];

2
modules/calib3d/src/stereosgbm.cpp
View File

@ -919,7 +919,7 @@ public:
void read(const FileNode& fn) void read(const FileNode& fn)
{ {
FileNode n = fn["name"]; FileNode n = fn["name"];
CV_Assert( n.isString() && strcmp(n.node->data.str.ptr, name_) == 0 ); CV_Assert( n.isString() && String(n) == name_ );
params.minDisparity = (int)fn["minDisparity"]; params.minDisparity = (int)fn["minDisparity"];
params.numDisparities = (int)fn["numDisparities"]; params.numDisparities = (int)fn["numDisparities"];
params.SADWindowSize = (int)fn["blockSize"]; params.SADWindowSize = (int)fn["blockSize"];

1
modules/calib3d/src/triangulate.cpp
View File

@ -40,6 +40,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
// cvCorrectMatches function is Copyright (C) 2009, Jostein Austvik Jacobsen. // cvCorrectMatches function is Copyright (C) 2009, Jostein Austvik Jacobsen.
// cvTriangulatePoints function is derived from icvReconstructPointsFor3View, originally by Valery Mosyagin. // cvTriangulatePoints function is derived from icvReconstructPointsFor3View, originally by Valery Mosyagin.

1
modules/calib3d/test/test_cameracalibration.cpp
View File

@ -40,6 +40,7 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
#include <limits> #include <limits>

2
modules/calib3d/test/test_cameracalibration_artificial.cpp
View File

@ -327,7 +327,7 @@ protected:
Mat camMat_est = Mat::eye(3, 3, CV_64F), distCoeffs_est = Mat::zeros(1, 5, CV_64F); Mat camMat_est = Mat::eye(3, 3, CV_64F), distCoeffs_est = Mat::zeros(1, 5, CV_64F);
vector<Mat> rvecs_est, tvecs_est; vector<Mat> rvecs_est, tvecs_est;
int flags = /*CV_CALIB_FIX_K3|*/CV_CALIB_FIX_K4|CV_CALIB_FIX_K5|CV_CALIB_FIX_K6; //CALIB_FIX_K3; //CALIB_FIX_ASPECT_RATIO | | CALIB_ZERO_TANGENT_DIST; int flags = /*CALIB_FIX_K3|*/CALIB_FIX_K4|CALIB_FIX_K5|CALIB_FIX_K6; //CALIB_FIX_K3; //CALIB_FIX_ASPECT_RATIO | | CALIB_ZERO_TANGENT_DIST;
TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON); TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 100, DBL_EPSILON);
double rep_error = calibrateCamera(objectPoints, imagePoints, imgSize, camMat_est, distCoeffs_est, rvecs_est, tvecs_est, flags, criteria); double rep_error = calibrateCamera(objectPoints, imagePoints, imgSize, camMat_est, distCoeffs_est, rvecs_est, tvecs_est, flags, criteria);
rep_error /= brdsNum * cornersSize.area(); rep_error /= brdsNum * cornersSize.area();

1
modules/calib3d/test/test_cameracalibration_badarg.cpp
View File

@ -41,6 +41,7 @@
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "test_chessboardgenerator.hpp" #include "test_chessboardgenerator.hpp"
#include "opencv2/calib3d/calib3d_c.h"
#include <iostream> #include <iostream>

8
modules/calib3d/test/test_chessboardgenerator.cpp
View File

@ -161,15 +161,15 @@ Mat cv::ChessBoardGenerator::generateChessBoard(const Mat& bg, const Mat& camMat
if (rendererResolutionMultiplier == 1) if (rendererResolutionMultiplier == 1)
{ {
result = bg.clone(); result = bg.clone();
drawContours(result, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA); drawContours(result, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA);
drawContours(result, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA); drawContours(result, squares_black, -1, Scalar::all(0), FILLED, LINE_AA);
} }
else else
{ {
Mat tmp; Mat tmp;
resize(bg, tmp, bg.size() * rendererResolutionMultiplier); resize(bg, tmp, bg.size() * rendererResolutionMultiplier);
drawContours(tmp, whole_contour, -1, Scalar::all(255), CV_FILLED, CV_AA); drawContours(tmp, whole_contour, -1, Scalar::all(255), FILLED, LINE_AA);
drawContours(tmp, squares_black, -1, Scalar::all(0), CV_FILLED, CV_AA); drawContours(tmp, squares_black, -1, Scalar::all(0), FILLED, LINE_AA);
resize(tmp, result, bg.size(), 0, 0, INTER_AREA); resize(tmp, result, bg.size(), 0, 0, INTER_AREA);
} }

10
modules/calib3d/test/test_chesscorners.cpp
View File

@ -57,14 +57,14 @@ void show_points( const Mat& gray, const Mat& u, const vector<Point2f>& v, Size
merge(vector<Mat>(3, gray), rgb); merge(vector<Mat>(3, gray), rgb);
for(size_t i = 0; i < v.size(); i++ ) for(size_t i = 0; i < v.size(); i++ )
circle( rgb, v[i], 3, CV_RGB(255, 0, 0), CV_FILLED); circle( rgb, v[i], 3, Scalar(255, 0, 0), FILLED);
if( !u.empty() ) if( !u.empty() )
{ {
const Point2f* u_data = u.ptr<Point2f>(); const Point2f* u_data = u.ptr<Point2f>();
size_t count = u.cols * u.rows; size_t count = u.cols * u.rows;
for(size_t i = 0; i < count; i++ ) for(size_t i = 0; i < count; i++ )
circle( rgb, u_data[i], 3, CV_RGB(0, 255, 0), CV_FILLED); circle( rgb, u_data[i], 3, Scalar(0, 255, 0), FILLED);
} }
if (!v.empty()) if (!v.empty())
{ {
@ -208,7 +208,7 @@ void CV_ChessboardDetectorTest::run_batch( const string& filename )
} }
int progress = 0; int progress = 0;
int max_idx = board_list.node->data.seq->total/2; int max_idx = board_list.size()/2;
double sum_error = 0.0; double sum_error = 0.0;
int count = 0; int count = 0;
@ -244,7 +244,7 @@ void CV_ChessboardDetectorTest::run_batch( const string& filename )
switch( pattern ) switch( pattern )
{ {
case CHESSBOARD: case CHESSBOARD:
result = findChessboardCorners(gray, pattern_size, v, CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_NORMALIZE_IMAGE); result = findChessboardCorners(gray, pattern_size, v, CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_NORMALIZE_IMAGE);
break; break;
case CIRCLES_GRID: case CIRCLES_GRID:
result = findCirclesGrid(gray, pattern_size, v); result = findCirclesGrid(gray, pattern_size, v);
@ -459,7 +459,7 @@ bool CV_ChessboardDetectorTest::checkByGenerator()
vector<Point>& cnt = cnts[0]; vector<Point>& cnt = cnts[0];
cnt.push_back(cg[ 0]); cnt.push_back(cg[0+2]); cnt.push_back(cg[ 0]); cnt.push_back(cg[0+2]);
cnt.push_back(cg[7+0]); cnt.push_back(cg[7+2]); cnt.push_back(cg[7+0]); cnt.push_back(cg[7+2]);
cv::drawContours(cb, cnts, -1, Scalar::all(128), CV_FILLED); cv::drawContours(cb, cnts, -1, Scalar::all(128), FILLED);
found = findChessboardCorners(cb, cbg.cornersSize(), corners_found); found = findChessboardCorners(cb, cbg.cornersSize(), corners_found);
if (found) if (found)

1
modules/calib3d/test/test_chesscorners_badarg.cpp
View File

@ -41,6 +41,7 @@
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "test_chessboardgenerator.hpp" #include "test_chessboardgenerator.hpp"
#include "opencv2/calib3d/calib3d_c.h"
#include <limits> #include <limits>

1
modules/calib3d/test/test_chesscorners_timing.cpp
View File

@ -41,6 +41,7 @@
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/calib3d/calib3d_c.h"
class CV_ChessboardDetectorTimingTest : public cvtest::BaseTest class CV_ChessboardDetectorTimingTest : public cvtest::BaseTest
{ {

1
modules/calib3d/test/test_fundam.cpp
View File

@ -40,6 +40,7 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
using namespace cv; using namespace cv;
using namespace std; using namespace std;

26
modules/calib3d/test/test_homography.cpp
View File

@ -65,7 +65,7 @@
#define METHODS_COUNT 3 #define METHODS_COUNT 3
int NORM_TYPE[COUNT_NORM_TYPES] = {cv::NORM_L1, cv::NORM_L2, cv::NORM_INF}; int NORM_TYPE[COUNT_NORM_TYPES] = {cv::NORM_L1, cv::NORM_L2, cv::NORM_INF};
int METHOD[METHODS_COUNT] = {0, CV_RANSAC, CV_LMEDS}; int METHOD[METHODS_COUNT] = {0, cv::RANSAC, cv::LMEDS};
using namespace cv; using namespace cv;
using namespace std; using namespace std;
@ -309,7 +309,7 @@ void CV_HomographyTest::run(int)
switch (method) switch (method)
{ {
case 0: case 0:
case CV_LMEDS: case LMEDS:
{ {
Mat H_res_64 [4] = { cv::findHomography(src_mat_2f, dst_mat_2f, method), Mat H_res_64 [4] = { cv::findHomography(src_mat_2f, dst_mat_2f, method),
cv::findHomography(src_mat_2f, dst_vec, method), cv::findHomography(src_mat_2f, dst_vec, method),
@ -339,14 +339,14 @@ void CV_HomographyTest::run(int)
continue; continue;
} }
case CV_RANSAC: case RANSAC:
{ {
cv::Mat mask [4]; double diff; cv::Mat mask [4]; double diff;
Mat H_res_64 [4] = { cv::findHomography(src_mat_2f, dst_mat_2f, CV_RANSAC, reproj_threshold, mask[0]), Mat H_res_64 [4] = { cv::findHomography(src_mat_2f, dst_mat_2f, RANSAC, reproj_threshold, mask[0]),
cv::findHomography(src_mat_2f, dst_vec, CV_RANSAC, reproj_threshold, mask[1]), cv::findHomography(src_mat_2f, dst_vec, RANSAC, reproj_threshold, mask[1]),
cv::findHomography(src_vec, dst_mat_2f, CV_RANSAC, reproj_threshold, mask[2]), cv::findHomography(src_vec, dst_mat_2f, RANSAC, reproj_threshold, mask[2]),
cv::findHomography(src_vec, dst_vec, CV_RANSAC, reproj_threshold, mask[3]) }; cv::findHomography(src_vec, dst_vec, RANSAC, reproj_threshold, mask[3]) };
for (int j = 0; j < 4; ++j) for (int j = 0; j < 4; ++j)
{ {
@ -411,7 +411,7 @@ void CV_HomographyTest::run(int)
switch (method) switch (method)
{ {
case 0: case 0:
case CV_LMEDS: case LMEDS:
{ {
Mat H_res_64 [4] = { cv::findHomography(src_mat_2f, dst_mat_2f), Mat H_res_64 [4] = { cv::findHomography(src_mat_2f, dst_mat_2f),
cv::findHomography(src_mat_2f, dst_vec), cv::findHomography(src_mat_2f, dst_vec),
@ -466,14 +466,14 @@ void CV_HomographyTest::run(int)
continue; continue;
} }
case CV_RANSAC: case RANSAC:
{ {
cv::Mat mask_res [4]; cv::Mat mask_res [4];
Mat H_res_64 [4] = { cv::findHomography(src_mat_2f, dst_mat_2f, CV_RANSAC, reproj_threshold, mask_res[0]), Mat H_res_64 [4] = { cv::findHomography(src_mat_2f, dst_mat_2f, RANSAC, reproj_threshold, mask_res[0]),
cv::findHomography(src_mat_2f, dst_vec, CV_RANSAC, reproj_threshold, mask_res[1]), cv::findHomography(src_mat_2f, dst_vec, RANSAC, reproj_threshold, mask_res[1]),
cv::findHomography(src_vec, dst_mat_2f, CV_RANSAC, reproj_threshold, mask_res[2]), cv::findHomography(src_vec, dst_mat_2f, RANSAC, reproj_threshold, mask_res[2]),
cv::findHomography(src_vec, dst_vec, CV_RANSAC, reproj_threshold, mask_res[3]) }; cv::findHomography(src_vec, dst_vec, RANSAC, reproj_threshold, mask_res[3]) };
for (int j = 0; j < 4; ++j) for (int j = 0; j < 4; ++j)
{ {

1
modules/calib3d/test/test_posit.cpp
View File

@ -40,6 +40,7 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
using namespace cv; using namespace cv;
using namespace std; using namespace std;

1
modules/calib3d/test/test_reproject_image_to_3d.cpp
View File

@ -41,6 +41,7 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
#include <string> #include <string>
#include <limits> #include <limits>

12
modules/calib3d/test/test_solvepnp_ransac.cpp
View File

@ -54,9 +54,9 @@ class CV_solvePnPRansac_Test : public cvtest::BaseTest
public: public:
CV_solvePnPRansac_Test() CV_solvePnPRansac_Test()
{ {
eps[CV_ITERATIVE] = 1.0e-2; eps[ITERATIVE] = 1.0e-2;
eps[CV_EPNP] = 1.0e-2; eps[EPNP] = 1.0e-2;
eps[CV_P3P] = 1.0e-2; eps[P3P] = 1.0e-2;
totalTestsCount = 10; totalTestsCount = 10;
} }
~CV_solvePnPRansac_Test() {} ~CV_solvePnPRansac_Test() {}
@ -193,9 +193,9 @@ class CV_solvePnP_Test : public CV_solvePnPRansac_Test
public: public:
CV_solvePnP_Test() CV_solvePnP_Test()
{ {
eps[CV_ITERATIVE] = 1.0e-6; eps[ITERATIVE] = 1.0e-6;
eps[CV_EPNP] = 1.0e-6; eps[EPNP] = 1.0e-6;
eps[CV_P3P] = 1.0e-4; eps[P3P] = 1.0e-4;
totalTestsCount = 1000; totalTestsCount = 1000;
} }

26
modules/calib3d/test/test_stereomatching.cpp
View File

@ -75,7 +75,7 @@ void computeTextureBasedMasks( const Mat& _img, Mat* texturelessMask, Mat* textu
if( !texturelessMask && !texturedMask ) if( !texturelessMask && !texturedMask )
return; return;
if( _img.empty() ) if( _img.empty() )
CV_Error( CV_StsBadArg, "img is empty" ); CV_Error( Error::StsBadArg, "img is empty" );
Mat img = _img; Mat img = _img;
if( _img.channels() > 1) if( _img.channels() > 1)
@ -95,21 +95,21 @@ void computeTextureBasedMasks( const Mat& _img, Mat* texturelessMask, Mat* textu
void checkTypeAndSizeOfDisp( const Mat& dispMap, const Size* sz ) void checkTypeAndSizeOfDisp( const Mat& dispMap, const Size* sz )
{ {
if( dispMap.empty() ) if( dispMap.empty() )
CV_Error( CV_StsBadArg, "dispMap is empty" ); CV_Error( Error::StsBadArg, "dispMap is empty" );
if( dispMap.type() != CV_32FC1 ) if( dispMap.type() != CV_32FC1 )
CV_Error( CV_StsBadArg, "dispMap must have CV_32FC1 type" ); CV_Error( Error::StsBadArg, "dispMap must have CV_32FC1 type" );
if( sz && (dispMap.rows != sz->height || dispMap.cols != sz->width) ) if( sz && (dispMap.rows != sz->height || dispMap.cols != sz->width) )
CV_Error( CV_StsBadArg, "dispMap has incorrect size" ); CV_Error( Error::StsBadArg, "dispMap has incorrect size" );
} }
void checkTypeAndSizeOfMask( const Mat& mask, Size sz ) void checkTypeAndSizeOfMask( const Mat& mask, Size sz )
{ {
if( mask.empty() ) if( mask.empty() )
CV_Error( CV_StsBadArg, "mask is empty" ); CV_Error( Error::StsBadArg, "mask is empty" );
if( mask.type() != CV_8UC1 ) if( mask.type() != CV_8UC1 )
CV_Error( CV_StsBadArg, "mask must have CV_8UC1 type" ); CV_Error( Error::StsBadArg, "mask must have CV_8UC1 type" );
if( mask.rows != sz.height || mask.cols != sz.width ) if( mask.rows != sz.height || mask.cols != sz.width )
CV_Error( CV_StsBadArg, "mask has incorrect size" ); CV_Error( Error::StsBadArg, "mask has incorrect size" );
} }
void checkDispMapsAndUnknDispMasks( const Mat& leftDispMap, const Mat& rightDispMap, void checkDispMapsAndUnknDispMasks( const Mat& leftDispMap, const Mat& rightDispMap,
@ -143,7 +143,7 @@ void checkDispMapsAndUnknDispMasks( const Mat& leftDispMap, const Mat& rightDisp
minMaxLoc( rightDispMap, &rightMinVal, 0, 0, 0, ~rightUnknDispMask ); minMaxLoc( rightDispMap, &rightMinVal, 0, 0, 0, ~rightUnknDispMask );
} }
if( leftMinVal < 0 || rightMinVal < 0) if( leftMinVal < 0 || rightMinVal < 0)
CV_Error( CV_StsBadArg, "known disparity values must be positive" ); CV_Error( Error::StsBadArg, "known disparity values must be positive" );
} }
/* /*
@ -163,7 +163,7 @@ void computeOcclusionBasedMasks( const Mat& leftDisp, const Mat& _rightDisp,
if( _rightDisp.empty() ) if( _rightDisp.empty() )
{ {
if( !rightUnknDispMask.empty() ) if( !rightUnknDispMask.empty() )
CV_Error( CV_StsBadArg, "rightUnknDispMask must be empty if _rightDisp is empty" ); CV_Error( Error::StsBadArg, "rightUnknDispMask must be empty if _rightDisp is empty" );
rightDisp.create(leftDisp.size(), CV_32FC1); rightDisp.create(leftDisp.size(), CV_32FC1);
rightDisp.setTo(Scalar::all(0) ); rightDisp.setTo(Scalar::all(0) );
for( int leftY = 0; leftY < leftDisp.rows; leftY++ ) for( int leftY = 0; leftY < leftDisp.rows; leftY++ )
@ -230,9 +230,9 @@ void computeDepthDiscontMask( const Mat& disp, Mat& depthDiscontMask, const Mat&
float dispGap = EVAL_DISP_GAP, int discontWidth = EVAL_DISCONT_WIDTH ) float dispGap = EVAL_DISP_GAP, int discontWidth = EVAL_DISCONT_WIDTH )
{ {
if( disp.empty() ) if( disp.empty() )
CV_Error( CV_StsBadArg, "disp is empty" ); CV_Error( Error::StsBadArg, "disp is empty" );
if( disp.type() != CV_32FC1 ) if( disp.type() != CV_32FC1 )
CV_Error( CV_StsBadArg, "disp must have CV_32FC1 type" ); CV_Error( Error::StsBadArg, "disp must have CV_32FC1 type" );
if( !unknDispMask.empty() ) if( !unknDispMask.empty() )
checkTypeAndSizeOfMask( unknDispMask, disp.size() ); checkTypeAndSizeOfMask( unknDispMask, disp.size() );
@ -571,9 +571,9 @@ int CV_StereoMatchingTest::processStereoMatchingResults( FileStorage& fs, int ca
if( isWrite ) if( isWrite )
{ {
fs << caseNames[caseIdx] << "{"; fs << caseNames[caseIdx] << "{";
cvWriteComment( fs.fs, RMS_STR.c_str(), 0 ); //cvWriteComment( fs.fs, RMS_STR.c_str(), 0 );
writeErrors( RMS_STR, rmss, &fs ); writeErrors( RMS_STR, rmss, &fs );
cvWriteComment( fs.fs, BAD_PXLS_FRACTION_STR.c_str(), 0 ); //cvWriteComment( fs.fs, BAD_PXLS_FRACTION_STR.c_str(), 0 );
writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions, &fs ); writeErrors( BAD_PXLS_FRACTION_STR, badPxlsFractions, &fs );
fs << "}"; // datasetName fs << "}"; // datasetName
} }

2
modules/contrib/include/opencv2/contrib.hpp
View File

@ -48,6 +48,8 @@
#include "opencv2/features2d.hpp" #include "opencv2/features2d.hpp"
#include "opencv2/objdetect.hpp" #include "opencv2/objdetect.hpp"
#include "opencv2/core/core_c.h"
#include <ostream> #include <ostream>
#ifdef __cplusplus #ifdef __cplusplus

1
modules/contrib/src/ba.cpp
View File

@ -41,6 +41,7 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d.hpp" #include "opencv2/calib3d.hpp"
#include "opencv2/calib3d/calib3d_c.h"
#include <iostream> #include <iostream>
using namespace cv; using namespace cv;

4
modules/contrib/src/colortracker.cpp
View File

@ -60,7 +60,7 @@ void CvMeanShiftTracker::newTrackingWindow(Mat image, Rect selection)
float srange[] = { 0, 1 }; float srange[] = { 0, 1 };
const float* ranges[] = {hrange, srange}; const float* ranges[] = {hrange, srange};
cvtColor(image, hsv, CV_BGR2HSV); cvtColor(image, hsv, COLOR_BGR2HSV);
inRange(hsv, Scalar(0, 30, MIN(10, 256)), Scalar(180, 256, MAX(10, 256)), mask); inRange(hsv, Scalar(0, 30, MIN(10, 256)), Scalar(180, 256, MAX(10, 256)), mask);
hue.create(hsv.size(), CV_8UC2); hue.create(hsv.size(), CV_8UC2);
@ -83,7 +83,7 @@ RotatedRect CvMeanShiftTracker::updateTrackingWindow(Mat image)
float srange[] = { 0, 1 }; float srange[] = { 0, 1 };
const float* ranges[] = {hrange, srange}; const float* ranges[] = {hrange, srange};
cvtColor(image, hsv, CV_BGR2HSV); cvtColor(image, hsv, COLOR_BGR2HSV);
inRange(hsv, Scalar(0, 30, MIN(10, 256)), Scalar(180, 256, MAX(10, 256)), mask); inRange(hsv, Scalar(0, 30, MIN(10, 256)), Scalar(180, 256, MAX(10, 256)), mask);
hue.create(hsv.size(), CV_8UC2); hue.create(hsv.size(), CV_8UC2);
mixChannels(&hsv, 1, &hue, 1, channels, 2); mixChannels(&hsv, 1, &hue, 1, channels, 2);

10
modules/contrib/src/featuretracker.cpp
View File

@ -80,7 +80,7 @@ CvFeatureTracker::~CvFeatureTracker()
void CvFeatureTracker::newTrackingWindow(Mat image, Rect selection) void CvFeatureTracker::newTrackingWindow(Mat image, Rect selection)
{ {
image.copyTo(prev_image); image.copyTo(prev_image);
cvtColor(prev_image, prev_image_bw, CV_BGR2GRAY); cvtColor(prev_image, prev_image_bw, COLOR_BGR2GRAY);
prev_trackwindow = selection; prev_trackwindow = selection;
prev_center.x = selection.x; prev_center.x = selection.x;
prev_center.y = selection.y; prev_center.y = selection.y;
@ -131,7 +131,7 @@ Rect CvFeatureTracker::updateTrackingWindowWithSIFT(Mat image)
curr_keys.push_back(curr_keypoints[matches[i].trainIdx].pt); curr_keys.push_back(curr_keypoints[matches[i].trainIdx].pt);
} }
Mat T = findHomography(prev_keys, curr_keys, CV_LMEDS); Mat T = findHomography(prev_keys, curr_keys, LMEDS);
prev_trackwindow.x += cvRound(T.at<double> (0, 2)); prev_trackwindow.x += cvRound(T.at<double> (0, 2));
prev_trackwindow.y += cvRound(T.at<double> (1, 2)); prev_trackwindow.y += cvRound(T.at<double> (1, 2));
@ -148,12 +148,12 @@ Rect CvFeatureTracker::updateTrackingWindowWithFlow(Mat image)
ittr++; ittr++;
Size subPixWinSize(10,10), winSize(31,31); Size subPixWinSize(10,10), winSize(31,31);
Mat image_bw; Mat image_bw;
TermCriteria termcrit(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS, 20, 0.03); TermCriteria termcrit(TermCriteria::COUNT | TermCriteria::EPS, 20, 0.03);
std::vector<uchar> status; std::vector<uchar> status;
std::vector<float> err; std::vector<float> err;
cvtColor(image, image_bw, CV_BGR2GRAY); cvtColor(image, image_bw, COLOR_BGR2GRAY);
cvtColor(prev_image, prev_image_bw, CV_BGR2GRAY); cvtColor(prev_image, prev_image_bw, COLOR_BGR2GRAY);
if (ittr == 1) if (ittr == 1)
{ {

102
modules/core/include/opencv2/core.hpp
View File

@ -109,6 +109,52 @@ public:
CV_EXPORTS void error( const Exception& exc ); CV_EXPORTS void error( const Exception& exc );
enum { SORT_EVERY_ROW = 0,
SORT_EVERY_COLUMN = 1,
SORT_ASCENDING = 0,
SORT_DESCENDING = 16
};
enum { COVAR_SCRAMBLED = 0,
COVAR_NORMAL = 1,
COVAR_USE_AVG = 2,
COVAR_SCALE = 4,
COVAR_ROWS = 8,
COVAR_COLS = 16
};
/*!
k-Means flags
*/
enum { KMEANS_RANDOM_CENTERS = 0, // Chooses random centers for k-Means initialization
KMEANS_PP_CENTERS = 2, // Uses k-Means++ algorithm for initialization
KMEANS_USE_INITIAL_LABELS = 1 // Uses the user-provided labels for K-Means initialization
};
enum { FILLED = -1,
LINE_4 = 4,
LINE_8 = 8,
LINE_AA = 16
};
enum { FONT_HERSHEY_SIMPLEX = 0,
FONT_HERSHEY_PLAIN = 1,
FONT_HERSHEY_DUPLEX = 2,
FONT_HERSHEY_COMPLEX = 3,
FONT_HERSHEY_TRIPLEX = 4,
FONT_HERSHEY_COMPLEX_SMALL = 5,
FONT_HERSHEY_SCRIPT_SIMPLEX = 6,
FONT_HERSHEY_SCRIPT_COMPLEX = 7,
FONT_ITALIC = 16
};
enum { REDUCE_SUM = 0,
REDUCE_AVG = 1,
REDUCE_MAX = 2,
REDUCE_MIN = 3
};
//! swaps two matrices //! swaps two matrices
CV_EXPORTS void swap(Mat& a, Mat& b); CV_EXPORTS void swap(Mat& a, Mat& b);
@ -371,14 +417,6 @@ CV_EXPORTS_W double invert(InputArray src, OutputArray dst, int flags = DECOMP_L
CV_EXPORTS_W bool solve(InputArray src1, InputArray src2, CV_EXPORTS_W bool solve(InputArray src1, InputArray src2,
OutputArray dst, int flags = DECOMP_LU); OutputArray dst, int flags = DECOMP_LU);
enum
{
SORT_EVERY_ROW = 0,
SORT_EVERY_COLUMN = 1,
SORT_ASCENDING = 0,
SORT_DESCENDING = 16
};
//! sorts independently each matrix row or each matrix column //! sorts independently each matrix row or each matrix column
CV_EXPORTS_W void sort(InputArray src, OutputArray dst, int flags); CV_EXPORTS_W void sort(InputArray src, OutputArray dst, int flags);
@ -395,16 +433,6 @@ CV_EXPORTS_W double solvePoly(InputArray coeffs, OutputArray roots, int maxIters
CV_EXPORTS_W bool eigen(InputArray src, OutputArray eigenvalues, CV_EXPORTS_W bool eigen(InputArray src, OutputArray eigenvalues,
OutputArray eigenvectors = noArray()); OutputArray eigenvectors = noArray());
enum
{
COVAR_SCRAMBLED = 0,
COVAR_NORMAL = 1,
COVAR_USE_AVG = 2,
COVAR_SCALE = 4,
COVAR_ROWS = 8,
COVAR_COLS = 16
};
//! computes covariation matrix of a set of samples //! computes covariation matrix of a set of samples
CV_EXPORTS void calcCovarMatrix( const Mat* samples, int nsamples, Mat& covar, Mat& mean, CV_EXPORTS void calcCovarMatrix( const Mat* samples, int nsamples, Mat& covar, Mat& mean,
int flags, int ctype = CV_64F); //TODO: InputArrayOfArrays int flags, int ctype = CV_64F); //TODO: InputArrayOfArrays
@ -454,16 +482,6 @@ CV_EXPORTS_W void mulSpectrums(InputArray a, InputArray b, OutputArray c,
//! computes the minimal vector size vecsize1 >= vecsize so that the dft() of the vector of length vecsize1 can be computed efficiently //! computes the minimal vector size vecsize1 >= vecsize so that the dft() of the vector of length vecsize1 can be computed efficiently
CV_EXPORTS_W int getOptimalDFTSize(int vecsize); CV_EXPORTS_W int getOptimalDFTSize(int vecsize);
/*!
k-Means flags
*/
enum
{
KMEANS_RANDOM_CENTERS = 0, // Chooses random centers for k-Means initialization
KMEANS_PP_CENTERS = 2, // Uses k-Means++ algorithm for initialization
KMEANS_USE_INITIAL_LABELS = 1 // Uses the user-provided labels for K-Means initialization
};
//! clusters the input data using k-Means algorithm //! clusters the input data using k-Means algorithm
CV_EXPORTS_W double kmeans( InputArray data, int K, InputOutputArray bestLabels, CV_EXPORTS_W double kmeans( InputArray data, int K, InputOutputArray bestLabels,
TermCriteria criteria, int attempts, TermCriteria criteria, int attempts,
@ -481,12 +499,6 @@ CV_EXPORTS_W void randn(InputOutputArray dst, InputArray mean, InputArray stddev
//! shuffles the input array elements //! shuffles the input array elements
CV_EXPORTS_W void randShuffle(InputOutputArray dst, double iterFactor = 1., RNG* rng = 0); CV_EXPORTS_W void randShuffle(InputOutputArray dst, double iterFactor = 1., RNG* rng = 0);
enum { FILLED = -1,
LINE_4 = 4,
LINE_8 = 8,
LINE_AA = 16
};
//! draws the line segment (pt1, pt2) in the image //! draws the line segment (pt1, pt2) in the image
CV_EXPORTS_W void line(CV_IN_OUT Mat& img, Point pt1, Point pt2, const Scalar& color, CV_EXPORTS_W void line(CV_IN_OUT Mat& img, Point pt1, Point pt2, const Scalar& color,
int thickness = 1, int lineType = LINE_8, int shift = 0); int thickness = 1, int lineType = LINE_8, int shift = 0);
@ -562,19 +574,6 @@ CV_EXPORTS_W void ellipse2Poly( Point center, Size axes, int angle,
int arcStart, int arcEnd, int delta, int arcStart, int arcEnd, int delta,
CV_OUT std::vector<Point>& pts ); CV_OUT std::vector<Point>& pts );
enum
{
FONT_HERSHEY_SIMPLEX = 0,
FONT_HERSHEY_PLAIN = 1,
FONT_HERSHEY_DUPLEX = 2,
FONT_HERSHEY_COMPLEX = 3,
FONT_HERSHEY_TRIPLEX = 4,
FONT_HERSHEY_COMPLEX_SMALL = 5,
FONT_HERSHEY_SCRIPT_SIMPLEX = 6,
FONT_HERSHEY_SCRIPT_COMPLEX = 7,
FONT_ITALIC = 16
};
//! renders text string in the image //! renders text string in the image
CV_EXPORTS_W void putText( Mat& img, const String& text, Point org, CV_EXPORTS_W void putText( Mat& img, const String& text, Point org,
int fontFace, double fontScale, Scalar color, int fontFace, double fontScale, Scalar color,
@ -694,7 +693,10 @@ public:
class CV_EXPORTS SVD class CV_EXPORTS SVD
{ {
public: public:
enum { MODIFY_A = 1, NO_UV = 2, FULL_UV = 4 }; enum { MODIFY_A = 1,
NO_UV = 2,
FULL_UV = 4
};
//! the default constructor //! the default constructor
SVD(); SVD();
@ -861,7 +863,9 @@ public:
class CV_EXPORTS RNG class CV_EXPORTS RNG
{ {
public: public:
enum { UNIFORM = 0, NORMAL = 1 }; enum { UNIFORM = 0,
NORMAL = 1
};
RNG(); RNG();
RNG(uint64 state); RNG(uint64 state);

3
modules/core/include/opencv2/core/base.hpp
View File

@ -109,7 +109,8 @@ enum {
GpuNotSupported= -216, GpuNotSupported= -216,
GpuApiCallError= -217, GpuApiCallError= -217,
OpenGlNotSupported= -218, OpenGlNotSupported= -218,
OpenGlApiCallError= -219 OpenGlApiCallError= -219,
OpenCLApiCallError= -220
}; };
} //Error } //Error

6
modules/features2d/include/opencv2/features2d.hpp
View File

@ -43,10 +43,8 @@
#ifndef __OPENCV_FEATURES_2D_HPP__ #ifndef __OPENCV_FEATURES_2D_HPP__
#define __OPENCV_FEATURES_2D_HPP__ #define __OPENCV_FEATURES_2D_HPP__
#ifdef __cplusplus
#include "opencv2/core.hpp" #include "opencv2/core.hpp"
#include "opencv2/flann/miniflann.hpp" #include "opencv2/flann/miniflann.hpp"
#include <limits>
namespace cv namespace cv
{ {
@ -1521,8 +1519,4 @@ protected:
} /* namespace cv */ } /* namespace cv */
#endif /* __cplusplus */
#endif #endif
/* End of file. */

6
modules/imgproc/src/gcgraph.hpp
View File

@ -241,7 +241,7 @@ TWeight GCGraph<TWeight>::maxFlow()
// find the minimum edge weight along the path // find the minimum edge weight along the path
minWeight = edgePtr[e0].weight; minWeight = edgePtr[e0].weight;
assert( minWeight > 0 ); CV_Assert( minWeight > 0 );
// k = 1: source tree, k = 0: destination tree // k = 1: source tree, k = 0: destination tree
for( int k = 1; k >= 0; k-- ) for( int k = 1; k >= 0; k-- )
{ {
@ -251,11 +251,11 @@ TWeight GCGraph<TWeight>::maxFlow()
break; break;
weight = edgePtr[ei^k].weight; weight = edgePtr[ei^k].weight;
minWeight = MIN(minWeight, weight); minWeight = MIN(minWeight, weight);
assert( minWeight > 0 ); CV_Assert( minWeight > 0 );
} }
weight = fabs(v->weight); weight = fabs(v->weight);
minWeight = MIN(minWeight, weight); minWeight = MIN(minWeight, weight);
assert( minWeight > 0 ); CV_Assert( minWeight > 0 );
} }
// modify weights of the edges along the path and collect orphans // modify weights of the edges along the path and collect orphans

12
modules/java/android_test/src/org/opencv/test/calib3d/Calib3dTest.java
View File

@ -188,13 +188,13 @@ public class Calib3dTest extends OpenCVTestCase {
assertTrue(!corners.empty()); assertTrue(!corners.empty());
} }
public void testFindCirclesGridDefaultMatSizeMat() { public void testFindCirclesGridMatSizeMat() {
int size = 300; int size = 300;
Mat img = new Mat(size, size, CvType.CV_8U); Mat img = new Mat(size, size, CvType.CV_8U);
img.setTo(new Scalar(255)); img.setTo(new Scalar(255));
Mat centers = new Mat(); Mat centers = new Mat();
assertFalse(Calib3d.findCirclesGridDefault(img, new Size(5, 5), centers)); assertFalse(Calib3d.findCirclesGrid(img, new Size(5, 5), centers));
for (int i = 0; i < 5; i++) for (int i = 0; i < 5; i++)
for (int j = 0; j < 5; j++) { for (int j = 0; j < 5; j++) {
@ -202,20 +202,20 @@ public class Calib3dTest extends OpenCVTestCase {
Core.circle(img, pt, 10, new Scalar(0), -1); Core.circle(img, pt, 10, new Scalar(0), -1);
} }
assertTrue(Calib3d.findCirclesGridDefault(img, new Size(5, 5), centers)); assertTrue(Calib3d.findCirclesGrid(img, new Size(5, 5), centers));
assertEquals(25, centers.rows()); assertEquals(25, centers.rows());
assertEquals(1, centers.cols()); assertEquals(1, centers.cols());
assertEquals(CvType.CV_32FC2, centers.type()); assertEquals(CvType.CV_32FC2, centers.type());
} }
public void testFindCirclesGridDefaultMatSizeMatInt() { public void testFindCirclesGridMatSizeMatInt() {
int size = 300; int size = 300;
Mat img = new Mat(size, size, CvType.CV_8U); Mat img = new Mat(size, size, CvType.CV_8U);
img.setTo(new Scalar(255)); img.setTo(new Scalar(255));
Mat centers = new Mat(); Mat centers = new Mat();
assertFalse(Calib3d.findCirclesGridDefault(img, new Size(3, 5), centers, Calib3d.CALIB_CB_CLUSTERING assertFalse(Calib3d.findCirclesGrid(img, new Size(3, 5), centers, Calib3d.CALIB_CB_CLUSTERING
| Calib3d.CALIB_CB_ASYMMETRIC_GRID)); | Calib3d.CALIB_CB_ASYMMETRIC_GRID));
int step = size * 2 / 15; int step = size * 2 / 15;
@ -227,7 +227,7 @@ public class Calib3dTest extends OpenCVTestCase {
Core.circle(img, pt, 10, new Scalar(0), -1); Core.circle(img, pt, 10, new Scalar(0), -1);
} }
assertTrue(Calib3d.findCirclesGridDefault(img, new Size(3, 5), centers, Calib3d.CALIB_CB_CLUSTERING assertTrue(Calib3d.findCirclesGrid(img, new Size(3, 5), centers, Calib3d.CALIB_CB_CLUSTERING
| Calib3d.CALIB_CB_ASYMMETRIC_GRID)); | Calib3d.CALIB_CB_ASYMMETRIC_GRID));
assertEquals(15, centers.rows()); assertEquals(15, centers.rows());

4
modules/legacy/include/opencv2/legacy.hpp
View File

@ -43,11 +43,11 @@
#define __OPENCV_LEGACY_HPP__ #define __OPENCV_LEGACY_HPP__
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/features2d.hpp" #include "opencv2/calib3d/calib3d_c.h"
#include "opencv2/calib3d.hpp"
#include "opencv2/ml.hpp" #include "opencv2/ml.hpp"
#ifdef __cplusplus #ifdef __cplusplus
#include "opencv2/features2d.hpp"
extern "C" { extern "C" {
#endif #endif

1
modules/legacy/src/3dtracker.cpp
View File

@ -40,6 +40,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
#include <stdio.h> #include <stdio.h>
#include <map> #include <map>

1
modules/legacy/src/blobtrackpostprockalman.cpp
View File

@ -39,6 +39,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/video/tracking_c.h"
/*======================= KALMAN FILTER =========================*/ /*======================= KALMAN FILTER =========================*/
/* State vector is (x,y,w,h,dx,dy,dw,dh). */ /* State vector is (x,y,w,h,dx,dy,dw,dh). */

1
modules/legacy/src/camshift.cpp
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@ -39,6 +39,7 @@
// //
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/video/tracking_c.h"
CvCamShiftTracker::CvCamShiftTracker() CvCamShiftTracker::CvCamShiftTracker()
{ {

1
modules/legacy/src/compat.cpp
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@ -41,6 +41,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
CvMat cvMatArray( int rows, int cols, int type, CvMat cvMatArray( int rows, int cols, int type,
int count, void* data) int count, void* data)

1
modules/legacy/src/planardetect.cpp
View File

@ -41,6 +41,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d.hpp"
#include <stdio.h> #include <stdio.h>
namespace cv namespace cv

1
modules/legacy/src/trifocal.cpp
View File

@ -40,6 +40,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/calib3d/calib3d_c.h"
//#include "cvtypes.h" //#include "cvtypes.h"
#include <float.h> #include <float.h>

1
modules/legacy/test/test_optflow.cpp
View File

@ -42,6 +42,7 @@
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/video/tracking.hpp" #include "opencv2/video/tracking.hpp"
#include "opencv2/video/tracking_c.h"
#include <string> #include <string>
#include <iostream> #include <iostream>

1
modules/nonfree/CMakeLists.txt
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@ -3,5 +3,4 @@ if(BUILD_ANDROID_PACKAGE)
endif() endif()
set(the_description "Functionality with possible limitations on the use") set(the_description "Functionality with possible limitations on the use")
ocv_warnings_disable(CMAKE_CXX_FLAGS -Wundef)
ocv_define_module(nonfree opencv_imgproc opencv_features2d opencv_calib3d OPTIONAL opencv_gpu opencv_ocl) ocv_define_module(nonfree opencv_imgproc opencv_features2d opencv_calib3d OPTIONAL opencv_gpu opencv_ocl)

24
modules/nonfree/include/opencv2/nonfree/features2d.hpp
View File

@ -45,8 +45,6 @@
#include "opencv2/features2d.hpp" #include "opencv2/features2d.hpp"
#ifdef __cplusplus
namespace cv namespace cv
{ {
@ -58,9 +56,9 @@ namespace cv
class CV_EXPORTS_W SIFT : public Feature2D class CV_EXPORTS_W SIFT : public Feature2D
{ {
public: public:
CV_WRAP explicit SIFT( int nfeatures=0, int nOctaveLayers=3, CV_WRAP explicit SIFT( int nfeatures = 0, int nOctaveLayers = 3,
double contrastThreshold=0.04, double edgeThreshold=10, double contrastThreshold = 0.04, double edgeThreshold = 10,
double sigma=1.6); double sigma = 1.6);
//! returns the descriptor size in floats (128) //! returns the descriptor size in floats (128)
CV_WRAP int descriptorSize() const; CV_WRAP int descriptorSize() const;
@ -76,7 +74,7 @@ public:
void operator()(InputArray img, InputArray mask, void operator()(InputArray img, InputArray mask,
std::vector<KeyPoint>& keypoints, std::vector<KeyPoint>& keypoints,
OutputArray descriptors, OutputArray descriptors,
bool useProvidedKeypoints=false) const; bool useProvidedKeypoints = false) const;
AlgorithmInfo* info() const; AlgorithmInfo* info() const;
@ -86,7 +84,7 @@ public:
std::vector<KeyPoint>& keypoints ) const; std::vector<KeyPoint>& keypoints ) const;
protected: protected:
void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const; void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask = Mat() ) const;
void computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors ) const; void computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors ) const;
CV_PROP_RW int nfeatures; CV_PROP_RW int nfeatures;
@ -111,8 +109,8 @@ public:
CV_WRAP SURF(); CV_WRAP SURF();
//! the full constructor taking all the necessary parameters //! the full constructor taking all the necessary parameters
explicit CV_WRAP SURF(double hessianThreshold, explicit CV_WRAP SURF(double hessianThreshold,
int nOctaves=4, int nOctaveLayers=2, int nOctaves = 4, int nOctaveLayers = 2,
bool extended=true, bool upright=false); bool extended = true, bool upright = false);
//! returns the descriptor size in float's (64 or 128) //! returns the descriptor size in float's (64 or 128)
CV_WRAP int descriptorSize() const; CV_WRAP int descriptorSize() const;
@ -127,7 +125,7 @@ public:
void operator()(InputArray img, InputArray mask, void operator()(InputArray img, InputArray mask,
CV_OUT std::vector<KeyPoint>& keypoints, CV_OUT std::vector<KeyPoint>& keypoints,
OutputArray descriptors, OutputArray descriptors,
bool useProvidedKeypoints=false) const; bool useProvidedKeypoints = false) const;
AlgorithmInfo* info() const; AlgorithmInfo* info() const;
@ -139,7 +137,7 @@ public:
protected: protected:
void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask=Mat() ) const; void detectImpl( const Mat& image, std::vector<KeyPoint>& keypoints, const Mat& mask = Mat() ) const;
void computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors ) const; void computeImpl( const Mat& image, std::vector<KeyPoint>& keypoints, Mat& descriptors ) const;
}; };
@ -148,8 +146,4 @@ typedef SURF SurfDescriptorExtractor;
} /* namespace cv */ } /* namespace cv */
#endif /* __cplusplus */
#endif #endif
/* End of file. */

2
modules/nonfree/include/opencv2/nonfree/ocl.hpp
View File

@ -121,4 +121,4 @@ namespace cv
} }
} }
#endif //__OPENCV_NONFREE_OCL_HPP__ #endif //__OPENCV_NONFREE_OCL_HPP__

2
modules/nonfree/src/surf.ocl.cpp
View File

@ -182,7 +182,7 @@ public:
if (use_mask) if (use_mask)
{ {
CV_Error(CV_StsBadFunc, "Masked SURF detector is not implemented yet"); CV_Error(Error::StsBadFunc, "Masked SURF detector is not implemented yet");
//!FIXME //!FIXME
// temp fix for missing min overload // temp fix for missing min overload
//oclMat temp(mask.size(), mask.type()); //oclMat temp(mask.size(), mask.type());

12
modules/nonfree/test/test_features2d.cpp
View File

@ -275,12 +275,16 @@ static Mat readMatFromBin( const string& filename )
size_t elements_read4 = fread( (void*)&dataSize, sizeof(int), 1, f ); size_t elements_read4 = fread( (void*)&dataSize, sizeof(int), 1, f );
CV_Assert(elements_read1 == 1 && elements_read2 == 1 && elements_read3 == 1 && elements_read4 == 1); CV_Assert(elements_read1 == 1 && elements_read2 == 1 && elements_read3 == 1 && elements_read4 == 1);
uchar* data = (uchar*)cvAlloc(dataSize); size_t step = dataSize / rows / CV_ELEM_SIZE(type);
size_t elements_read = fread( (void*)data, 1, dataSize, f ); CV_Assert(step >= (size_t)cols);
Mat m = Mat( rows, step, type).colRange(0, cols);
size_t elements_read = fread( m.ptr(), 1, dataSize, f );
CV_Assert(elements_read == (size_t)(dataSize)); CV_Assert(elements_read == (size_t)(dataSize));
fclose(f); fclose(f);
return Mat( rows, cols, type, data ); return m;
} }
return Mat(); return Mat();
} }
@ -402,7 +406,7 @@ protected:
double t = (double)getTickCount(); double t = (double)getTickCount();
dextractor->compute( img, keypoints, calcDescriptors ); dextractor->compute( img, keypoints, calcDescriptors );
t = getTickCount() - t; t = getTickCount() - t;
ts->printf(cvtest::TS::LOG, "\nAverage time of computing one descriptor = %g ms.\n", t/((double)cvGetTickFrequency()*1000.)/calcDescriptors.rows ); ts->printf(cvtest::TS::LOG, "\nAverage time of computing one descriptor = %g ms.\n", t/((double)getTickFrequency()*1000.)/calcDescriptors.rows );
if( calcDescriptors.rows != (int)keypoints.size() ) if( calcDescriptors.rows != (int)keypoints.size() )
{ {

783
modules/objdetect/include/opencv2/objdetect.hpp
View File

@ -7,11 +7,12 @@
// copy or use the software. // copy or use the software.
// //
// //
// License Agreement // License Agreement
// For Open Source Computer Vision Library // For Open Source Computer Vision Library
// //
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved. // Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners. // Third party copyrights are property of their respective owners.
// //
// Redistribution and use in source and binary forms, with or without modification, // Redistribution and use in source and binary forms, with or without modification,
@ -43,248 +44,10 @@
#ifndef __OPENCV_OBJDETECT_HPP__ #ifndef __OPENCV_OBJDETECT_HPP__
#define __OPENCV_OBJDETECT_HPP__ #define __OPENCV_OBJDETECT_HPP__
#ifdef __cplusplus #include "opencv2/core.hpp"
# include "opencv2/core.hpp"
#endif
#include "opencv2/core/core_c.h"
#ifdef __cplusplus typedef struct CvLatentSvmDetector CvLatentSvmDetector;
#include <map> typedef struct CvHaarClassifierCascade CvHaarClassifierCascade;
#include <deque>
extern "C" {
#endif
/****************************************************************************************\
* Haar-like Object Detection functions *
\****************************************************************************************/
#define CV_HAAR_MAGIC_VAL 0x42500000
#define CV_TYPE_NAME_HAAR "opencv-haar-classifier"
#define CV_IS_HAAR_CLASSIFIER( haar ) \
((haar) != NULL && \
(((const CvHaarClassifierCascade*)(haar))->flags & CV_MAGIC_MASK)==CV_HAAR_MAGIC_VAL)
#define CV_HAAR_FEATURE_MAX 3
typedef struct CvHaarFeature
{
int tilted;
struct
{
CvRect r;
float weight;
} rect[CV_HAAR_FEATURE_MAX];
} CvHaarFeature;
typedef struct CvHaarClassifier
{
int count;
CvHaarFeature* haar_feature;
float* threshold;
int* left;
int* right;
float* alpha;
} CvHaarClassifier;
typedef struct CvHaarStageClassifier
{
int count;
float threshold;
CvHaarClassifier* classifier;
int next;
int child;
int parent;
} CvHaarStageClassifier;
typedef struct CvHidHaarClassifierCascade CvHidHaarClassifierCascade;
typedef struct CvHaarClassifierCascade
{
int flags;
int count;
CvSize orig_window_size;
CvSize real_window_size;
double scale;
CvHaarStageClassifier* stage_classifier;
CvHidHaarClassifierCascade* hid_cascade;
} CvHaarClassifierCascade;
typedef struct CvAvgComp
{
CvRect rect;
int neighbors;
} CvAvgComp;
/* Loads haar classifier cascade from a directory.
It is obsolete: convert your cascade to xml and use cvLoad instead */
CVAPI(CvHaarClassifierCascade*) cvLoadHaarClassifierCascade(
const char* directory, CvSize orig_window_size);
CVAPI(void) cvReleaseHaarClassifierCascade( CvHaarClassifierCascade** cascade );
#define CV_HAAR_DO_CANNY_PRUNING 1
#define CV_HAAR_SCALE_IMAGE 2
#define CV_HAAR_FIND_BIGGEST_OBJECT 4
#define CV_HAAR_DO_ROUGH_SEARCH 8
//CVAPI(CvSeq*) cvHaarDetectObjectsForROC( const CvArr* image,
// CvHaarClassifierCascade* cascade, CvMemStorage* storage,
// CvSeq** rejectLevels, CvSeq** levelWeightds,
// double scale_factor CV_DEFAULT(1.1),
// int min_neighbors CV_DEFAULT(3), int flags CV_DEFAULT(0),
// CvSize min_size CV_DEFAULT(cvSize(0,0)), CvSize max_size CV_DEFAULT(cvSize(0,0)),
// bool outputRejectLevels = false );
CVAPI(CvSeq*) cvHaarDetectObjects( const CvArr* image,
CvHaarClassifierCascade* cascade, CvMemStorage* storage,
double scale_factor CV_DEFAULT(1.1),
int min_neighbors CV_DEFAULT(3), int flags CV_DEFAULT(0),
CvSize min_size CV_DEFAULT(cvSize(0,0)), CvSize max_size CV_DEFAULT(cvSize(0,0)));
/* sets images for haar classifier cascade */
CVAPI(void) cvSetImagesForHaarClassifierCascade( CvHaarClassifierCascade* cascade,
const CvArr* sum, const CvArr* sqsum,
const CvArr* tilted_sum, double scale );
/* runs the cascade on the specified window */
CVAPI(int) cvRunHaarClassifierCascade( const CvHaarClassifierCascade* cascade,
CvPoint pt, int start_stage CV_DEFAULT(0));
/****************************************************************************************\
* Latent SVM Object Detection functions *
\****************************************************************************************/
// DataType: STRUCT position
// Structure describes the position of the filter in the feature pyramid
// l - level in the feature pyramid
// (x, y) - coordinate in level l
typedef struct CvLSVMFilterPosition
{
int x;
int y;
int l;
} CvLSVMFilterPosition;
// DataType: STRUCT filterObject
// Description of the filter, which corresponds to the part of the object
// V - ideal (penalty = 0) position of the partial filter
// from the root filter position (V_i in the paper)
// penaltyFunction - vector describes penalty function (d_i in the paper)
// pf[0] * x + pf[1] * y + pf[2] * x^2 + pf[3] * y^2
// FILTER DESCRIPTION
// Rectangular map (sizeX x sizeY),
// every cell stores feature vector (dimension = p)
// H - matrix of feature vectors
// to set and get feature vectors (i,j)
// used formula H[(j * sizeX + i) * p + k], where
// k - component of feature vector in cell (i, j)
// END OF FILTER DESCRIPTION
typedef struct CvLSVMFilterObject{
CvLSVMFilterPosition V;
float fineFunction[4];
int sizeX;
int sizeY;
int numFeatures;
float *H;
} CvLSVMFilterObject;
// data type: STRUCT CvLatentSvmDetector
// structure contains internal representation of trained Latent SVM detector
// num_filters - total number of filters (root plus part) in model
// num_components - number of components in model
// num_part_filters - array containing number of part filters for each component
// filters - root and part filters for all model components
// b - biases for all model components
// score_threshold - confidence level threshold
typedef struct CvLatentSvmDetector
{
int num_filters;
int num_components;
int* num_part_filters;
CvLSVMFilterObject** filters;
float* b;
float score_threshold;
}
CvLatentSvmDetector;
// data type: STRUCT CvObjectDetection
// structure contains the bounding box and confidence level for detected object
// rect - bounding box for a detected object
// score - confidence level
typedef struct CvObjectDetection
{
CvRect rect;
float score;
} CvObjectDetection;
//////////////// Object Detection using Latent SVM //////////////
/*
// load trained detector from a file
//
// API
// CvLatentSvmDetector* cvLoadLatentSvmDetector(const char* filename);
// INPUT
// filename - path to the file containing the parameters of
- trained Latent SVM detector
// OUTPUT
// trained Latent SVM detector in internal representation
*/
CVAPI(CvLatentSvmDetector*) cvLoadLatentSvmDetector(const char* filename);
/*
// release memory allocated for CvLatentSvmDetector structure
//
// API
// void cvReleaseLatentSvmDetector(CvLatentSvmDetector** detector);
// INPUT
// detector - CvLatentSvmDetector structure to be released
// OUTPUT
*/
CVAPI(void) cvReleaseLatentSvmDetector(CvLatentSvmDetector** detector);
/*
// find rectangular regions in the given image that are likely
// to contain objects and corresponding confidence levels
//
// API
// CvSeq* cvLatentSvmDetectObjects(const IplImage* image,
// CvLatentSvmDetector* detector,
// CvMemStorage* storage,
// float overlap_threshold = 0.5f,
// int numThreads = -1);
// INPUT
// image - image to detect objects in
// detector - Latent SVM detector in internal representation
// storage - memory storage to store the resultant sequence
// of the object candidate rectangles
// overlap_threshold - threshold for the non-maximum suppression algorithm
= 0.5f [here will be the reference to original paper]
// OUTPUT
// sequence of detected objects (bounding boxes and confidence levels stored in CvObjectDetection structures)
*/
CVAPI(CvSeq*) cvLatentSvmDetectObjects(IplImage* image,
CvLatentSvmDetector* detector,
CvMemStorage* storage,
float overlap_threshold CV_DEFAULT(0.5f),
int numThreads CV_DEFAULT(-1));
#ifdef __cplusplus
}
CV_EXPORTS CvSeq* cvHaarDetectObjectsForROC( const CvArr* image,
CvHaarClassifierCascade* cascade, CvMemStorage* storage,
std::vector<int>& rejectLevels, std::vector<double>& levelWeightds,
double scale_factor CV_DEFAULT(1.1),
int min_neighbors CV_DEFAULT(3), int flags CV_DEFAULT(0),
CvSize min_size CV_DEFAULT(cvSize(0,0)), CvSize max_size CV_DEFAULT(cvSize(0,0)),
bool outputRejectLevels = false );
namespace cv namespace cv
{ {
@ -303,24 +66,24 @@ public:
struct CV_EXPORTS ObjectDetection struct CV_EXPORTS ObjectDetection
{ {
ObjectDetection(); ObjectDetection();
ObjectDetection( const Rect& rect, float score, int classID=-1 ); ObjectDetection( const Rect& rect, float score, int classID = -1 );
Rect rect; Rect rect;
float score; float score;
int classID; int classID;
}; };
LatentSvmDetector(); LatentSvmDetector();
LatentSvmDetector( const std::vector<String>& filenames, const std::vector<String>& classNames=std::vector<String>() ); LatentSvmDetector( const std::vector<String>& filenames, const std::vector<String>& classNames = std::vector<String>() );
virtual ~LatentSvmDetector(); virtual ~LatentSvmDetector();
virtual void clear(); virtual void clear();
virtual bool empty() const; virtual bool empty() const;
bool load( const std::vector<String>& filenames, const std::vector<String>& classNames=std::vector<String>() ); bool load( const std::vector<String>& filenames, const std::vector<String>& classNames = std::vector<String>() );
virtual void detect( const Mat& image, virtual void detect( const Mat& image,
std::vector<ObjectDetection>& objectDetections, std::vector<ObjectDetection>& objectDetections,
float overlapThreshold=0.5f, float overlapThreshold = 0.5f,
int numThreads=-1 ); int numThreads = -1 );
const std::vector<String>& getClassNames() const; const std::vector<String>& getClassNames() const;
size_t getClassCount() const; size_t getClassCount() const;
@ -330,19 +93,22 @@ private:
std::vector<String> classNames; std::vector<String> classNames;
}; };
CV_EXPORTS void groupRectangles(CV_OUT CV_IN_OUT std::vector<Rect>& rectList, int groupThreshold, double eps=0.2); CV_EXPORTS void groupRectangles(std::vector<Rect>& rectList, int groupThreshold, double eps = 0.2);
CV_EXPORTS_W void groupRectangles(CV_OUT CV_IN_OUT std::vector<Rect>& rectList, CV_OUT std::vector<int>& weights, int groupThreshold, double eps=0.2); CV_EXPORTS_W void groupRectangles(CV_IN_OUT std::vector<Rect>& rectList, CV_OUT std::vector<int>& weights, int groupThreshold, double eps = 0.2);
CV_EXPORTS void groupRectangles( std::vector<Rect>& rectList, int groupThreshold, double eps, std::vector<int>* weights, std::vector<double>* levelWeights ); CV_EXPORTS void groupRectangles(std::vector<Rect>& rectList, int groupThreshold, double eps, std::vector<int>* weights, std::vector<double>* levelWeights );
CV_EXPORTS void groupRectangles(std::vector<Rect>& rectList, std::vector<int>& rejectLevels, CV_EXPORTS void groupRectangles(std::vector<Rect>& rectList, std::vector<int>& rejectLevels,
std::vector<double>& levelWeights, int groupThreshold, double eps=0.2); std::vector<double>& levelWeights, int groupThreshold, double eps = 0.2);
CV_EXPORTS void groupRectangles_meanshift(std::vector<Rect>& rectList, std::vector<double>& foundWeights, std::vector<double>& foundScales, CV_EXPORTS void groupRectangles_meanshift(std::vector<Rect>& rectList, std::vector<double>& foundWeights, std::vector<double>& foundScales,
double detectThreshold = 0.0, Size winDetSize = Size(64, 128)); double detectThreshold = 0.0, Size winDetSize = Size(64, 128));
class CV_EXPORTS FeatureEvaluator class CV_EXPORTS FeatureEvaluator
{ {
public: public:
enum { HAAR = 0, LBP = 1, HOG = 2 }; enum { HAAR = 0,
LBP = 1,
HOG = 2
};
virtual ~FeatureEvaluator(); virtual ~FeatureEvaluator();
virtual bool read(const FileNode& node); virtual bool read(const FileNode& node);
@ -360,13 +126,11 @@ public:
template<> CV_EXPORTS void Ptr<CvHaarClassifierCascade>::delete_obj(); template<> CV_EXPORTS void Ptr<CvHaarClassifierCascade>::delete_obj();
enum enum { CASCADE_DO_CANNY_PRUNING = 1,
{ CASCADE_SCALE_IMAGE = 2,
CASCADE_DO_CANNY_PRUNING=1, CASCADE_FIND_BIGGEST_OBJECT = 4,
CASCADE_SCALE_IMAGE=2, CASCADE_DO_ROUGH_SEARCH = 8
CASCADE_FIND_BIGGEST_OBJECT=4, };
CASCADE_DO_ROUGH_SEARCH=8
};
class CV_EXPORTS_W CascadeClassifier class CV_EXPORTS_W CascadeClassifier
{ {
@ -380,20 +144,20 @@ public:
virtual bool read( const FileNode& node ); virtual bool read( const FileNode& node );
CV_WRAP virtual void detectMultiScale( const Mat& image, CV_WRAP virtual void detectMultiScale( const Mat& image,
CV_OUT std::vector<Rect>& objects, CV_OUT std::vector<Rect>& objects,
double scaleFactor=1.1, double scaleFactor = 1.1,
int minNeighbors=3, int flags=0, int minNeighbors = 3, int flags = 0,
Size minSize=Size(), Size minSize = Size(),
Size maxSize=Size() ); Size maxSize = Size() );
CV_WRAP virtual void detectMultiScale( const Mat& image, CV_WRAP virtual void detectMultiScale( const Mat& image,
CV_OUT std::vector<Rect>& objects, CV_OUT std::vector<Rect>& objects,
CV_OUT std::vector<int>& rejectLevels, CV_OUT std::vector<int>& rejectLevels,
CV_OUT std::vector<double>& levelWeights, CV_OUT std::vector<double>& levelWeights,
double scaleFactor=1.1, double scaleFactor = 1.1,
int minNeighbors=3, int flags=0, int minNeighbors = 3, int flags = 0,
Size minSize=Size(), Size minSize = Size(),
Size maxSize=Size(), Size maxSize = Size(),
bool outputRejectLevels=false ); bool outputRejectLevels = false );
bool isOldFormatCascade() const; bool isOldFormatCascade() const;
@ -402,17 +166,18 @@ public:
bool setImage( const Mat& ); bool setImage( const Mat& );
protected: protected:
//virtual bool detectSingleScale( const Mat& image, int stripCount, Size processingRectSize,
// int stripSize, int yStep, double factor, std::vector<Rect>& candidates );
virtual bool detectSingleScale( const Mat& image, int stripCount, Size processingRectSize, virtual bool detectSingleScale( const Mat& image, int stripCount, Size processingRectSize,
int stripSize, int yStep, double factor, std::vector<Rect>& candidates, int stripSize, int yStep, double factor, std::vector<Rect>& candidates,
std::vector<int>& rejectLevels, std::vector<double>& levelWeights, bool outputRejectLevels=false); std::vector<int>& rejectLevels, std::vector<double>& levelWeights, bool outputRejectLevels = false);
protected: protected:
enum { BOOST = 0 }; enum { BOOST = 0
enum { DO_CANNY_PRUNING = 1, SCALE_IMAGE = 2, };
FIND_BIGGEST_OBJECT = 4, DO_ROUGH_SEARCH = 8 }; enum { DO_CANNY_PRUNING = CASCADE_DO_CANNY_PRUNING,
SCALE_IMAGE = CASCADE_SCALE_IMAGE,
FIND_BIGGEST_OBJECT = CASCADE_FIND_BIGGEST_OBJECT,
DO_ROUGH_SEARCH = CASCADE_DO_ROUGH_SEARCH
};
friend class CascadeClassifierInvoker; friend class CascadeClassifierInvoker;
@ -507,8 +272,10 @@ struct DetectionROI
struct CV_EXPORTS_W HOGDescriptor struct CV_EXPORTS_W HOGDescriptor
{ {
public: public:
enum { L2Hys=0 }; enum { L2Hys = 0
enum { DEFAULT_NLEVELS=64 }; };
enum { DEFAULT_NLEVELS = 64
};
CV_WRAP HOGDescriptor() : winSize(64,128), blockSize(16,16), blockStride(8,8), CV_WRAP HOGDescriptor() : winSize(64,128), blockSize(16,16), blockStride(8,8),
cellSize(8,8), nbins(9), derivAperture(1), winSigma(-1), cellSize(8,8), nbins(9), derivAperture(1), winSigma(-1),
@ -548,38 +315,38 @@ public:
virtual bool read(FileNode& fn); virtual bool read(FileNode& fn);
virtual void write(FileStorage& fs, const String& objname) const; virtual void write(FileStorage& fs, const String& objname) const;
CV_WRAP virtual bool load(const String& filename, const String& objname=String()); CV_WRAP virtual bool load(const String& filename, const String& objname = String());
CV_WRAP virtual void save(const String& filename, const String& objname=String()) const; CV_WRAP virtual void save(const String& filename, const String& objname = String()) const;
virtual void copyTo(HOGDescriptor& c) const; virtual void copyTo(HOGDescriptor& c) const;
CV_WRAP virtual void compute(const Mat& img, CV_WRAP virtual void compute(const Mat& img,
CV_OUT std::vector<float>& descriptors, CV_OUT std::vector<float>& descriptors,
Size winStride=Size(), Size padding=Size(), Size winStride = Size(), Size padding = Size(),
const std::vector<Point>& locations=std::vector<Point>()) const; const std::vector<Point>& locations = std::vector<Point>()) const;
//with found weights output //with found weights output
CV_WRAP virtual void detect(const Mat& img, CV_OUT std::vector<Point>& foundLocations, CV_WRAP virtual void detect(const Mat& img, CV_OUT std::vector<Point>& foundLocations,
CV_OUT std::vector<double>& weights, CV_OUT std::vector<double>& weights,
double hitThreshold=0, Size winStride=Size(), double hitThreshold = 0, Size winStride = Size(),
Size padding=Size(), Size padding = Size(),
const std::vector<Point>& searchLocations=std::vector<Point>()) const; const std::vector<Point>& searchLocations = std::vector<Point>()) const;
//without found weights output //without found weights output
virtual void detect(const Mat& img, CV_OUT std::vector<Point>& foundLocations, virtual void detect(const Mat& img, CV_OUT std::vector<Point>& foundLocations,
double hitThreshold=0, Size winStride=Size(), double hitThreshold = 0, Size winStride = Size(),
Size padding=Size(), Size padding = Size(),
const std::vector<Point>& searchLocations=std::vector<Point>()) const; const std::vector<Point>& searchLocations=std::vector<Point>()) const;
//with result weights output //with result weights output
CV_WRAP virtual void detectMultiScale(const Mat& img, CV_OUT std::vector<Rect>& foundLocations, CV_WRAP virtual void detectMultiScale(const Mat& img, CV_OUT std::vector<Rect>& foundLocations,
CV_OUT std::vector<double>& foundWeights, double hitThreshold=0, CV_OUT std::vector<double>& foundWeights, double hitThreshold = 0,
Size winStride=Size(), Size padding=Size(), double scale=1.05, Size winStride = Size(), Size padding = Size(), double scale = 1.05,
double finalThreshold=2.0,bool useMeanshiftGrouping = false) const; double finalThreshold = 2.0,bool useMeanshiftGrouping = false) const;
//without found weights output //without found weights output
virtual void detectMultiScale(const Mat& img, CV_OUT std::vector<Rect>& foundLocations, virtual void detectMultiScale(const Mat& img, CV_OUT std::vector<Rect>& foundLocations,
double hitThreshold=0, Size winStride=Size(), double hitThreshold = 0, Size winStride = Size(),
Size padding=Size(), double scale=1.05, Size padding = Size(), double scale = 1.05,
double finalThreshold=2.0, bool useMeanshiftGrouping = false) const; double finalThreshold = 2.0, bool useMeanshiftGrouping = false) const;
CV_WRAP virtual void computeGradient(const Mat& img, CV_OUT Mat& grad, CV_OUT Mat& angleOfs, CV_WRAP virtual void computeGradient(const Mat& img, CV_OUT Mat& grad, CV_OUT Mat& angleOfs,
Size paddingTL=Size(), Size paddingBR=Size()) const; Size paddingTL = Size(), Size paddingBR = Size()) const;
CV_WRAP static std::vector<float> getDefaultPeopleDetector(); CV_WRAP static std::vector<float> getDefaultPeopleDetector();
CV_WRAP static std::vector<float> getDaimlerPeopleDetector(); CV_WRAP static std::vector<float> getDaimlerPeopleDetector();
@ -618,430 +385,14 @@ public:
CV_EXPORTS_W void findDataMatrix(InputArray image, CV_EXPORTS_W void findDataMatrix(InputArray image,
CV_OUT std::vector<String>& codes, CV_OUT std::vector<String>& codes,
OutputArray corners=noArray(), OutputArray corners = noArray(),
OutputArrayOfArrays dmtx=noArray()); OutputArrayOfArrays dmtx = noArray());
CV_EXPORTS_W void drawDataMatrixCodes(InputOutputArray image, CV_EXPORTS_W void drawDataMatrixCodes(InputOutputArray image,
const std::vector<String>& codes, const std::vector<String>& codes,
InputArray corners); InputArray corners);
} }
/****************************************************************************************\ #include "opencv2/objdetect/linemod.hpp"
* Datamatrix *
\****************************************************************************************/
struct CV_EXPORTS CvDataMatrixCode {
char msg[4];
CvMat *original;
CvMat *corners;
};
CV_EXPORTS std::deque<CvDataMatrixCode> cvFindDataMatrix(CvMat *im);
/****************************************************************************************\
* LINE-MOD *
\****************************************************************************************/
namespace cv {
namespace linemod {
/// @todo Convert doxy comments to rst
/**
* \brief Discriminant feature described by its location and label.
*/
struct CV_EXPORTS Feature
{
int x; ///< x offset
int y; ///< y offset
int label; ///< Quantization
Feature() : x(0), y(0), label(0) {}
Feature(int x, int y, int label);
void read(const FileNode& fn);
void write(FileStorage& fs) const;
};
inline Feature::Feature(int _x, int _y, int _label) : x(_x), y(_y), label(_label) {}
struct CV_EXPORTS Template
{
int width;
int height;
int pyramid_level;
std::vector<Feature> features;
void read(const FileNode& fn);
void write(FileStorage& fs) const;
};
/**
* \brief Represents a modality operating over an image pyramid.
*/
class QuantizedPyramid
{
public:
// Virtual destructor
virtual ~QuantizedPyramid() {}
/**
* \brief Compute quantized image at current pyramid level for online detection.
*
* \param[out] dst The destination 8-bit image. For each pixel at most one bit is set,
* representing its classification.
*/
virtual void quantize(Mat& dst) const =0;
/**
* \brief Extract most discriminant features at current pyramid level to form a new template.
*
* \param[out] templ The new template.
*/
virtual bool extractTemplate(Template& templ) const =0;
/**
* \brief Go to the next pyramid level.
*
* \todo Allow pyramid scale factor other than 2
*/
virtual void pyrDown() =0;
protected:
/// Candidate feature with a score
struct Candidate
{
Candidate(int x, int y, int label, float score);
/// Sort candidates with high score to the front
bool operator<(const Candidate& rhs) const
{
return score > rhs.score;
}
Feature f;
float score;
};
/**
* \brief Choose candidate features so that they are not bunched together.
*
* \param[in] candidates Candidate features sorted by score.
* \param[out] features Destination vector of selected features.
* \param[in] num_features Number of candidates to select.
* \param[in] distance Hint for desired distance between features.
*/
static void selectScatteredFeatures(const std::vector<Candidate>& candidates,
std::vector<Feature>& features,
size_t num_features, float distance);
};
inline QuantizedPyramid::Candidate::Candidate(int x, int y, int label, float _score) : f(x, y, label), score(_score) {}
/**
* \brief Interface for modalities that plug into the LINE template matching representation.
*
* \todo Max response, to allow optimization of summing (255/MAX) features as uint8
*/
class CV_EXPORTS Modality
{
public:
// Virtual destructor
virtual ~Modality() {}
/**
* \brief Form a quantized image pyramid from a source image.
*
* \param[in] src The source image. Type depends on the modality.
* \param[in] mask Optional mask. If not empty, unmasked pixels are set to zero
* in quantized image and cannot be extracted as features.
*/
Ptr<QuantizedPyramid> process(const Mat& src,
const Mat& mask = Mat()) const
{
return processImpl(src, mask);
}
virtual String name() const =0;
virtual void read(const FileNode& fn) =0;
virtual void write(FileStorage& fs) const =0;
/**
* \brief Create modality by name.
*
* The following modality types are supported:
* - "ColorGradient"
* - "DepthNormal"
*/
static Ptr<Modality> create(const String& modality_type);
/**
* \brief Load a modality from file.
*/
static Ptr<Modality> create(const FileNode& fn);
protected:
// Indirection is because process() has a default parameter.
virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,
const Mat& mask) const =0;
};
/**
* \brief Modality that computes quantized gradient orientations from a color image.
*/
class CV_EXPORTS ColorGradient : public Modality
{
public:
/**
* \brief Default constructor. Uses reasonable default parameter values.
*/
ColorGradient();
/**
* \brief Constructor.
*
* \param weak_threshold When quantizing, discard gradients with magnitude less than this.
* \param num_features How many features a template must contain.
* \param strong_threshold Consider as candidate features only gradients whose norms are
* larger than this.
*/
ColorGradient(float weak_threshold, size_t num_features, float strong_threshold);
virtual String name() const;
virtual void read(const FileNode& fn);
virtual void write(FileStorage& fs) const;
float weak_threshold;
size_t num_features;
float strong_threshold;
protected:
virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,
const Mat& mask) const;
};
/**
* \brief Modality that computes quantized surface normals from a dense depth map.
*/
class CV_EXPORTS DepthNormal : public Modality
{
public:
/**
* \brief Default constructor. Uses reasonable default parameter values.
*/
DepthNormal();
/**
* \brief Constructor.
*
* \param distance_threshold Ignore pixels beyond this distance.
* \param difference_threshold When computing normals, ignore contributions of pixels whose
* depth difference with the central pixel is above this threshold.
* \param num_features How many features a template must contain.
* \param extract_threshold Consider as candidate feature only if there are no differing
* orientations within a distance of extract_threshold.
*/
DepthNormal(int distance_threshold, int difference_threshold, size_t num_features,
int extract_threshold);
virtual String name() const;
virtual void read(const FileNode& fn);
virtual void write(FileStorage& fs) const;
int distance_threshold;
int difference_threshold;
size_t num_features;
int extract_threshold;
protected:
virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,
const Mat& mask) const;
};
/**
* \brief Debug function to colormap a quantized image for viewing.
*/
void colormap(const Mat& quantized, Mat& dst);
/**
* \brief Represents a successful template match.
*/
struct CV_EXPORTS Match
{
Match()
{
}
Match(int x, int y, float similarity, const String& class_id, int template_id);
/// Sort matches with high similarity to the front
bool operator<(const Match& rhs) const
{
// Secondarily sort on template_id for the sake of duplicate removal
if (similarity != rhs.similarity)
return similarity > rhs.similarity;
else
return template_id < rhs.template_id;
}
bool operator==(const Match& rhs) const
{
return x == rhs.x && y == rhs.y && similarity == rhs.similarity && class_id == rhs.class_id;
}
int x;
int y;
float similarity;
String class_id;
int template_id;
};
inline Match::Match(int _x, int _y, float _similarity, const String& _class_id, int _template_id)
: x(_x), y(_y), similarity(_similarity), class_id(_class_id), template_id(_template_id)
{
}
/**
* \brief Object detector using the LINE template matching algorithm with any set of
* modalities.
*/
class CV_EXPORTS Detector
{
public:
/**
* \brief Empty constructor, initialize with read().
*/
Detector();
/**
* \brief Constructor.
*
* \param modalities Modalities to use (color gradients, depth normals, ...).
* \param T_pyramid Value of the sampling step T at each pyramid level. The
* number of pyramid levels is T_pyramid.size().
*/
Detector(const std::vector< Ptr<Modality> >& modalities, const std::vector<int>& T_pyramid);
/**
* \brief Detect objects by template matching.
*
* Matches globally at the lowest pyramid level, then refines locally stepping up the pyramid.
*
* \param sources Source images, one for each modality.
* \param threshold Similarity threshold, a percentage between 0 and 100.
* \param[out] matches Template matches, sorted by similarity score.
* \param class_ids If non-empty, only search for the desired object classes.
* \param[out] quantized_images Optionally return vector<Mat> of quantized images.
* \param masks The masks for consideration during matching. The masks should be CV_8UC1
* where 255 represents a valid pixel. If non-empty, the vector must be
* the same size as sources. Each element must be
* empty or the same size as its corresponding source.
*/
void match(const std::vector<Mat>& sources, float threshold, std::vector<Match>& matches,
const std::vector<String>& class_ids = std::vector<String>(),
OutputArrayOfArrays quantized_images = noArray(),
const std::vector<Mat>& masks = std::vector<Mat>()) const;
/**
* \brief Add new object template.
*
* \param sources Source images, one for each modality.
* \param class_id Object class ID.
* \param object_mask Mask separating object from background.
* \param[out] bounding_box Optionally return bounding box of the extracted features.
*
* \return Template ID, or -1 if failed to extract a valid template.
*/
int addTemplate(const std::vector<Mat>& sources, const String& class_id,
const Mat& object_mask, Rect* bounding_box = NULL);
/**
* \brief Add a new object template computed by external means.
*/
int addSyntheticTemplate(const std::vector<Template>& templates, const String& class_id);
/**
* \brief Get the modalities used by this detector.
*
* You are not permitted to add/remove modalities, but you may dynamic_cast them to
* tweak parameters.
*/
const std::vector< Ptr<Modality> >& getModalities() const { return modalities; }
/**
* \brief Get sampling step T at pyramid_level.
*/
int getT(int pyramid_level) const { return T_at_level[pyramid_level]; }
/**
* \brief Get number of pyramid levels used by this detector.
*/
int pyramidLevels() const { return pyramid_levels; }
/**
* \brief Get the template pyramid identified by template_id.
*
* For example, with 2 modalities (Gradient, Normal) and two pyramid levels
* (L0, L1), the order is (GradientL0, NormalL0, GradientL1, NormalL1).
*/
const std::vector<Template>& getTemplates(const String& class_id, int template_id) const;
int numTemplates() const;
int numTemplates(const String& class_id) const;
int numClasses() const { return static_cast<int>(class_templates.size()); }
std::vector<String> classIds() const;
void read(const FileNode& fn);
void write(FileStorage& fs) const;
String readClass(const FileNode& fn, const String &class_id_override = "");
void writeClass(const String& class_id, FileStorage& fs) const;
void readClasses(const std::vector<String>& class_ids,
const String& format = "templates_%s.yml.gz");
void writeClasses(const String& format = "templates_%s.yml.gz") const;
protected:
std::vector< Ptr<Modality> > modalities;
int pyramid_levels;
std::vector<int> T_at_level;
typedef std::vector<Template> TemplatePyramid;
typedef std::map<String, std::vector<TemplatePyramid> > TemplatesMap;
TemplatesMap class_templates;
typedef std::vector<Mat> LinearMemories;
// Indexed as [pyramid level][modality][quantized label]
typedef std::vector< std::vector<LinearMemories> > LinearMemoryPyramid;
void matchClass(const LinearMemoryPyramid& lm_pyramid,
const std::vector<Size>& sizes,
float threshold, std::vector<Match>& matches,
const String& class_id,
const std::vector<TemplatePyramid>& template_pyramids) const;
};
/**
* \brief Factory function for detector using LINE algorithm with color gradients.
*
* Default parameter settings suitable for VGA images.
*/
CV_EXPORTS Ptr<Detector> getDefaultLINE();
/**
* \brief Factory function for detector using LINE-MOD algorithm with color gradients
* and depth normals.
*
* Default parameter settings suitable for VGA images.
*/
CV_EXPORTS Ptr<Detector> getDefaultLINEMOD();
} // namespace linemod
} // namespace cv
#endif
#endif #endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * 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
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_OBJDETECT_LINEMOD_HPP__
#define __OPENCV_OBJDETECT_LINEMOD_HPP__
#include "opencv2/core.hpp"
#include <map>
/****************************************************************************************\
* LINE-MOD *
\****************************************************************************************/
namespace cv {
namespace linemod {
/// @todo Convert doxy comments to rst
/**
* \brief Discriminant feature described by its location and label.
*/
struct CV_EXPORTS Feature
{
int x; ///< x offset
int y; ///< y offset
int label; ///< Quantization
Feature() : x(0), y(0), label(0) {}
Feature(int x, int y, int label);
void read(const FileNode& fn);
void write(FileStorage& fs) const;
};
inline Feature::Feature(int _x, int _y, int _label) : x(_x), y(_y), label(_label) {}
struct CV_EXPORTS Template
{
int width;
int height;
int pyramid_level;
std::vector<Feature> features;
void read(const FileNode& fn);
void write(FileStorage& fs) const;
};
/**
* \brief Represents a modality operating over an image pyramid.
*/
class QuantizedPyramid
{
public:
// Virtual destructor
virtual ~QuantizedPyramid() {}
/**
* \brief Compute quantized image at current pyramid level for online detection.
*
* \param[out] dst The destination 8-bit image. For each pixel at most one bit is set,
* representing its classification.
*/
virtual void quantize(Mat& dst) const =0;
/**
* \brief Extract most discriminant features at current pyramid level to form a new template.
*
* \param[out] templ The new template.
*/
virtual bool extractTemplate(Template& templ) const =0;
/**
* \brief Go to the next pyramid level.
*
* \todo Allow pyramid scale factor other than 2
*/
virtual void pyrDown() =0;
protected:
/// Candidate feature with a score
struct Candidate
{
Candidate(int x, int y, int label, float score);
/// Sort candidates with high score to the front
bool operator<(const Candidate& rhs) const
{
return score > rhs.score;
}
Feature f;
float score;
};
/**
* \brief Choose candidate features so that they are not bunched together.
*
* \param[in] candidates Candidate features sorted by score.
* \param[out] features Destination vector of selected features.
* \param[in] num_features Number of candidates to select.
* \param[in] distance Hint for desired distance between features.
*/
static void selectScatteredFeatures(const std::vector<Candidate>& candidates,
std::vector<Feature>& features,
size_t num_features, float distance);
};
inline QuantizedPyramid::Candidate::Candidate(int x, int y, int label, float _score) : f(x, y, label), score(_score) {}
/**
* \brief Interface for modalities that plug into the LINE template matching representation.
*
* \todo Max response, to allow optimization of summing (255/MAX) features as uint8
*/
class CV_EXPORTS Modality
{
public:
// Virtual destructor
virtual ~Modality() {}
/**
* \brief Form a quantized image pyramid from a source image.
*
* \param[in] src The source image. Type depends on the modality.
* \param[in] mask Optional mask. If not empty, unmasked pixels are set to zero
* in quantized image and cannot be extracted as features.
*/
Ptr<QuantizedPyramid> process(const Mat& src,
const Mat& mask = Mat()) const
{
return processImpl(src, mask);
}
virtual String name() const =0;
virtual void read(const FileNode& fn) =0;
virtual void write(FileStorage& fs) const =0;
/**
* \brief Create modality by name.
*
* The following modality types are supported:
* - "ColorGradient"
* - "DepthNormal"
*/
static Ptr<Modality> create(const String& modality_type);
/**
* \brief Load a modality from file.
*/
static Ptr<Modality> create(const FileNode& fn);
protected:
// Indirection is because process() has a default parameter.
virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,
const Mat& mask) const =0;
};
/**
* \brief Modality that computes quantized gradient orientations from a color image.
*/
class CV_EXPORTS ColorGradient : public Modality
{
public:
/**
* \brief Default constructor. Uses reasonable default parameter values.
*/
ColorGradient();
/**
* \brief Constructor.
*
* \param weak_threshold When quantizing, discard gradients with magnitude less than this.
* \param num_features How many features a template must contain.
* \param strong_threshold Consider as candidate features only gradients whose norms are
* larger than this.
*/
ColorGradient(float weak_threshold, size_t num_features, float strong_threshold);
virtual String name() const;
virtual void read(const FileNode& fn);
virtual void write(FileStorage& fs) const;
float weak_threshold;
size_t num_features;
float strong_threshold;
protected:
virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,
const Mat& mask) const;
};
/**
* \brief Modality that computes quantized surface normals from a dense depth map.
*/
class CV_EXPORTS DepthNormal : public Modality
{
public:
/**
* \brief Default constructor. Uses reasonable default parameter values.
*/
DepthNormal();
/**
* \brief Constructor.
*
* \param distance_threshold Ignore pixels beyond this distance.
* \param difference_threshold When computing normals, ignore contributions of pixels whose
* depth difference with the central pixel is above this threshold.
* \param num_features How many features a template must contain.
* \param extract_threshold Consider as candidate feature only if there are no differing
* orientations within a distance of extract_threshold.
*/
DepthNormal(int distance_threshold, int difference_threshold, size_t num_features,
int extract_threshold);
virtual String name() const;
virtual void read(const FileNode& fn);
virtual void write(FileStorage& fs) const;
int distance_threshold;
int difference_threshold;
size_t num_features;
int extract_threshold;
protected:
virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,
const Mat& mask) const;
};
/**
* \brief Debug function to colormap a quantized image for viewing.
*/
void colormap(const Mat& quantized, Mat& dst);
/**
* \brief Represents a successful template match.
*/
struct CV_EXPORTS Match
{
Match()
{
}
Match(int x, int y, float similarity, const String& class_id, int template_id);
/// Sort matches with high similarity to the front
bool operator<(const Match& rhs) const
{
// Secondarily sort on template_id for the sake of duplicate removal
if (similarity != rhs.similarity)
return similarity > rhs.similarity;
else
return template_id < rhs.template_id;
}
bool operator==(const Match& rhs) const
{
return x == rhs.x && y == rhs.y && similarity == rhs.similarity && class_id == rhs.class_id;
}
int x;
int y;
float similarity;
String class_id;
int template_id;
};
inline
Match::Match(int _x, int _y, float _similarity, const String& _class_id, int _template_id)
: x(_x), y(_y), similarity(_similarity), class_id(_class_id), template_id(_template_id)
{}
/**
* \brief Object detector using the LINE template matching algorithm with any set of
* modalities.
*/
class CV_EXPORTS Detector
{
public:
/**
* \brief Empty constructor, initialize with read().
*/
Detector();
/**
* \brief Constructor.
*
* \param modalities Modalities to use (color gradients, depth normals, ...).
* \param T_pyramid Value of the sampling step T at each pyramid level. The
* number of pyramid levels is T_pyramid.size().
*/
Detector(const std::vector< Ptr<Modality> >& modalities, const std::vector<int>& T_pyramid);
/**
* \brief Detect objects by template matching.
*
* Matches globally at the lowest pyramid level, then refines locally stepping up the pyramid.
*
* \param sources Source images, one for each modality.
* \param threshold Similarity threshold, a percentage between 0 and 100.
* \param[out] matches Template matches, sorted by similarity score.
* \param class_ids If non-empty, only search for the desired object classes.
* \param[out] quantized_images Optionally return vector<Mat> of quantized images.
* \param masks The masks for consideration during matching. The masks should be CV_8UC1
* where 255 represents a valid pixel. If non-empty, the vector must be
* the same size as sources. Each element must be
* empty or the same size as its corresponding source.
*/
void match(const std::vector<Mat>& sources, float threshold, std::vector<Match>& matches,
const std::vector<String>& class_ids = std::vector<String>(),
OutputArrayOfArrays quantized_images = noArray(),
const std::vector<Mat>& masks = std::vector<Mat>()) const;
/**
* \brief Add new object template.
*
* \param sources Source images, one for each modality.
* \param class_id Object class ID.
* \param object_mask Mask separating object from background.
* \param[out] bounding_box Optionally return bounding box of the extracted features.
*
* \return Template ID, or -1 if failed to extract a valid template.
*/
int addTemplate(const std::vector<Mat>& sources, const String& class_id,
const Mat& object_mask, Rect* bounding_box = NULL);
/**
* \brief Add a new object template computed by external means.
*/
int addSyntheticTemplate(const std::vector<Template>& templates, const String& class_id);
/**
* \brief Get the modalities used by this detector.
*
* You are not permitted to add/remove modalities, but you may dynamic_cast them to
* tweak parameters.
*/
const std::vector< Ptr<Modality> >& getModalities() const { return modalities; }
/**
* \brief Get sampling step T at pyramid_level.
*/
int getT(int pyramid_level) const { return T_at_level[pyramid_level]; }
/**
* \brief Get number of pyramid levels used by this detector.
*/
int pyramidLevels() const { return pyramid_levels; }
/**
* \brief Get the template pyramid identified by template_id.
*
* For example, with 2 modalities (Gradient, Normal) and two pyramid levels
* (L0, L1), the order is (GradientL0, NormalL0, GradientL1, NormalL1).
*/
const std::vector<Template>& getTemplates(const String& class_id, int template_id) const;
int numTemplates() const;
int numTemplates(const String& class_id) const;
int numClasses() const { return static_cast<int>(class_templates.size()); }
std::vector<String> classIds() const;
void read(const FileNode& fn);
void write(FileStorage& fs) const;
String readClass(const FileNode& fn, const String &class_id_override = "");
void writeClass(const String& class_id, FileStorage& fs) const;
void readClasses(const std::vector<String>& class_ids,
const String& format = "templates_%s.yml.gz");
void writeClasses(const String& format = "templates_%s.yml.gz") const;
protected:
std::vector< Ptr<Modality> > modalities;
int pyramid_levels;
std::vector<int> T_at_level;
typedef std::vector<Template> TemplatePyramid;
typedef std::map<String, std::vector<TemplatePyramid> > TemplatesMap;
TemplatesMap class_templates;
typedef std::vector<Mat> LinearMemories;
// Indexed as [pyramid level][modality][quantized label]
typedef std::vector< std::vector<LinearMemories> > LinearMemoryPyramid;
void matchClass(const LinearMemoryPyramid& lm_pyramid,
const std::vector<Size>& sizes,
float threshold, std::vector<Match>& matches,
const String& class_id,
const std::vector<TemplatePyramid>& template_pyramids) const;
};
/**
* \brief Factory function for detector using LINE algorithm with color gradients.
*
* Default parameter settings suitable for VGA images.
*/
CV_EXPORTS Ptr<Detector> getDefaultLINE();
/**
* \brief Factory function for detector using LINE-MOD algorithm with color gradients
* and depth normals.
*
* Default parameter settings suitable for VGA images.
*/
CV_EXPORTS Ptr<Detector> getDefaultLINEMOD();
} // namespace linemod
} // namespace cv
#endif // __OPENCV_OBJDETECT_LINEMOD_HPP__

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * 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
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_OBJDETECT_C_H__
#define __OPENCV_OBJDETECT_C_H__
#include "opencv2/core/core_c.h"
#ifdef __cplusplus
#include <deque>
#include <vector>
extern "C" {
#endif
/****************************************************************************************\
* Haar-like Object Detection functions *
\****************************************************************************************/
#define CV_HAAR_MAGIC_VAL 0x42500000
#define CV_TYPE_NAME_HAAR "opencv-haar-classifier"
#define CV_IS_HAAR_CLASSIFIER( haar ) \
((haar) != NULL && \
(((const CvHaarClassifierCascade*)(haar))->flags & CV_MAGIC_MASK)==CV_HAAR_MAGIC_VAL)
#define CV_HAAR_FEATURE_MAX 3
typedef struct CvHaarFeature
{
int tilted;
struct
{
CvRect r;
float weight;
} rect[CV_HAAR_FEATURE_MAX];
} CvHaarFeature;
typedef struct CvHaarClassifier
{
int count;
CvHaarFeature* haar_feature;
float* threshold;
int* left;
int* right;
float* alpha;
} CvHaarClassifier;
typedef struct CvHaarStageClassifier
{
int count;
float threshold;
CvHaarClassifier* classifier;
int next;
int child;
int parent;
} CvHaarStageClassifier;
typedef struct CvHidHaarClassifierCascade CvHidHaarClassifierCascade;
typedef struct CvHaarClassifierCascade
{
int flags;
int count;
CvSize orig_window_size;
CvSize real_window_size;
double scale;
CvHaarStageClassifier* stage_classifier;
CvHidHaarClassifierCascade* hid_cascade;
} CvHaarClassifierCascade;
typedef struct CvAvgComp
{
CvRect rect;
int neighbors;
} CvAvgComp;
/* Loads haar classifier cascade from a directory.
It is obsolete: convert your cascade to xml and use cvLoad instead */
CVAPI(CvHaarClassifierCascade*) cvLoadHaarClassifierCascade(
const char* directory, CvSize orig_window_size);
CVAPI(void) cvReleaseHaarClassifierCascade( CvHaarClassifierCascade** cascade );
#define CV_HAAR_DO_CANNY_PRUNING 1
#define CV_HAAR_SCALE_IMAGE 2
#define CV_HAAR_FIND_BIGGEST_OBJECT 4
#define CV_HAAR_DO_ROUGH_SEARCH 8
CVAPI(CvSeq*) cvHaarDetectObjects( const CvArr* image,
CvHaarClassifierCascade* cascade, CvMemStorage* storage,
double scale_factor CV_DEFAULT(1.1),
int min_neighbors CV_DEFAULT(3), int flags CV_DEFAULT(0),
CvSize min_size CV_DEFAULT(cvSize(0,0)), CvSize max_size CV_DEFAULT(cvSize(0,0)));
/* sets images for haar classifier cascade */
CVAPI(void) cvSetImagesForHaarClassifierCascade( CvHaarClassifierCascade* cascade,
const CvArr* sum, const CvArr* sqsum,
const CvArr* tilted_sum, double scale );
/* runs the cascade on the specified window */
CVAPI(int) cvRunHaarClassifierCascade( const CvHaarClassifierCascade* cascade,
CvPoint pt, int start_stage CV_DEFAULT(0));
/****************************************************************************************\
* Latent SVM Object Detection functions *
\****************************************************************************************/
// DataType: STRUCT position
// Structure describes the position of the filter in the feature pyramid
// l - level in the feature pyramid
// (x, y) - coordinate in level l
typedef struct CvLSVMFilterPosition
{
int x;
int y;
int l;
} CvLSVMFilterPosition;
// DataType: STRUCT filterObject
// Description of the filter, which corresponds to the part of the object
// V - ideal (penalty = 0) position of the partial filter
// from the root filter position (V_i in the paper)
// penaltyFunction - vector describes penalty function (d_i in the paper)
// pf[0] * x + pf[1] * y + pf[2] * x^2 + pf[3] * y^2
// FILTER DESCRIPTION
// Rectangular map (sizeX x sizeY),
// every cell stores feature vector (dimension = p)
// H - matrix of feature vectors
// to set and get feature vectors (i,j)
// used formula H[(j * sizeX + i) * p + k], where
// k - component of feature vector in cell (i, j)
// END OF FILTER DESCRIPTION
typedef struct CvLSVMFilterObject{
CvLSVMFilterPosition V;
float fineFunction[4];
int sizeX;
int sizeY;
int numFeatures;
float *H;
} CvLSVMFilterObject;
// data type: STRUCT CvLatentSvmDetector
// structure contains internal representation of trained Latent SVM detector
// num_filters - total number of filters (root plus part) in model
// num_components - number of components in model
// num_part_filters - array containing number of part filters for each component
// filters - root and part filters for all model components
// b - biases for all model components
// score_threshold - confidence level threshold
typedef struct CvLatentSvmDetector
{
int num_filters;
int num_components;
int* num_part_filters;
CvLSVMFilterObject** filters;
float* b;
float score_threshold;
} CvLatentSvmDetector;
// data type: STRUCT CvObjectDetection
// structure contains the bounding box and confidence level for detected object
// rect - bounding box for a detected object
// score - confidence level
typedef struct CvObjectDetection
{
CvRect rect;
float score;
} CvObjectDetection;
//////////////// Object Detection using Latent SVM //////////////
/*
// load trained detector from a file
//
// API
// CvLatentSvmDetector* cvLoadLatentSvmDetector(const char* filename);
// INPUT
// filename - path to the file containing the parameters of
- trained Latent SVM detector
// OUTPUT
// trained Latent SVM detector in internal representation
*/
CVAPI(CvLatentSvmDetector*) cvLoadLatentSvmDetector(const char* filename);
/*
// release memory allocated for CvLatentSvmDetector structure
//
// API
// void cvReleaseLatentSvmDetector(CvLatentSvmDetector** detector);
// INPUT
// detector - CvLatentSvmDetector structure to be released
// OUTPUT
*/
CVAPI(void) cvReleaseLatentSvmDetector(CvLatentSvmDetector** detector);
/*
// find rectangular regions in the given image that are likely
// to contain objects and corresponding confidence levels
//
// API
// CvSeq* cvLatentSvmDetectObjects(const IplImage* image,
// CvLatentSvmDetector* detector,
// CvMemStorage* storage,
// float overlap_threshold = 0.5f,
// int numThreads = -1);
// INPUT
// image - image to detect objects in
// detector - Latent SVM detector in internal representation
// storage - memory storage to store the resultant sequence
// of the object candidate rectangles
// overlap_threshold - threshold for the non-maximum suppression algorithm
= 0.5f [here will be the reference to original paper]
// OUTPUT
// sequence of detected objects (bounding boxes and confidence levels stored in CvObjectDetection structures)
*/
CVAPI(CvSeq*) cvLatentSvmDetectObjects(IplImage* image,
CvLatentSvmDetector* detector,
CvMemStorage* storage,
float overlap_threshold CV_DEFAULT(0.5f),
int numThreads CV_DEFAULT(-1));
#ifdef __cplusplus
}
CV_EXPORTS CvSeq* cvHaarDetectObjectsForROC( const CvArr* image,
CvHaarClassifierCascade* cascade, CvMemStorage* storage,
std::vector<int>& rejectLevels, std::vector<double>& levelWeightds,
double scale_factor = 1.1,
int min_neighbors = 3, int flags = 0,
CvSize min_size = cvSize(0, 0), CvSize max_size = cvSize(0, 0),
bool outputRejectLevels = false );
struct CvDataMatrixCode
{
char msg[4];
CvMat* original;
CvMat* corners;
};
CV_EXPORTS std::deque<CvDataMatrixCode> cvFindDataMatrix(CvMat *im);
#endif
#endif /* __OPENCV_OBJDETECT_C_H__ */

2
modules/objdetect/src/_lsvm_routine.h
View File

@ -1,6 +1,8 @@
#ifndef _LSVM_ROUTINE_H_ #ifndef _LSVM_ROUTINE_H_
#define _LSVM_ROUTINE_H_ #define _LSVM_ROUTINE_H_
#include "opencv2/objdetect/objdetect_c.h"
#include "_lsvm_types.h" #include "_lsvm_types.h"
#include "_lsvm_error.h" #include "_lsvm_error.h"

1
modules/objdetect/src/_lsvmparser.h
View File

@ -1,5 +1,6 @@
#ifndef LSVM_PARSER #ifndef LSVM_PARSER
#define LSVM_PARSER #define LSVM_PARSER
#include "opencv2/objdetect/objdetect_c.h"
#include "_lsvm_types.h" #include "_lsvm_types.h"

1
modules/objdetect/src/cascadedetect.cpp
View File

@ -43,6 +43,7 @@
#include <cstdio> #include <cstdio>
#include "cascadedetect.hpp" #include "cascadedetect.hpp"
#include "opencv2/objdetect/objdetect_c.h"
#if defined (LOG_CASCADE_STATISTIC) #if defined (LOG_CASCADE_STATISTIC)
struct Logger struct Logger

2
modules/objdetect/src/datamatrix.cpp
View File

@ -1,7 +1,7 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/objdetect/objdetect_c.h"
#include <deque>
#include <algorithm> #include <algorithm>
class Sampler { class Sampler {

1
modules/objdetect/src/haar.cpp
View File

@ -43,6 +43,7 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/objdetect/objdetect_c.h"
#include <stdio.h> #include <stdio.h>
#if CV_SSE2 #if CV_SSE2

7
modules/objdetect/src/hog.cpp
View File

@ -41,6 +41,7 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/core/core_c.h"
#include <cstdio> #include <cstdio>
#include <iterator> #include <iterator>
@ -2862,7 +2863,7 @@ void HOGDescriptor::readALTModel(String modelfile)
String eerr("file not exist"); String eerr("file not exist");
String efile(__FILE__); String efile(__FILE__);
String efunc(__FUNCTION__); String efunc(__FUNCTION__);
throw Exception(CV_StsError, eerr, efile, efunc, __LINE__); throw Exception(Error::StsError, eerr, efile, efunc, __LINE__);
} }
char version_buffer[10]; char version_buffer[10];
if (!fread (&version_buffer,sizeof(char),10,modelfl)) if (!fread (&version_buffer,sizeof(char),10,modelfl))
@ -2870,13 +2871,13 @@ void HOGDescriptor::readALTModel(String modelfile)
String eerr("version?"); String eerr("version?");
String efile(__FILE__); String efile(__FILE__);
String efunc(__FUNCTION__); String efunc(__FUNCTION__);
throw Exception(CV_StsError, eerr, efile, efunc, __LINE__); throw Exception(Error::StsError, eerr, efile, efunc, __LINE__);
} }
if(strcmp(version_buffer,"V6.01")) { if(strcmp(version_buffer,"V6.01")) {
String eerr("version doesnot match"); String eerr("version doesnot match");
String efile(__FILE__); String efile(__FILE__);
String efunc(__FUNCTION__); String efunc(__FUNCTION__);
throw Exception(CV_StsError, eerr, efile, efunc, __LINE__); throw Exception(Error::StsError, eerr, efile, efunc, __LINE__);
} }
/* read version number */ /* read version number */
int version = 0; int version = 0;

1
modules/objdetect/src/latentsvmdetector.cpp
View File

@ -1,5 +1,6 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/imgproc/imgproc_c.h" #include "opencv2/imgproc/imgproc_c.h"
#include "opencv2/objdetect/objdetect_c.h"
#include "_lsvmparser.h" #include "_lsvmparser.h"
#include "_lsvm_matching.h" #include "_lsvm_matching.h"

8
modules/objdetect/src/linemod.cpp
View File

@ -66,7 +66,7 @@ static inline int getLabel(int quantized)
case 64: return 6; case 64: return 6;
case 128: return 7; case 128: return 7;
default: default:
CV_Error(CV_StsBadArg, "Invalid value of quantized parameter"); CV_Error(Error::StsBadArg, "Invalid value of quantized parameter");
return -1; //avoid warning return -1; //avoid warning
} }
} }
@ -1398,17 +1398,17 @@ void Detector::match(const std::vector<Mat>& sources, float threshold, std::vect
if (quantized_images.needed()) if (quantized_images.needed())
quantized_images.create(1, static_cast<int>(pyramid_levels * modalities.size()), CV_8U); quantized_images.create(1, static_cast<int>(pyramid_levels * modalities.size()), CV_8U);
assert(sources.size() == modalities.size()); CV_Assert(sources.size() == modalities.size());
// Initialize each modality with our sources // Initialize each modality with our sources
std::vector< Ptr<QuantizedPyramid> > quantizers; std::vector< Ptr<QuantizedPyramid> > quantizers;
for (int i = 0; i < (int)modalities.size(); ++i){ for (int i = 0; i < (int)modalities.size(); ++i){
Mat mask, source; Mat mask, source;
source = sources[i]; source = sources[i];
if(!masks.empty()){ if(!masks.empty()){
assert(masks.size() == modalities.size()); CV_Assert(masks.size() == modalities.size());
mask = masks[i]; mask = masks[i];
} }
assert(mask.empty() || mask.size() == source.size()); CV_Assert(mask.empty() || mask.size() == source.size());
quantizers.push_back(modalities[i]->process(source, mask)); quantizers.push_back(modalities[i]->process(source, mask));
} }
// pyramid level -> modality -> quantization // pyramid level -> modality -> quantization

1
modules/objdetect/src/matching.cpp
View File

@ -1,4 +1,5 @@
#include "precomp.hpp" #include "precomp.hpp"
#include "opencv2/objdetect/objdetect_c.h"
#include "_lsvm_matching.h" #include "_lsvm_matching.h"
#include <stdio.h> #include <stdio.h>

23
modules/objdetect/test/test_cascadeandhog.cpp
View File

@ -41,6 +41,7 @@
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/imgproc.hpp" #include "opencv2/imgproc.hpp"
#include "opencv2/objdetect/objdetect_c.h"
using namespace cv; using namespace cv;
using namespace std; using namespace std;
@ -117,7 +118,7 @@ int CV_DetectorTest::prepareData( FileStorage& _fs )
// fn[TOTAL_NO_PAIR_E] >> eps.totalNoPair; // fn[TOTAL_NO_PAIR_E] >> eps.totalNoPair;
// read detectors // read detectors
if( fn[DETECTOR_NAMES].node->data.seq != 0 ) if( fn[DETECTOR_NAMES].size() != 0 )
{ {
FileNodeIterator it = fn[DETECTOR_NAMES].begin(); FileNodeIterator it = fn[DETECTOR_NAMES].begin();
for( ; it != fn[DETECTOR_NAMES].end(); ) for( ; it != fn[DETECTOR_NAMES].end(); )
@ -132,7 +133,7 @@ int CV_DetectorTest::prepareData( FileStorage& _fs )
// read images filenames and images // read images filenames and images
string dataPath = ts->get_data_path(); string dataPath = ts->get_data_path();
if( fn[IMAGE_FILENAMES].node->data.seq != 0 ) if( fn[IMAGE_FILENAMES].size() != 0 )
{ {
for( FileNodeIterator it = fn[IMAGE_FILENAMES].begin(); it != fn[IMAGE_FILENAMES].end(); ) for( FileNodeIterator it = fn[IMAGE_FILENAMES].begin(); it != fn[IMAGE_FILENAMES].end(); )
{ {
@ -210,7 +211,7 @@ void CV_DetectorTest::run( int )
{ {
char buf[10]; char buf[10];
sprintf( buf, "%s%d", "img_", ii ); sprintf( buf, "%s%d", "img_", ii );
cvWriteComment( validationFS.fs, buf, 0 ); //cvWriteComment( validationFS.fs, buf, 0 );
validationFS << *it; validationFS << *it;
} }
validationFS << "]"; // IMAGE_FILENAMES validationFS << "]"; // IMAGE_FILENAMES
@ -316,7 +317,7 @@ int CV_DetectorTest::validate( int detectorIdx, vector<vector<Rect> >& objects )
string imageIdxStr = buf; string imageIdxStr = buf;
FileNode node = validationFS.getFirstTopLevelNode()[VALIDATION][detectorNames[detectorIdx]][imageIdxStr]; FileNode node = validationFS.getFirstTopLevelNode()[VALIDATION][detectorNames[detectorIdx]][imageIdxStr];
vector<Rect> valRects; vector<Rect> valRects;
if( node.node->data.seq != 0 ) if( node.size() != 0 )
{ {
for( FileNodeIterator it2 = node.begin(); it2 != node.end(); ) for( FileNodeIterator it2 = node.begin(); it2 != node.end(); )
{ {
@ -410,12 +411,12 @@ void CV_CascadeDetectorTest::readDetector( const FileNode& fn )
if( flag ) if( flag )
flags.push_back( 0 ); flags.push_back( 0 );
else else
flags.push_back( CV_HAAR_SCALE_IMAGE ); flags.push_back( CASCADE_SCALE_IMAGE );
} }
void CV_CascadeDetectorTest::writeDetector( FileStorage& fs, int di ) void CV_CascadeDetectorTest::writeDetector( FileStorage& fs, int di )
{ {
int sc = flags[di] & CV_HAAR_SCALE_IMAGE ? 0 : 1; int sc = flags[di] & CASCADE_SCALE_IMAGE ? 0 : 1;
fs << FILENAME << detectorFilenames[di]; fs << FILENAME << detectorFilenames[di];
fs << C_SCALE_CASCADE << sc; fs << C_SCALE_CASCADE << sc;
} }
@ -439,7 +440,7 @@ int CV_CascadeDetectorTest::detectMultiScale_C( const string& filename,
CvMat c_gray = grayImg; CvMat c_gray = grayImg;
CvSeq* rs = cvHaarDetectObjects(&c_gray, c_cascade, storage, 1.1, 3, flags[di] ); CvSeq* rs = cvHaarDetectObjects(&c_gray, c_cascade, storage, 1.1, 3, flags[di] );
objects.clear(); objects.clear();
for( int i = 0; i < rs->total; i++ ) for( int i = 0; i < rs->total; i++ )
{ {
@ -494,7 +495,7 @@ CV_HOGDetectorTest::CV_HOGDetectorTest()
void CV_HOGDetectorTest::readDetector( const FileNode& fn ) void CV_HOGDetectorTest::readDetector( const FileNode& fn )
{ {
String filename; String filename;
if( fn[FILENAME].node->data.seq != 0 ) if( fn[FILENAME].size() != 0 )
fn[FILENAME] >> filename; fn[FILENAME] >> filename;
detectorFilenames.push_back( filename); detectorFilenames.push_back( filename);
} }
@ -1085,7 +1086,7 @@ void HOGDescriptorTester::detect(const Mat& img,
} }
const double eps = 0.0; const double eps = 0.0;
double diff_norm = norm(Mat(actual_weights) - Mat(weights), CV_L2); double diff_norm = norm(Mat(actual_weights) - Mat(weights), NORM_L2);
if (diff_norm > eps) if (diff_norm > eps)
{ {
ts->printf(cvtest::TS::SUMMARY, "Weights for found locations aren't equal.\n" ts->printf(cvtest::TS::SUMMARY, "Weights for found locations aren't equal.\n"
@ -1164,7 +1165,7 @@ void HOGDescriptorTester::compute(const Mat& img, vector<float>& descriptors,
std::vector<float> actual_descriptors; std::vector<float> actual_descriptors;
actual_hog->compute(img, actual_descriptors, winStride, padding, locations); actual_hog->compute(img, actual_descriptors, winStride, padding, locations);
double diff_norm = cv::norm(Mat(actual_descriptors) - Mat(descriptors), CV_L2); double diff_norm = cv::norm(Mat(actual_descriptors) - Mat(descriptors), NORM_L2);
const double eps = 0.0; const double eps = 0.0;
if (diff_norm > eps) if (diff_norm > eps)
{ {
@ -1314,7 +1315,7 @@ void HOGDescriptorTester::computeGradient(const Mat& img, Mat& grad, Mat& qangle
const double eps = 0.0; const double eps = 0.0;
for (i = 0; i < 2; ++i) for (i = 0; i < 2; ++i)
{ {
double diff_norm = norm(reference_mats[i] - actual_mats[i], CV_L2); double diff_norm = norm(reference_mats[i] - actual_mats[i], NORM_L2);
if (diff_norm > eps) if (diff_norm > eps)
{ {
ts->printf(cvtest::TS::LOG, "%s matrices are not equal\n" ts->printf(cvtest::TS::LOG, "%s matrices are not equal\n"

1
modules/objdetect/test/test_latentsvmdetector.cpp
View File

@ -41,6 +41,7 @@
//M*/ //M*/
#include "test_precomp.hpp" #include "test_precomp.hpp"
#include "opencv2/objdetect/objdetect_c.h"
#include <string> #include <string>
#ifdef HAVE_TBB #ifdef HAVE_TBB

7
modules/ocl/include/opencv2/ocl.hpp
View File

@ -131,9 +131,6 @@ namespace cv
//getDevice also need to be called before this function //getDevice also need to be called before this function
CV_EXPORTS void setDeviceEx(Info &oclinfo, void *ctx, void *qu, int devnum = 0); CV_EXPORTS void setDeviceEx(Info &oclinfo, void *ctx, void *qu, int devnum = 0);
//////////////////////////////// Error handling ////////////////////////
CV_EXPORTS void error(const char *error_string, const char *file, const int line, const char *func);
//////////////////////////////// OpenCL context //////////////////////// //////////////////////////////// OpenCL context ////////////////////////
//This is a global singleton class used to represent a OpenCL context. //This is a global singleton class used to represent a OpenCL context.
class CV_EXPORTS Context class CV_EXPORTS Context
@ -811,7 +808,8 @@ namespace cv
///////////////////////////////////////////CascadeClassifier////////////////////////////////////////////////////////////////// ///////////////////////////////////////////CascadeClassifier//////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
class CV_EXPORTS_W OclCascadeClassifier : public cv::CascadeClassifier #if 0
class CV_EXPORTS OclCascadeClassifier : public cv::CascadeClassifier
{ {
public: public:
OclCascadeClassifier() {}; OclCascadeClassifier() {};
@ -820,6 +818,7 @@ namespace cv
CvSeq* oclHaarDetectObjects(oclMat &gimg, CvMemStorage *storage, double scaleFactor, CvSeq* oclHaarDetectObjects(oclMat &gimg, CvMemStorage *storage, double scaleFactor,
int minNeighbors, int flags, CvSize minSize = cvSize(0, 0), CvSize maxSize = cvSize(0, 0)); int minNeighbors, int flags, CvSize minSize = cvSize(0, 0), CvSize maxSize = cvSize(0, 0));
}; };
#endif

8
modules/ocl/include/opencv2/ocl/matrix_operations.hpp
View File

@ -459,28 +459,28 @@ namespace cv
inline uchar *oclMat::ptr(int y) inline uchar *oclMat::ptr(int y)
{ {
CV_DbgAssert( (unsigned)y < (unsigned)rows ); CV_DbgAssert( (unsigned)y < (unsigned)rows );
CV_Error(CV_GpuNotSupported, "This function hasn't been supported yet.\n"); CV_Error(Error::GpuNotSupported, "This function hasn't been supported yet.\n");
return data + step * y; return data + step * y;
} }
inline const uchar *oclMat::ptr(int y) const inline const uchar *oclMat::ptr(int y) const
{ {
CV_DbgAssert( (unsigned)y < (unsigned)rows ); CV_DbgAssert( (unsigned)y < (unsigned)rows );
CV_Error(CV_GpuNotSupported, "This function hasn't been supported yet.\n"); CV_Error(Error::GpuNotSupported, "This function hasn't been supported yet.\n");
return data + step * y; return data + step * y;
} }
template<typename _Tp> inline _Tp *oclMat::ptr(int y) template<typename _Tp> inline _Tp *oclMat::ptr(int y)
{ {
CV_DbgAssert( (unsigned)y < (unsigned)rows ); CV_DbgAssert( (unsigned)y < (unsigned)rows );
CV_Error(CV_GpuNotSupported, "This function hasn't been supported yet.\n"); CV_Error(Error::GpuNotSupported, "This function hasn't been supported yet.\n");
return (_Tp *)(data + step * y); return (_Tp *)(data + step * y);
} }
template<typename _Tp> inline const _Tp *oclMat::ptr(int y) const template<typename _Tp> inline const _Tp *oclMat::ptr(int y) const
{ {
CV_DbgAssert( (unsigned)y < (unsigned)rows ); CV_DbgAssert( (unsigned)y < (unsigned)rows );
CV_Error(CV_GpuNotSupported, "This function hasn't been supported yet.\n"); CV_Error(Error::GpuNotSupported, "This function hasn't been supported yet.\n");
return (const _Tp *)(data + step * y); return (const _Tp *)(data + step * y);
} }

2
modules/ocl/perf/main.cpp
View File

@ -63,8 +63,6 @@ int main(int argc, const char *argv[])
} }
} }
redirectError(cvErrorCallback);
const char *keys = const char *keys =
"{ h help | false | print help message }" "{ h help | false | print help message }"
"{ f filter | | filter for test }" "{ f filter | | filter for test }"

6
modules/ocl/perf/perf_haar.cpp
View File

@ -44,6 +44,8 @@
//M*/ //M*/
#include "precomp.hpp" #include "precomp.hpp"
#if 0
///////////// Haar //////////////////////// ///////////// Haar ////////////////////////
namespace cv namespace cv
{ {
@ -135,4 +137,6 @@ TEST(Haar)
faceCascade.detectMultiScale(d_img, faces, faceCascade.detectMultiScale(d_img, faces,
1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, Size(30, 30)); 1.1, 2, 0 | CV_HAAR_SCALE_IMAGE, Size(30, 30));
GPU_FULL_OFF; GPU_FULL_OFF;
} }
#endif

4
modules/ocl/perf/perf_imgproc.cpp
View File

@ -746,12 +746,12 @@ void meanShiftProc_(const Mat &src_roi, Mat &dst_roi, Mat &dstCoor_roi, int sp,
if (src_roi.empty()) if (src_roi.empty())
{ {
CV_Error(CV_StsBadArg, "The input image is empty"); CV_Error(Error::StsBadArg, "The input image is empty");
} }
if (src_roi.depth() != CV_8U || src_roi.channels() != 4) if (src_roi.depth() != CV_8U || src_roi.channels() != 4)
{ {
CV_Error(CV_StsUnsupportedFormat, "Only 8-bit, 4-channel images are supported"); CV_Error(Error::StsUnsupportedFormat, "Only 8-bit, 4-channel images are supported");
} }
CV_Assert((src_roi.cols == dst_roi.cols) && (src_roi.rows == dst_roi.rows) && CV_Assert((src_roi.cols == dst_roi.cols) && (src_roi.rows == dst_roi.rows) &&

11
modules/ocl/perf/precomp.cpp
View File

@ -349,14 +349,3 @@ string abspath(const string &relpath)
{ {
return TestSystem::instance().workingDir() + relpath; return TestSystem::instance().workingDir() + relpath;
} }
int CV_CDECL cvErrorCallback(int /*status*/, const char * /*func_name*/,
const char *err_msg, const char * /*file_name*/,
int /*line*/, void * /*userdata*/)
{
TestSystem::instance().printError(err_msg);
return 0;
}

4
modules/ocl/perf/precomp.hpp
View File

@ -55,6 +55,8 @@
#include "opencv2/features2d.hpp" #include "opencv2/features2d.hpp"
#include "opencv2/ocl.hpp" #include "opencv2/ocl.hpp"
#include "opencv2/core/utility.hpp"
#define Min_Size 1000 #define Min_Size 1000
#define Max_Size 4000 #define Max_Size 4000
#define Multiple 2 #define Multiple 2
@ -65,7 +67,7 @@ using namespace cv;
void gen(Mat &mat, int rows, int cols, int type, Scalar low, Scalar high); void gen(Mat &mat, int rows, int cols, int type, Scalar low, Scalar high);
string abspath(const string &relpath); string abspath(const string &relpath);
int CV_CDECL cvErrorCallback(int, const char *, const char *, const char *, int, void *);
typedef struct typedef struct
{ {
short x; short x;

44
modules/ocl/src/arithm.cpp
View File

@ -133,7 +133,7 @@ void arithmetic_run(const oclMat &src1, const oclMat &src2, oclMat &dst, String
{ {
if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F) if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -196,7 +196,7 @@ static void arithmetic_run(const oclMat &src1, const oclMat &src2, oclMat &dst,
{ {
if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F) if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -290,7 +290,7 @@ void arithmetic_scalar_run(const oclMat &src1, const Scalar &src2, oclMat &dst,
{ {
if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F) if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -362,7 +362,7 @@ static void arithmetic_scalar_run(const oclMat &src, oclMat &dst, String kernelN
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -433,7 +433,7 @@ static void arithmetic_scalar(const oclMat &src1, const Scalar &src2, oclMat &ds
}; };
ArithmeticFuncS func = tab[src1.depth()]; ArithmeticFuncS func = tab[src1.depth()];
if(func == 0) if(func == 0)
cv::ocl::error("Unsupported arithmetic operation", __FILE__, __LINE__); cv::error(Error::StsBadArg, "Unsupported arithmetic operation", "", __FILE__, __LINE__);
func(src1, src2, dst, mask, kernelName, kernelString, isMatSubScalar); func(src1, src2, dst, mask, kernelName, kernelString, isMatSubScalar);
} }
static void arithmetic_scalar(const oclMat &src1, const Scalar &src2, oclMat &dst, const oclMat &mask, String kernelName, const char **kernelString) static void arithmetic_scalar(const oclMat &src1, const Scalar &src2, oclMat &dst, const oclMat &mask, String kernelName, const char **kernelString)
@ -465,7 +465,7 @@ void cv::ocl::divide(double scalar, const oclMat &src, oclMat &dst)
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE)) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE))
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -557,7 +557,7 @@ void cv::ocl::compare(const oclMat &src1, const oclMat &src2, oclMat &dst , int
kernelString = &arithm_compare_ne; kernelString = &arithm_compare_ne;
break; break;
default: default:
CV_Error(CV_StsBadArg, "Unknown comparison method"); CV_Error(Error::StsBadArg, "Unknown comparison method");
} }
compare_run(src1, src2, dst, kernelName, kernelString); compare_run(src1, src2, dst, kernelName, kernelString);
} }
@ -628,7 +628,7 @@ Scalar cv::ocl::sum(const oclMat &src)
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "select device don't support double"); CV_Error(Error::GpuNotSupported, "select device don't support double");
} }
static sumFunc functab[2] = static sumFunc functab[2] =
{ {
@ -645,7 +645,7 @@ Scalar cv::ocl::absSum(const oclMat &src)
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "select device don't support double"); CV_Error(Error::GpuNotSupported, "select device don't support double");
} }
static sumFunc functab[2] = static sumFunc functab[2] =
{ {
@ -662,7 +662,7 @@ Scalar cv::ocl::sqrSum(const oclMat &src)
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "select device don't support double"); CV_Error(Error::GpuNotSupported, "select device don't support double");
} }
static sumFunc functab[2] = static sumFunc functab[2] =
{ {
@ -811,7 +811,7 @@ void cv::ocl::minMax(const oclMat &src, double *minVal, double *maxVal, const oc
CV_Assert(src.oclchannels() == 1); CV_Assert(src.oclchannels() == 1);
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "select device don't support double"); CV_Error(Error::GpuNotSupported, "select device don't support double");
} }
static minMaxFunc functab[8] = static minMaxFunc functab[8] =
{ {
@ -895,7 +895,7 @@ static void arithmetic_flip_rows_run(const oclMat &src, oclMat &dst, String kern
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -944,7 +944,7 @@ static void arithmetic_flip_cols_run(const oclMat &src, oclMat &dst, String kern
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -1124,7 +1124,7 @@ static void arithmetic_exp_log_run(const oclMat &src, oclMat &dst, String kernel
Context *clCxt = src.clCxt; Context *clCxt = src.clCxt;
if(!clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F) if(!clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
//int channels = dst.oclchannels(); //int channels = dst.oclchannels();
@ -1165,7 +1165,7 @@ static void arithmetic_magnitude_phase_run(const oclMat &src1, const oclMat &src
{ {
if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F) if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -1213,7 +1213,7 @@ static void arithmetic_phase_run(const oclMat &src1, const oclMat &src2, oclMat
{ {
if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F) if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -1277,7 +1277,7 @@ static void arithmetic_cartToPolar_run(const oclMat &src1, const oclMat &src2, o
{ {
if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F) if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -1332,7 +1332,7 @@ static void arithmetic_ptc_run(const oclMat &src1, const oclMat &src2, oclMat &d
{ {
if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F) if(!src1.clCxt->supportsFeature(Context::CL_DOUBLE) && src1.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -1514,7 +1514,7 @@ void cv::ocl::minMaxLoc(const oclMat &src, double *minVal, double *maxVal,
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "select device don't support double"); CV_Error(Error::GpuNotSupported, "select device don't support double");
} }
static minMaxLocFunc functab[2] = static minMaxLocFunc functab[2] =
{ {
@ -1561,7 +1561,7 @@ int cv::ocl::countNonZero(const oclMat &src)
size_t groupnum = src.clCxt->computeUnits(); size_t groupnum = src.clCxt->computeUnits();
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "select device don't support double"); CV_Error(Error::GpuNotSupported, "select device don't support double");
} }
CV_Assert(groupnum != 0); CV_Assert(groupnum != 0);
groupnum = groupnum * 2; groupnum = groupnum * 2;
@ -1834,7 +1834,7 @@ static void bitwise_scalar(const oclMat &src1, const Scalar &src2, oclMat &dst,
}; };
BitwiseFuncS func = tab[src1.depth()]; BitwiseFuncS func = tab[src1.depth()];
if(func == 0) if(func == 0)
cv::ocl::error("Unsupported arithmetic operation", __FILE__, __LINE__); cv::error(Error::StsBadArg, "Unsupported arithmetic operation", "", __FILE__, __LINE__);
func(src1, src2, dst, mask, kernelName, kernelString, isMatSubScalar); func(src1, src2, dst, mask, kernelName, kernelString, isMatSubScalar);
} }
static void bitwise_scalar(const oclMat &src1, const Scalar &src2, oclMat &dst, const oclMat &mask, String kernelName, const char **kernelString) static void bitwise_scalar(const oclMat &src1, const Scalar &src2, oclMat &dst, const oclMat &mask, String kernelName, const char **kernelString)
@ -2037,7 +2037,7 @@ static void transpose_run(const oclMat &src, oclMat &dst, String kernelName)
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }

2
modules/ocl/src/blend.cpp
View File

@ -62,7 +62,7 @@ void cv::ocl::blendLinear(const oclMat &img1, const oclMat &img2, const oclMat &
oclMat &result) oclMat &result)
{ {
cv::ocl::Context *ctx = img1.clCxt; cv::ocl::Context *ctx = img1.clCxt;
assert(ctx == img2.clCxt && ctx == weights1.clCxt && ctx == weights2.clCxt); CV_Assert(ctx == img2.clCxt && ctx == weights1.clCxt && ctx == weights2.clCxt);
int channels = img1.oclchannels(); int channels = img1.oclchannels();
int depth = img1.depth(); int depth = img1.depth();
int rows = img1.rows; int rows = img1.rows;

38
modules/ocl/src/brute_force_matcher.cpp
View File

@ -64,7 +64,7 @@ template < int BLOCK_SIZE, int MAX_DESC_LEN/*, typename Mask*/ >
void matchUnrolledCached(const oclMat &query, const oclMat &train, const oclMat &/*mask*/, void matchUnrolledCached(const oclMat &query, const oclMat &train, const oclMat &/*mask*/,
const oclMat &trainIdx, const oclMat &distance, int distType) const oclMat &trainIdx, const oclMat &distance, int distType)
{ {
assert(query.type() == CV_32F); CV_Assert(query.type() == CV_32F);
cv::ocl::Context *ctx = query.clCxt; cv::ocl::Context *ctx = query.clCxt;
size_t globalSize[] = {(query.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, BLOCK_SIZE, 1}; size_t globalSize[] = {(query.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, BLOCK_SIZE, 1};
size_t localSize[] = {BLOCK_SIZE, BLOCK_SIZE, 1}; size_t localSize[] = {BLOCK_SIZE, BLOCK_SIZE, 1};
@ -106,7 +106,7 @@ template < int BLOCK_SIZE/*, typename Mask*/ >
void match(const oclMat &query, const oclMat &train, const oclMat &/*mask*/, void match(const oclMat &query, const oclMat &train, const oclMat &/*mask*/,
const oclMat &trainIdx, const oclMat &distance, int distType) const oclMat &trainIdx, const oclMat &distance, int distType)
{ {
assert(query.type() == CV_32F); CV_Assert(query.type() == CV_32F);
cv::ocl::Context *ctx = query.clCxt; cv::ocl::Context *ctx = query.clCxt;
size_t globalSize[] = {(query.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, BLOCK_SIZE, 1}; size_t globalSize[] = {(query.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, BLOCK_SIZE, 1};
size_t localSize[] = {BLOCK_SIZE, BLOCK_SIZE, 1}; size_t localSize[] = {BLOCK_SIZE, BLOCK_SIZE, 1};
@ -147,7 +147,7 @@ template < int BLOCK_SIZE, int MAX_DESC_LEN/*, typename Mask*/ >
void matchUnrolledCached(const oclMat &query, const oclMat &train, float maxDistance, const oclMat &/*mask*/, void matchUnrolledCached(const oclMat &query, const oclMat &train, float maxDistance, const oclMat &/*mask*/,
const oclMat &trainIdx, const oclMat &distance, const oclMat &nMatches, int distType) const oclMat &trainIdx, const oclMat &distance, const oclMat &nMatches, int distType)
{ {
assert(query.type() == CV_32F); CV_Assert(query.type() == CV_32F);
cv::ocl::Context *ctx = query.clCxt; cv::ocl::Context *ctx = query.clCxt;
size_t globalSize[] = {(train.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, (query.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, 1}; size_t globalSize[] = {(train.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, (query.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, 1};
size_t localSize[] = {BLOCK_SIZE, BLOCK_SIZE, 1}; size_t localSize[] = {BLOCK_SIZE, BLOCK_SIZE, 1};
@ -188,7 +188,7 @@ template < int BLOCK_SIZE/*, typename Mask*/ >
void radius_match(const oclMat &query, const oclMat &train, float maxDistance, const oclMat &/*mask*/, void radius_match(const oclMat &query, const oclMat &train, float maxDistance, const oclMat &/*mask*/,
const oclMat &trainIdx, const oclMat &distance, const oclMat &nMatches, int distType) const oclMat &trainIdx, const oclMat &distance, const oclMat &nMatches, int distType)
{ {
assert(query.type() == CV_32F); CV_Assert(query.type() == CV_32F);
cv::ocl::Context *ctx = query.clCxt; cv::ocl::Context *ctx = query.clCxt;
size_t globalSize[] = {(train.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, (query.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, 1}; size_t globalSize[] = {(train.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, (query.rows + BLOCK_SIZE - 1) / BLOCK_SIZE * BLOCK_SIZE, 1};
size_t localSize[] = {BLOCK_SIZE, BLOCK_SIZE, 1}; size_t localSize[] = {BLOCK_SIZE, BLOCK_SIZE, 1};
@ -533,14 +533,13 @@ void cv::ocl::BruteForceMatcher_OCL_base::matchSingle(const oclMat &query, const
// match1 doesn't support signed char type, match2 only support float, hamming support uchar, ushort and int // match1 doesn't support signed char type, match2 only support float, hamming support uchar, ushort and int
int callType = query.depth(); int callType = query.depth();
char cvFuncName[] = "singleMatch";
if (callType != 5) if (callType != 5)
CV_ERROR(CV_UNSUPPORTED_FORMAT_ERR, "BruteForceMatch OpenCL only support float type query!\n"); CV_Error(Error::StsUnsupportedFormat, "BruteForceMatch OpenCL only support float type query!\n");
if ((distType == 0 && callType == 1 ) || (distType == 1 && callType != 5) || (distType == 2 && (callType != 0 if ((distType == 0 && callType == 1 ) || (distType == 1 && callType != 5) || (distType == 2 && (callType != 0
|| callType != 2 || callType != 4))) || callType != 2 || callType != 4)))
{ {
CV_ERROR(CV_UNSUPPORTED_DEPTH_ERR, "BruteForceMatch OpenCL only support float type query!\n"); CV_Error(Error::BadDepth, "BruteForceMatch OpenCL only support float type query!\n");
} }
CV_Assert(query.channels() == 1 && query.depth() < CV_64F); CV_Assert(query.channels() == 1 && query.depth() < CV_64F);
@ -550,8 +549,6 @@ void cv::ocl::BruteForceMatcher_OCL_base::matchSingle(const oclMat &query, const
distance.create(1, query.rows, CV_32F); distance.create(1, query.rows, CV_32F);
matchDispatcher(query, train, mask, trainIdx, distance, distType); matchDispatcher(query, train, mask, trainIdx, distance, distType);
exit:
return;
} }
void cv::ocl::BruteForceMatcher_OCL_base::matchDownload(const oclMat &trainIdx, const oclMat &distance, std::vector<DMatch> &matches) void cv::ocl::BruteForceMatcher_OCL_base::matchDownload(const oclMat &trainIdx, const oclMat &distance, std::vector<DMatch> &matches)
@ -597,7 +594,7 @@ void cv::ocl::BruteForceMatcher_OCL_base::matchConvert(const Mat &trainIdx, cons
void cv::ocl::BruteForceMatcher_OCL_base::match(const oclMat &query, const oclMat &train, std::vector<DMatch> &matches, const oclMat &mask) void cv::ocl::BruteForceMatcher_OCL_base::match(const oclMat &query, const oclMat &train, std::vector<DMatch> &matches, const oclMat &mask)
{ {
assert(mask.empty()); // mask is not supported at the moment CV_Assert(mask.empty()); // mask is not supported at the moment
oclMat trainIdx, distance; oclMat trainIdx, distance;
matchSingle(query, train, trainIdx, distance, mask); matchSingle(query, train, trainIdx, distance, mask);
matchDownload(trainIdx, distance, matches); matchDownload(trainIdx, distance, matches);
@ -655,14 +652,13 @@ void cv::ocl::BruteForceMatcher_OCL_base::matchCollection(const oclMat &query, c
// match1 doesn't support signed char type, match2 only support float, hamming support uchar, ushort and int // match1 doesn't support signed char type, match2 only support float, hamming support uchar, ushort and int
int callType = query.depth(); int callType = query.depth();
char cvFuncName[] = "matchCollection";
if (callType != 5) if (callType != 5)
CV_ERROR(CV_UNSUPPORTED_FORMAT_ERR, "BruteForceMatch OpenCL only support float type query!\n"); CV_Error(Error::StsUnsupportedFormat, "BruteForceMatch OpenCL only support float type query!\n");
if ((distType == 0 && callType == 1 ) || (distType == 1 && callType != 5) || (distType == 2 && (callType != 0 if ((distType == 0 && callType == 1 ) || (distType == 1 && callType != 5) || (distType == 2 && (callType != 0
|| callType != 2 || callType != 4))) || callType != 2 || callType != 4)))
{ {
CV_ERROR(CV_UNSUPPORTED_DEPTH_ERR, "BruteForceMatch OpenCL only support float type query!\n"); CV_Error(Error::BadDepth, "BruteForceMatch OpenCL only support float type query!\n");
} }
CV_Assert(query.channels() == 1 && query.depth() < CV_64F); CV_Assert(query.channels() == 1 && query.depth() < CV_64F);
@ -672,8 +668,6 @@ void cv::ocl::BruteForceMatcher_OCL_base::matchCollection(const oclMat &query, c
distance.create(1, query.rows, CV_32F); distance.create(1, query.rows, CV_32F);
matchDispatcher(query, (const oclMat *)trainCollection.ptr(), trainCollection.cols, masks, trainIdx, imgIdx, distance, distType); matchDispatcher(query, (const oclMat *)trainCollection.ptr(), trainCollection.cols, masks, trainIdx, imgIdx, distance, distType);
exit:
return;
} }
void cv::ocl::BruteForceMatcher_OCL_base::matchDownload(const oclMat &trainIdx, const oclMat &imgIdx, const oclMat &distance, std::vector<DMatch> &matches) void cv::ocl::BruteForceMatcher_OCL_base::matchDownload(const oclMat &trainIdx, const oclMat &imgIdx, const oclMat &distance, std::vector<DMatch> &matches)
@ -745,14 +739,13 @@ void cv::ocl::BruteForceMatcher_OCL_base::knnMatchSingle(const oclMat &query, co
// match1 doesn't support signed char type, match2 only support float, hamming support uchar, ushort and int // match1 doesn't support signed char type, match2 only support float, hamming support uchar, ushort and int
int callType = query.depth(); int callType = query.depth();
char cvFuncName[] = "knnMatchSingle";
if (callType != 5) if (callType != 5)
CV_ERROR(CV_UNSUPPORTED_FORMAT_ERR, "BruteForceMatch OpenCL only support float type query!\n"); CV_Error(Error::StsUnsupportedFormat, "BruteForceMatch OpenCL only support float type query!\n");
if ((distType == 0 && callType == 1 ) || (distType == 1 && callType != 5) || (distType == 2 && (callType != 0 if ((distType == 0 && callType == 1 ) || (distType == 1 && callType != 5) || (distType == 2 && (callType != 0
|| callType != 2 || callType != 4))) || callType != 2 || callType != 4)))
{ {
CV_ERROR(CV_UNSUPPORTED_DEPTH_ERR, "BruteForceMatch OpenCL only support float type query!\n"); CV_Error(Error::BadDepth, "BruteForceMatch OpenCL only support float type query!\n");
} }
CV_Assert(query.channels() == 1 && query.depth() < CV_64F); CV_Assert(query.channels() == 1 && query.depth() < CV_64F);
@ -773,8 +766,6 @@ void cv::ocl::BruteForceMatcher_OCL_base::knnMatchSingle(const oclMat &query, co
trainIdx.setTo(Scalar::all(-1)); trainIdx.setTo(Scalar::all(-1));
kmatchDispatcher(query, train, k, mask, trainIdx, distance, allDist, distType); kmatchDispatcher(query, train, k, mask, trainIdx, distance, allDist, distType);
exit:
return;
} }
void cv::ocl::BruteForceMatcher_OCL_base::knnMatchDownload(const oclMat &trainIdx, const oclMat &distance, std::vector< std::vector<DMatch> > &matches, bool compactResult) void cv::ocl::BruteForceMatcher_OCL_base::knnMatchDownload(const oclMat &trainIdx, const oclMat &distance, std::vector< std::vector<DMatch> > &matches, bool compactResult)
@ -1020,14 +1011,13 @@ void cv::ocl::BruteForceMatcher_OCL_base::radiusMatchSingle(const oclMat &query,
// match1 doesn't support signed char type, match2 only support float, hamming support uchar, ushort and int // match1 doesn't support signed char type, match2 only support float, hamming support uchar, ushort and int
int callType = query.depth(); int callType = query.depth();
char cvFuncName[] = "radiusMatchSingle";
if (callType != 5) if (callType != 5)
CV_ERROR(CV_UNSUPPORTED_FORMAT_ERR, "BruteForceMatch OpenCL only support float type query!\n"); CV_Error(Error::StsUnsupportedFormat, "BruteForceMatch OpenCL only support float type query!\n");
if ((distType == 0 && callType == 1 ) || (distType == 1 && callType != 5) || (distType == 2 && (callType != 0 if ((distType == 0 && callType == 1 ) || (distType == 1 && callType != 5) || (distType == 2 && (callType != 0
|| callType != 2 || callType != 4))) || callType != 2 || callType != 4)))
{ {
CV_ERROR(CV_UNSUPPORTED_DEPTH_ERR, "BruteForceMatch OpenCL only support float type query!\n"); CV_Error(Error::BadDepth, "BruteForceMatch OpenCL only support float type query!\n");
} }
CV_Assert(query.channels() == 1 && query.depth() < CV_64F); CV_Assert(query.channels() == 1 && query.depth() < CV_64F);
@ -1044,8 +1034,6 @@ void cv::ocl::BruteForceMatcher_OCL_base::radiusMatchSingle(const oclMat &query,
nMatches.setTo(Scalar::all(0)); nMatches.setTo(Scalar::all(0));
matchDispatcher(query, train, maxDistance, mask, trainIdx, distance, nMatches, distType); matchDispatcher(query, train, maxDistance, mask, trainIdx, distance, nMatches, distType);
exit:
return;
} }
void cv::ocl::BruteForceMatcher_OCL_base::radiusMatchDownload(const oclMat &trainIdx, const oclMat &distance, const oclMat &nMatches, void cv::ocl::BruteForceMatcher_OCL_base::radiusMatchDownload(const oclMat &trainIdx, const oclMat &distance, const oclMat &nMatches,

2
modules/ocl/src/color.cpp
View File

@ -268,7 +268,7 @@ void cvtColor_caller(const oclMat &src, oclMat &dst, int code, int dcn)
case COLOR_HLS2BGR: case COLOR_HLS2RGB: case COLOR_HLS2BGR_FULL: case COLOR_HLS2RGB_FULL: case COLOR_HLS2BGR: case COLOR_HLS2RGB: case COLOR_HLS2BGR_FULL: case COLOR_HLS2RGB_FULL:
*/ */
default: default:
CV_Error( CV_StsBadFlag, "Unknown/unsupported color conversion code" ); CV_Error(Error::StsBadFlag, "Unknown/unsupported color conversion code" );
} }
} }
} }

16
modules/ocl/src/error.cpp
View File

@ -170,21 +170,5 @@ namespace cv
sprintf(buf, "%d", err); sprintf(buf, "%d", err);
return buf; return buf;
} }
void error(const char *error_string, const char *file, const int line, const char *func)
{
int code = CV_GpuApiCallError;
if (std::uncaught_exception())
{
const char *errorStr = cvErrorStr(code);
const char *function = func ? func : "unknown function";
std::cerr << "OpenCV Error: " << errorStr << "(" << error_string << ") in " << function << ", file " << file << ", line " << line;
std::cerr.flush();
}
else
cv::error( cv::Exception(code, error_string, func, file, line) );
}
} }
} }

2
modules/ocl/src/fft.cpp
View File

@ -51,7 +51,7 @@ using namespace cv::ocl;
#if !defined HAVE_CLAMDFFT #if !defined HAVE_CLAMDFFT
void cv::ocl::dft(const oclMat&, oclMat&, Size, int) void cv::ocl::dft(const oclMat&, oclMat&, Size, int)
{ {
CV_Error(CV_StsNotImplemented, "OpenCL DFT is not implemented"); CV_Error(Error::StsNotImplemented, "OpenCL DFT is not implemented");
} }
namespace cv { namespace ocl { namespace cv { namespace ocl {
void fft_teardown(); void fft_teardown();

22
modules/ocl/src/filtering.cpp
View File

@ -270,7 +270,7 @@ static void GPUErode(const oclMat &src, oclMat &dst, oclMat &mat_kernel,
sprintf(s, "-D VAL=FLT_MAX -D GENTYPE=float4"); sprintf(s, "-D VAL=FLT_MAX -D GENTYPE=float4");
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported type"); CV_Error(Error::StsUnsupportedFormat, "unsupported type");
} }
char compile_option[128]; char compile_option[128];
@ -350,7 +350,7 @@ static void GPUDilate(const oclMat &src, oclMat &dst, oclMat &mat_kernel,
sprintf(s, "-D VAL=-FLT_MAX -D GENTYPE=float4"); sprintf(s, "-D VAL=-FLT_MAX -D GENTYPE=float4");
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported type"); CV_Error(Error::StsUnsupportedFormat, "unsupported type");
} }
char compile_option[128]; char compile_option[128];
@ -462,7 +462,7 @@ void morphOp(int op, const oclMat &src, oclMat &dst, const Mat &_kernel, Point a
{ {
if ((borderType != cv::BORDER_CONSTANT) || (borderValue != morphologyDefaultBorderValue())) if ((borderType != cv::BORDER_CONSTANT) || (borderValue != morphologyDefaultBorderValue()))
{ {
CV_Error(CV_StsBadArg, "unsupported border type"); CV_Error(Error::StsBadArg, "unsupported border type");
} }
Mat kernel; Mat kernel;
@ -564,7 +564,7 @@ void cv::ocl::morphologyEx(const oclMat &src, oclMat &dst, int op, const Mat &ke
subtract(temp, src, dst); subtract(temp, src, dst);
break; break;
default: default:
CV_Error(CV_StsBadArg, "unknown morphological operation"); CV_Error(Error::StsBadArg, "unknown morphological operation");
} }
} }
@ -778,7 +778,7 @@ static void GPUFilterBox_8u_C1R(const oclMat &src, oclMat &dst,
sprintf(btype, "BORDER_REFLECT"); sprintf(btype, "BORDER_REFLECT");
break; break;
case 3: case 3:
CV_Error(CV_StsUnsupportedFormat, "BORDER_WRAP is not supported!"); CV_Error(Error::StsUnsupportedFormat, "BORDER_WRAP is not supported!");
return; return;
case 4: case 4:
sprintf(btype, "BORDER_REFLECT_101"); sprintf(btype, "BORDER_REFLECT_101");
@ -840,7 +840,7 @@ static void GPUFilterBox_8u_C4R(const oclMat &src, oclMat &dst,
sprintf(btype, "BORDER_REFLECT"); sprintf(btype, "BORDER_REFLECT");
break; break;
case 3: case 3:
CV_Error(CV_StsUnsupportedFormat, "BORDER_WRAP is not supported!"); CV_Error(Error::StsUnsupportedFormat, "BORDER_WRAP is not supported!");
return; return;
case 4: case 4:
sprintf(btype, "BORDER_REFLECT_101"); sprintf(btype, "BORDER_REFLECT_101");
@ -902,7 +902,7 @@ static void GPUFilterBox_32F_C1R(const oclMat &src, oclMat &dst,
sprintf(btype, "BORDER_REFLECT"); sprintf(btype, "BORDER_REFLECT");
break; break;
case 3: case 3:
CV_Error(CV_StsUnsupportedFormat, "BORDER_WRAP is not supported!"); CV_Error(Error::StsUnsupportedFormat, "BORDER_WRAP is not supported!");
return; return;
case 4: case 4:
sprintf(btype, "BORDER_REFLECT_101"); sprintf(btype, "BORDER_REFLECT_101");
@ -965,7 +965,7 @@ static void GPUFilterBox_32F_C4R(const oclMat &src, oclMat &dst,
sprintf(btype, "BORDER_REFLECT"); sprintf(btype, "BORDER_REFLECT");
break; break;
case 3: case 3:
CV_Error(CV_StsUnsupportedFormat, "BORDER_WRAP is not supported!"); CV_Error(Error::StsUnsupportedFormat, "BORDER_WRAP is not supported!");
return; return;
case 4: case 4:
sprintf(btype, "BORDER_REFLECT_101"); sprintf(btype, "BORDER_REFLECT_101");
@ -1396,7 +1396,7 @@ void cv::ocl::sepFilter2D(const oclMat &src, oclMat &dst, int ddepth, const Mat
if ((bordertype != cv::BORDER_CONSTANT) && if ((bordertype != cv::BORDER_CONSTANT) &&
(bordertype != cv::BORDER_REPLICATE)) (bordertype != cv::BORDER_REPLICATE))
{ {
CV_Error(CV_StsBadArg, "unsupported border type"); CV_Error(Error::StsBadArg, "unsupported border type");
} }
} }
} }
@ -1479,7 +1479,7 @@ void cv::ocl::Laplacian(const oclMat &src, oclMat &dst, int ddepth, int ksize, d
{ {
if (!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F) if (!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.type() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "Selected device don't support double\r\n"); CV_Error(Error::GpuNotSupported, "Selected device don't support double\r\n");
return; return;
} }
@ -1563,7 +1563,7 @@ void cv::ocl::GaussianBlur(const oclMat &src, oclMat &dst, Size ksize, double si
if ((bordertype != cv::BORDER_CONSTANT) && if ((bordertype != cv::BORDER_CONSTANT) &&
(bordertype != cv::BORDER_REPLICATE)) (bordertype != cv::BORDER_REPLICATE))
{ {
CV_Error(CV_StsBadArg, "unsupported border type"); CV_Error(Error::StsBadArg, "unsupported border type");
} }
} }
} }

2
modules/ocl/src/gemm.cpp
View File

@ -50,7 +50,7 @@
void cv::ocl::gemm(const oclMat&, const oclMat&, double, void cv::ocl::gemm(const oclMat&, const oclMat&, double,
const oclMat&, double, oclMat&, int) const oclMat&, double, oclMat&, int)
{ {
CV_Error(CV_StsNotImplemented, "OpenCL BLAS is not implemented"); CV_Error(Error::StsNotImplemented, "OpenCL BLAS is not implemented");
} }
#else #else
#include "clAmdBlas.h" #include "clAmdBlas.h"

3
modules/ocl/src/haar.cpp
View File

@ -53,6 +53,8 @@
using namespace cv; using namespace cv;
using namespace cv::ocl; using namespace cv::ocl;
#if 0
namespace cv namespace cv
{ {
namespace ocl namespace ocl
@ -1493,3 +1495,4 @@ struct gpuHaarDetectObjects_ScaleCascade_Invoker
} }
} }
#endif

6
modules/ocl/src/hog.cpp
View File

@ -267,7 +267,7 @@ void cv::ocl::HOGDescriptor::getDescriptors(const oclMat &img, Size win_stride,
win_stride.height, win_stride.width, effect_size.height, effect_size.width, block_hists, descriptors); win_stride.height, win_stride.width, effect_size.height, effect_size.width, block_hists, descriptors);
break; break;
default: default:
CV_Error(CV_StsBadArg, "Unknown descriptor format"); CV_Error(Error::StsBadArg, "Unknown descriptor format");
} }
} }
@ -353,7 +353,7 @@ void cv::ocl::HOGDescriptor::detectMultiScale(const oclMat &img, std::vector<Rec
} }
Size scaled_win_size(cvRound(win_size.width * scale), cvRound(win_size.height * scale)); Size scaled_win_size(cvRound(win_size.width * scale), cvRound(win_size.height * scale));
for (size_t j = 0; j < locations.size(); j++) for (size_t j = 0; j < locations.size(); j++)
all_candidates.push_back(Rect(Point2d((CvPoint)locations[j]) * scale, scaled_win_size)); all_candidates.push_back(Rect(Point2d(locations[j]) * scale, scaled_win_size));
} }
found_locations.assign(all_candidates.begin(), all_candidates.end()); found_locations.assign(all_candidates.begin(), all_candidates.end());
@ -1627,7 +1627,7 @@ void cv::ocl::device::hog::normalize_hists(int nbins, int block_stride_x, int bl
size_t localThreads[3] = { nthreads, 1, 1 }; size_t localThreads[3] = { nthreads, 1, 1 };
if ((nthreads < 32) || (nthreads > 512) ) if ((nthreads < 32) || (nthreads > 512) )
cv::ocl::error("normalize_hists: histogram's size is too small or too big", __FILE__, __LINE__, "normalize_hists"); cv::error(Error::StsBadArg, "normalize_hists: histogram's size is too small or too big", "cv::ocl::device::hog::normalize_hists", __FILE__, __LINE__);
args.push_back( std::make_pair( sizeof(cl_int), (void *)&nthreads)); args.push_back( std::make_pair( sizeof(cl_int), (void *)&nthreads));
args.push_back( std::make_pair( sizeof(cl_int), (void *)&block_hist_size)); args.push_back( std::make_pair( sizeof(cl_int), (void *)&block_hist_size));

2
modules/ocl/src/hough.cpp
View File

@ -385,7 +385,7 @@ void cv::ocl::HoughCircles(const oclMat& src, oclMat& circles, HoughCirclesBuf&
void cv::ocl::HoughCirclesDownload(const oclMat& d_circles, cv::OutputArray h_circles_) void cv::ocl::HoughCirclesDownload(const oclMat& d_circles, cv::OutputArray h_circles_)
{ {
// FIX ME: garbage values are copied! // FIX ME: garbage values are copied!
CV_Error(CV_StsNotImplemented, "HoughCirclesDownload is not implemented"); CV_Error(Error::StsNotImplemented, "HoughCirclesDownload is not implemented");
if (d_circles.empty()) if (d_circles.empty())
{ {

55
modules/ocl/src/imgproc.cpp
View File

@ -428,7 +428,7 @@ namespace cv
{ {
if(dsize.width != (int)(src.cols * fx) || dsize.height != (int)(src.rows * fy)) if(dsize.width != (int)(src.cols * fx) || dsize.height != (int)(src.rows * fy))
{ {
CV_Error(CV_StsUnmatchedSizes, "invalid dsize and fx, fy!"); CV_Error(Error::StsUnmatchedSizes, "invalid dsize and fx, fy!");
} }
} }
if( dsize == Size() ) if( dsize == Size() )
@ -448,7 +448,7 @@ namespace cv
resize_gpu( src, dst, fx, fy, interpolation); resize_gpu( src, dst, fx, fy, interpolation);
return; return;
} }
CV_Error(CV_StsUnsupportedFormat, "Non-supported interpolation method"); CV_Error(Error::StsUnsupportedFormat, "Non-supported interpolation method");
} }
@ -501,7 +501,7 @@ namespace cv
} }
else else
{ {
CV_Error(CV_StsUnsupportedFormat, "Non-supported filter length"); CV_Error(Error::StsUnsupportedFormat, "Non-supported filter length");
//String kernelName = "medianFilter"; //String kernelName = "medianFilter";
//args.push_back( std::make_pair( sizeof(cl_int),(void*)&m)); //args.push_back( std::make_pair( sizeof(cl_int),(void*)&m));
@ -522,7 +522,7 @@ namespace cv
(bordertype != cv::BORDER_CONSTANT) && (bordertype != cv::BORDER_CONSTANT) &&
(bordertype != cv::BORDER_REPLICATE)) (bordertype != cv::BORDER_REPLICATE))
{ {
CV_Error(CV_StsBadArg, "unsupported border type"); CV_Error(Error::StsBadArg, "unsupported border type");
} }
} }
bordertype &= ~cv::BORDER_ISOLATED; bordertype &= ~cv::BORDER_ISOLATED;
@ -549,7 +549,7 @@ namespace cv
} }
if(bordertype_index == sizeof(__bordertype) / sizeof(int)) if(bordertype_index == sizeof(__bordertype) / sizeof(int))
{ {
CV_Error(CV_StsBadArg, "unsupported border type"); CV_Error(Error::StsBadArg, "unsupported border type");
} }
String kernelName = "copymakeborder"; String kernelName = "copymakeborder";
size_t localThreads[3] = {16, 16, 1}; size_t localThreads[3] = {16, 16, 1};
@ -604,7 +604,7 @@ namespace cv
args.push_back( std::make_pair( sizeof(cl_uchar4) , (void *)&val.uval )); args.push_back( std::make_pair( sizeof(cl_uchar4) , (void *)&val.uval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_8S: case CV_8S:
@ -623,7 +623,7 @@ namespace cv
args.push_back( std::make_pair( sizeof(cl_char4) , (void *)&val.cval )); args.push_back( std::make_pair( sizeof(cl_char4) , (void *)&val.cval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_16U: case CV_16U:
@ -642,7 +642,7 @@ namespace cv
args.push_back( std::make_pair( sizeof(cl_ushort4) , (void *)&val.usval )); args.push_back( std::make_pair( sizeof(cl_ushort4) , (void *)&val.usval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_16S: case CV_16S:
@ -661,7 +661,7 @@ namespace cv
args.push_back( std::make_pair( sizeof(cl_short4) , (void *)&val.shval )); args.push_back( std::make_pair( sizeof(cl_short4) , (void *)&val.shval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_32S: case CV_32S:
@ -687,7 +687,7 @@ namespace cv
args.push_back( std::make_pair( sizeof(cl_int4) , (void *)&val.ival )); args.push_back( std::make_pair( sizeof(cl_int4) , (void *)&val.ival ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_32F: case CV_32F:
@ -706,7 +706,7 @@ namespace cv
args.push_back( std::make_pair( sizeof(cl_float4) , (void *)&val.fval )); args.push_back( std::make_pair( sizeof(cl_float4) , (void *)&val.fval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_64F: case CV_64F:
@ -725,11 +725,11 @@ namespace cv
args.push_back( std::make_pair( sizeof(cl_double4) , (void *)&val.dval )); args.push_back( std::make_pair( sizeof(cl_double4) , (void *)&val.dval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unknown depth"); CV_Error(Error::StsUnsupportedFormat, "unknown depth");
} }
openCLExecuteKernel(src.clCxt, &imgproc_copymakeboder, kernelName, globalThreads, localThreads, args, -1, -1, compile_option); openCLExecuteKernel(src.clCxt, &imgproc_copymakeboder, kernelName, globalThreads, localThreads, args, -1, -1, compile_option);
@ -1021,7 +1021,7 @@ namespace cv
CV_Assert(src.type() == CV_8UC1); CV_Assert(src.type() == CV_8UC1);
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "select device don't support double"); CV_Error(Error::GpuNotSupported, "select device don't support double");
} }
int vlen = 4; int vlen = 4;
int offset = src.offset / vlen; int offset = src.offset / vlen;
@ -1195,7 +1195,7 @@ namespace cv
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "select device don't support double"); CV_Error(Error::GpuNotSupported, "select device don't support double");
} }
CV_Assert(src.cols >= blockSize / 2 && src.rows >= blockSize / 2); CV_Assert(src.cols >= blockSize / 2 && src.rows >= blockSize / 2);
oclMat Dx, Dy; oclMat Dx, Dy;
@ -1209,7 +1209,7 @@ namespace cv
{ {
if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F) if(!src.clCxt->supportsFeature(Context::CL_DOUBLE) && src.depth() == CV_64F)
{ {
CV_Error(CV_GpuNotSupported, "select device don't support double"); CV_Error(Error::GpuNotSupported, "select device don't support double");
} }
CV_Assert(src.cols >= blockSize / 2 && src.rows >= blockSize / 2); CV_Assert(src.cols >= blockSize / 2 && src.rows >= blockSize / 2);
oclMat Dx, Dy; oclMat Dx, Dy;
@ -1256,15 +1256,10 @@ namespace cv
void meanShiftFiltering(const oclMat &src, oclMat &dst, int sp, int sr, TermCriteria criteria) void meanShiftFiltering(const oclMat &src, oclMat &dst, int sp, int sr, TermCriteria criteria)
{ {
if( src.empty() ) if( src.empty() )
CV_Error( CV_StsBadArg, "The input image is empty" ); CV_Error(Error::StsBadArg, "The input image is empty" );
if( src.depth() != CV_8U || src.oclchannels() != 4 ) if( src.depth() != CV_8U || src.oclchannels() != 4 )
CV_Error( CV_StsUnsupportedFormat, "Only 8-bit, 4-channel images are supported" ); CV_Error(Error::StsUnsupportedFormat, "Only 8-bit, 4-channel images are supported" );
// if(!src.clCxt->supportsFeature(Context::CL_DOUBLE))
// {
// CV_Error( CV_GpuNotSupported, "Selected device doesn't support double, so a deviation exists.\nIf the accuracy is acceptable, the error can be ignored.\n");
// }
dst.create( src.size(), CV_8UC4 ); dst.create( src.size(), CV_8UC4 );
@ -1324,15 +1319,10 @@ namespace cv
void meanShiftProc(const oclMat &src, oclMat &dstr, oclMat &dstsp, int sp, int sr, TermCriteria criteria) void meanShiftProc(const oclMat &src, oclMat &dstr, oclMat &dstsp, int sp, int sr, TermCriteria criteria)
{ {
if( src.empty() ) if( src.empty() )
CV_Error( CV_StsBadArg, "The input image is empty" ); CV_Error(Error::StsBadArg, "The input image is empty" );
if( src.depth() != CV_8U || src.oclchannels() != 4 ) if( src.depth() != CV_8U || src.oclchannels() != 4 )
CV_Error( CV_StsUnsupportedFormat, "Only 8-bit, 4-channel images are supported" ); CV_Error(Error::StsUnsupportedFormat, "Only 8-bit, 4-channel images are supported" );
// if(!src.clCxt->supportsFeature(Context::CL_DOUBLE))
// {
// CV_Error( CV_GpuNotSupported, "Selected device doesn't support double, so a deviation exists.\nIf the accuracy is acceptable, the error can be ignored.\n");
// }
dstr.create( src.size(), CV_8UC4 ); dstr.create( src.size(), CV_8UC4 );
dstsp.create( src.size(), CV_16SC2 ); dstsp.create( src.size(), CV_16SC2 );
@ -1581,8 +1571,7 @@ namespace cv
if( src.depth() == CV_8U ) if( src.depth() == CV_8U )
oclbilateralFilter_8u( src, dst, radius, sigmaclr, sigmaspc, borderType ); oclbilateralFilter_8u( src, dst, radius, sigmaclr, sigmaspc, borderType );
else else
CV_Error( CV_StsUnsupportedFormat, CV_Error(Error::StsUnsupportedFormat, "Bilateral filtering is only implemented for 8uimages" );
"Bilateral filtering is only implemented for 8uimages" );
} }
} }
@ -1726,7 +1715,7 @@ static void convolve_run_fft(const oclMat &image, const oclMat &templ, oclMat &r
} }
#else #else
CV_Error(CV_StsNotImplemented, "OpenCL DFT is not implemented"); CV_Error(Error::StsNotImplemented, "OpenCL DFT is not implemented");
#define UNUSED(x) (void)(x); #define UNUSED(x) (void)(x);
UNUSED(image) UNUSED(templ) UNUSED(result) UNUSED(ccorr) UNUSED(buf) UNUSED(image) UNUSED(templ) UNUSED(result) UNUSED(ccorr) UNUSED(buf)
#undef UNUSED #undef UNUSED

2
modules/ocl/src/initialization.cpp
View File

@ -505,7 +505,7 @@ namespace cv
char* binary = (char*)malloc(binarySize); char* binary = (char*)malloc(binarySize);
if(binary == NULL) if(binary == NULL)
{ {
CV_Error(CV_StsNoMem, "Failed to allocate host memory."); CV_Error(Error::StsNoMem, "Failed to allocate host memory.");
} }
openCLSafeCall(clGetProgramInfo(program, openCLSafeCall(clGetProgramInfo(program,
CL_PROGRAM_BINARIES, CL_PROGRAM_BINARIES,

4
modules/ocl/src/match_template.cpp
View File

@ -407,7 +407,7 @@ namespace cv
args.push_back( std::make_pair( sizeof(cl_float), (void *)&templ_sum[3]) ); args.push_back( std::make_pair( sizeof(cl_float), (void *)&templ_sum[3]) );
break; break;
default: default:
CV_Error(CV_StsBadArg, "matchTemplate: unsupported number of channels"); CV_Error(Error::StsBadArg, "matchTemplate: unsupported number of channels");
break; break;
} }
} }
@ -513,7 +513,7 @@ namespace cv
args.push_back( std::make_pair( sizeof(cl_float), (void *)&templ_sqsum_sum) ); args.push_back( std::make_pair( sizeof(cl_float), (void *)&templ_sqsum_sum) );
break; break;
default: default:
CV_Error(CV_StsBadArg, "matchTemplate: unsupported number of channels"); CV_Error(Error::StsBadArg, "matchTemplate: unsupported number of channels");
break; break;
} }
} }

51
modules/ocl/src/matrix_operations.cpp
View File

@ -106,7 +106,7 @@ static void convert_C3C4(const cl_mem &src, oclMat &dst)
sprintf(compile_option, "-D GENTYPE4=double4"); sprintf(compile_option, "-D GENTYPE4=double4");
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unknown depth"); CV_Error(Error::StsUnsupportedFormat, "unknown depth");
} }
std::vector< std::pair<size_t, const void *> > args; std::vector< std::pair<size_t, const void *> > args;
args.push_back( std::make_pair( sizeof(cl_mem), (void *)&src)); args.push_back( std::make_pair( sizeof(cl_mem), (void *)&src));
@ -154,7 +154,7 @@ static void convert_C4C3(const oclMat &src, cl_mem &dst)
sprintf(compile_option, "-D GENTYPE4=double4"); sprintf(compile_option, "-D GENTYPE4=double4");
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unknown depth"); CV_Error(Error::StsUnsupportedFormat, "unknown depth");
} }
std::vector< std::pair<size_t, const void *> > args; std::vector< std::pair<size_t, const void *> > args;
@ -464,7 +464,7 @@ static void set_to_withoutmask_run(const oclMat &dst, const Scalar &scalar, Stri
args.push_back( std::make_pair( sizeof(cl_uchar4) , (void *)&val.uval )); args.push_back( std::make_pair( sizeof(cl_uchar4) , (void *)&val.uval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_8S: case CV_8S:
@ -483,7 +483,7 @@ static void set_to_withoutmask_run(const oclMat &dst, const Scalar &scalar, Stri
args.push_back( std::make_pair( sizeof(cl_char4) , (void *)&val.cval )); args.push_back( std::make_pair( sizeof(cl_char4) , (void *)&val.cval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_16U: case CV_16U:
@ -502,7 +502,7 @@ static void set_to_withoutmask_run(const oclMat &dst, const Scalar &scalar, Stri
args.push_back( std::make_pair( sizeof(cl_ushort4) , (void *)&val.usval )); args.push_back( std::make_pair( sizeof(cl_ushort4) , (void *)&val.usval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_16S: case CV_16S:
@ -521,7 +521,7 @@ static void set_to_withoutmask_run(const oclMat &dst, const Scalar &scalar, Stri
args.push_back( std::make_pair( sizeof(cl_short4) , (void *)&val.shval )); args.push_back( std::make_pair( sizeof(cl_short4) , (void *)&val.shval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_32S: case CV_32S:
@ -547,7 +547,7 @@ static void set_to_withoutmask_run(const oclMat &dst, const Scalar &scalar, Stri
args.push_back( std::make_pair( sizeof(cl_int4) , (void *)&val.ival )); args.push_back( std::make_pair( sizeof(cl_int4) , (void *)&val.ival ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_32F: case CV_32F:
@ -566,7 +566,7 @@ static void set_to_withoutmask_run(const oclMat &dst, const Scalar &scalar, Stri
args.push_back( std::make_pair( sizeof(cl_float4) , (void *)&val.fval )); args.push_back( std::make_pair( sizeof(cl_float4) , (void *)&val.fval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_64F: case CV_64F:
@ -585,11 +585,11 @@ static void set_to_withoutmask_run(const oclMat &dst, const Scalar &scalar, Stri
args.push_back( std::make_pair( sizeof(cl_double4) , (void *)&val.dval )); args.push_back( std::make_pair( sizeof(cl_double4) , (void *)&val.dval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unknown depth"); CV_Error(Error::StsUnsupportedFormat, "unknown depth");
} }
#ifdef CL_VERSION_1_2 #ifdef CL_VERSION_1_2
if(dst.offset == 0 && dst.cols == dst.wholecols) if(dst.offset == 0 && dst.cols == dst.wholecols)
@ -656,7 +656,7 @@ static void set_to_withmask_run(const oclMat &dst, const Scalar &scalar, const o
args.push_back( std::make_pair( sizeof(cl_uchar4) , (void *)&val.uval )); args.push_back( std::make_pair( sizeof(cl_uchar4) , (void *)&val.uval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_8S: case CV_8S:
@ -675,7 +675,7 @@ static void set_to_withmask_run(const oclMat &dst, const Scalar &scalar, const o
args.push_back( std::make_pair( sizeof(cl_char4) , (void *)&val.cval )); args.push_back( std::make_pair( sizeof(cl_char4) , (void *)&val.cval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_16U: case CV_16U:
@ -694,7 +694,7 @@ static void set_to_withmask_run(const oclMat &dst, const Scalar &scalar, const o
args.push_back( std::make_pair( sizeof(cl_ushort4) , (void *)&val.usval )); args.push_back( std::make_pair( sizeof(cl_ushort4) , (void *)&val.usval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_16S: case CV_16S:
@ -713,7 +713,7 @@ static void set_to_withmask_run(const oclMat &dst, const Scalar &scalar, const o
args.push_back( std::make_pair( sizeof(cl_short4) , (void *)&val.shval )); args.push_back( std::make_pair( sizeof(cl_short4) , (void *)&val.shval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_32S: case CV_32S:
@ -732,7 +732,7 @@ static void set_to_withmask_run(const oclMat &dst, const Scalar &scalar, const o
args.push_back( std::make_pair( sizeof(cl_int4) , (void *)&val.ival )); args.push_back( std::make_pair( sizeof(cl_int4) , (void *)&val.ival ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_32F: case CV_32F:
@ -751,7 +751,7 @@ static void set_to_withmask_run(const oclMat &dst, const Scalar &scalar, const o
args.push_back( std::make_pair( sizeof(cl_float4) , (void *)&val.fval )); args.push_back( std::make_pair( sizeof(cl_float4) , (void *)&val.fval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
case CV_64F: case CV_64F:
@ -770,11 +770,11 @@ static void set_to_withmask_run(const oclMat &dst, const Scalar &scalar, const o
args.push_back( std::make_pair( sizeof(cl_double4) , (void *)&val.dval )); args.push_back( std::make_pair( sizeof(cl_double4) , (void *)&val.dval ));
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unsupported channels"); CV_Error(Error::StsUnsupportedFormat, "unsupported channels");
} }
break; break;
default: default:
CV_Error(CV_StsUnsupportedFormat, "unknown depth"); CV_Error(Error::StsUnsupportedFormat, "unknown depth");
} }
args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&dst.data )); args.push_back( std::make_pair( sizeof(cl_mem) , (void *)&dst.data ));
args.push_back( std::make_pair( sizeof(cl_int) , (void *)&dst.cols )); args.push_back( std::make_pair( sizeof(cl_int) , (void *)&dst.cols ));
@ -824,13 +824,8 @@ oclMat &cv::ocl::oclMat::setTo(const Scalar &scalar, const oclMat &mask)
oclMat cv::ocl::oclMat::reshape(int new_cn, int new_rows) const oclMat cv::ocl::oclMat::reshape(int new_cn, int new_rows) const
{ {
if( new_rows != 0 && new_rows != rows) if( new_rows != 0 && new_rows != rows)
{ {
CV_Error( Error::StsBadFunc, "oclMat's number of rows can not be changed for current version" );
CV_Error( CV_StsBadFunc,
"oclMat's number of rows can not be changed for current version" );
} }
oclMat hdr = *this; oclMat hdr = *this;
@ -863,13 +858,13 @@ oclMat cv::ocl::oclMat::reshape(int new_cn, int new_rows) const
if (!isContinuous()) if (!isContinuous())
CV_Error(CV_BadStep, "The matrix is not continuous, thus its number of rows can not be changed"); CV_Error(Error::BadStep, "The matrix is not continuous, thus its number of rows can not be changed");
if ((unsigned)new_rows > (unsigned)total_size) if ((unsigned)new_rows > (unsigned)total_size)
CV_Error(CV_StsOutOfRange, "Bad new number of rows"); CV_Error(Error::StsOutOfRange, "Bad new number of rows");
@ -879,7 +874,7 @@ oclMat cv::ocl::oclMat::reshape(int new_cn, int new_rows) const
if (total_width * new_rows != total_size) if (total_width * new_rows != total_size)
CV_Error(CV_StsBadArg, "The total number of matrix elements is not divisible by the new number of rows"); CV_Error(Error::StsBadArg, "The total number of matrix elements is not divisible by the new number of rows");
@ -897,7 +892,7 @@ oclMat cv::ocl::oclMat::reshape(int new_cn, int new_rows) const
if (new_width * new_cn != total_width) if (new_width * new_cn != total_width)
CV_Error(CV_BadNumChannels, "The total width is not divisible by the new number of channels"); CV_Error(Error::BadNumChannels, "The total width is not divisible by the new number of channels");

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