136 lines
5.7 KiB
C++
136 lines
5.7 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_CUDA_HPP__
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#define __OPENCV_CUDA_HPP__
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#ifndef __cplusplus
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# error cuda.hpp header must be compiled as C++
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#endif
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#include "opencv2/core/cuda.hpp"
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/**
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@addtogroup cuda
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@{
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@defgroup cuda_calib3d Camera Calibration and 3D Reconstruction
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@}
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*/
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namespace cv { namespace cuda {
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//////////////////////////// Labeling ////////////////////////////
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//! @addtogroup cuda
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//! @{
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//!performs labeling via graph cuts of a 2D regular 4-connected graph.
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CV_EXPORTS void graphcut(GpuMat& terminals, GpuMat& leftTransp, GpuMat& rightTransp, GpuMat& top, GpuMat& bottom, GpuMat& labels,
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GpuMat& buf, Stream& stream = Stream::Null());
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//!performs labeling via graph cuts of a 2D regular 8-connected graph.
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CV_EXPORTS void graphcut(GpuMat& terminals, GpuMat& leftTransp, GpuMat& rightTransp, GpuMat& top, GpuMat& topLeft, GpuMat& topRight,
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GpuMat& bottom, GpuMat& bottomLeft, GpuMat& bottomRight,
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GpuMat& labels,
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GpuMat& buf, Stream& stream = Stream::Null());
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//! compute mask for Generalized Flood fill componetns labeling.
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CV_EXPORTS void connectivityMask(const GpuMat& image, GpuMat& mask, const cv::Scalar& lo, const cv::Scalar& hi, Stream& stream = Stream::Null());
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//! performs connected componnents labeling.
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CV_EXPORTS void labelComponents(const GpuMat& mask, GpuMat& components, int flags = 0, Stream& stream = Stream::Null());
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//! @}
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//////////////////////////// Calib3d ////////////////////////////
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//! @addtogroup cuda_calib3d
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//! @{
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CV_EXPORTS void transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
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GpuMat& dst, Stream& stream = Stream::Null());
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CV_EXPORTS void projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
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const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst,
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Stream& stream = Stream::Null());
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/** @brief Finds the object pose from 3D-2D point correspondences.
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@param object Single-row matrix of object points.
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@param image Single-row matrix of image points.
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@param camera_mat 3x3 matrix of intrinsic camera parameters.
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@param dist_coef Distortion coefficients. See undistortPoints for details.
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@param rvec Output 3D rotation vector.
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@param tvec Output 3D translation vector.
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@param use_extrinsic_guess Flag to indicate that the function must use rvec and tvec as an
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initial transformation guess. It is not supported for now.
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@param num_iters Maximum number of RANSAC iterations.
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@param max_dist Euclidean distance threshold to detect whether point is inlier or not.
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@param min_inlier_count Flag to indicate that the function must stop if greater or equal number
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of inliers is achieved. It is not supported for now.
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@param inliers Output vector of inlier indices.
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*/
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CV_EXPORTS void solvePnPRansac(const Mat& object, const Mat& image, const Mat& camera_mat,
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const Mat& dist_coef, Mat& rvec, Mat& tvec, bool use_extrinsic_guess=false,
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int num_iters=100, float max_dist=8.0, int min_inlier_count=100,
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std::vector<int>* inliers=NULL);
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//! @}
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//////////////////////////// VStab ////////////////////////////
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//! @addtogroup cuda
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//! @{
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//! removes points (CV_32FC2, single row matrix) with zero mask value
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CV_EXPORTS void compactPoints(GpuMat &points0, GpuMat &points1, const GpuMat &mask);
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CV_EXPORTS void calcWobbleSuppressionMaps(
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int left, int idx, int right, Size size, const Mat &ml, const Mat &mr,
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GpuMat &mapx, GpuMat &mapy);
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//! @}
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}} // namespace cv { namespace cuda {
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#endif /* __OPENCV_CUDA_HPP__ */
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