+++ /dev/null
-/*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.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright( C) 2000, Intel Corporation, 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 Intel Corporation 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*/
-
-/*
- A few macros and definitions for backward compatibility
- with the previous versions of OpenCV. They are obsolete and
- are likely to be removed in future. To check whether your code
- uses any of these, define CV_NO_BACKWARD_COMPATIBILITY before
- including cv.h.
-*/
-
-#ifndef _CVCOMPAT_H_
-#define _CVCOMPAT_H_
-
-#include <string.h>
-
-#ifdef __cplusplus
- #define CV_UNREFERENCED(arg)
-#else
- #define CV_UNREFERENCED(arg) arg
-#endif
-
-#define CvMatType int
-#define CvDisMaskType int
-#define CvMatArray CvMat
-
-#define CvThreshType int
-#define CvAdaptiveThreshMethod int
-#define CvCompareMethod int
-#define CvFontFace int
-#define CvPolyApproxMethod int
-#define CvContoursMatchMethod int
-#define CvContourTreesMatchMethod int
-#define CvCoeffType int
-#define CvRodriguesType int
-#define CvElementShape int
-#define CvMorphOp int
-#define CvTemplMatchMethod int
-
-#define CvPoint2D64d CvPoint2D64f
-#define CvPoint3D64d CvPoint3D64f
-
-#define CV_MAT32F CV_32FC1
-#define CV_MAT3x1_32F CV_32FC1
-#define CV_MAT4x1_32F CV_32FC1
-#define CV_MAT3x3_32F CV_32FC1
-#define CV_MAT4x4_32F CV_32FC1
-
-#define CV_MAT64D CV_64FC1
-#define CV_MAT3x1_64D CV_64FC1
-#define CV_MAT4x1_64D CV_64FC1
-#define CV_MAT3x3_64D CV_64FC1
-#define CV_MAT4x4_64D CV_64FC1
-
-#define IPL_GAUSSIAN_5x5 7
-#define CvBox2D32f CvBox2D
-
-/* allocation/deallocation macros */
-#define cvCreateImageData cvCreateData
-#define cvReleaseImageData cvReleaseData
-#define cvSetImageData cvSetData
-#define cvGetImageRawData cvGetRawData
-
-#define cvmAlloc cvCreateData
-#define cvmFree cvReleaseData
-#define cvmAllocArray cvCreateData
-#define cvmFreeArray cvReleaseData
-
-#define cvIntegralImage cvIntegral
-#define cvMatchContours cvMatchShapes
-
-CV_INLINE CvMat cvMatArray( int rows, int cols, int type,
- int count, void* data CV_DEFAULT(0))
-{
- return cvMat( rows*count, cols, type, data );
-}
-
-#define cvUpdateMHIByTime cvUpdateMotionHistory
-
-#define cvAccMask cvAcc
-#define cvSquareAccMask cvSquareAcc
-#define cvMultiplyAccMask cvMultiplyAcc
-#define cvRunningAvgMask(imgY, imgU, mask, alpha) cvRunningAvg(imgY, imgU, alpha, mask)
-
-#define cvSetHistThresh cvSetHistBinRanges
-#define cvCalcHistMask(img, mask, hist, doNotClear) cvCalcHist(img, hist, doNotClear, mask)
-
-CV_INLINE double cvMean( const CvArr* image, const CvArr* mask CV_DEFAULT(0))
-{
- CvScalar mean = cvAvg( image, mask );
- return mean.val[0];
-}
-
-
-CV_INLINE double cvSumPixels( const CvArr* image )
-{
- CvScalar scalar = cvSum( image );
- return scalar.val[0];
-}
-
-CV_INLINE void cvMean_StdDev( const CvArr* image, double* mean, double* sdv,
- const CvArr* mask CV_DEFAULT(0))
-{
- CvScalar _mean, _sdv;
- cvAvgSdv( image, &_mean, &_sdv, mask );
-
- if( mean )
- *mean = _mean.val[0];
-
- if( sdv )
- *sdv = _sdv.val[0];
-}
-
-
-CV_INLINE void cvmPerspectiveProject( const CvMat* mat, const CvArr* src, CvArr* dst )
-{
- CvMat tsrc, tdst;
-
- cvReshape( src, &tsrc, 3, 0 );
- cvReshape( dst, &tdst, 3, 0 );
-
- cvPerspectiveTransform( &tsrc, &tdst, mat );
-}
-
-
-CV_INLINE void cvFillImage( CvArr* mat, double color )
-{
- cvSet( mat, cvColorToScalar(color, cvGetElemType(mat)), 0 );
-}
-
-
-#define cvCvtPixToPlane cvSplit
-#define cvCvtPlaneToPix cvMerge
-
-typedef struct CvRandState
-{
- CvRNG state; /* RNG state (the current seed and carry)*/
- int disttype; /* distribution type */
- CvScalar param[2]; /* parameters of RNG */
-}
-CvRandState;
-
-
-/* Changes RNG range while preserving RNG state */
-CV_INLINE void cvRandSetRange( CvRandState* state, double param1,
- double param2, int index CV_DEFAULT(-1))
-{
- if( !state )
- {
- cvError( CV_StsNullPtr, "cvRandSetRange", "Null pointer to RNG state", "cvcompat.h", 0 );
- return;
- }
-
- if( (unsigned)(index + 1) > 4 )
- {
- cvError( CV_StsOutOfRange, "cvRandSetRange", "index is not in -1..3", "cvcompat.h", 0 );
- return;
- }
-
- if( index < 0 )
- {
- state->param[0].val[0] = state->param[0].val[1] =
- state->param[0].val[2] = state->param[0].val[3] = param1;
- state->param[1].val[0] = state->param[1].val[1] =
- state->param[1].val[2] = state->param[1].val[3] = param2;
- }
- else
- {
- state->param[0].val[index] = param1;
- state->param[1].val[index] = param2;
- }
-}
-
-
-CV_INLINE void cvRandInit( CvRandState* state, double param1,
- double param2, int seed,
- int disttype CV_DEFAULT(CV_RAND_UNI))
-{
- if( !state )
- {
- cvError( CV_StsNullPtr, "cvRandInit", "Null pointer to RNG state", "cvcompat.h", 0 );
- return;
- }
-
- if( disttype != CV_RAND_UNI && disttype != CV_RAND_NORMAL )
- {
- cvError( CV_StsBadFlag, "cvRandInit", "Unknown distribution type", "cvcompat.h", 0 );
- return;
- }
-
- state->state = (uint64)(seed ? seed : -1);
- state->disttype = disttype;
- cvRandSetRange( state, param1, param2, -1 );
-}
-
-
-/* Fills array with random numbers */
-CV_INLINE void cvRand( CvRandState* state, CvArr* arr )
-{
- if( !state )
- {
- cvError( CV_StsNullPtr, "cvRand", "Null pointer to RNG state", "cvcompat.h", 0 );
- return;
- }
- cvRandArr( &state->state, arr, state->disttype, state->param[0], state->param[1] );
-}
-
-#define cvRandNext( _state ) cvRandInt( &(_state)->state )
-
-CV_INLINE void cvbRand( CvRandState* state, float* dst, int len )
-{
- CvMat mat = cvMat( 1, len, CV_32F, (void*)dst );
- cvRand( state, &mat );
-}
-
-
-CV_INLINE void cvbCartToPolar( const float* y, const float* x,
- float* magnitude, float* angle, int len )
-{
- CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
- CvMat my = mx;
- CvMat mm = mx;
- CvMat ma = mx;
-
- my.data.fl = (float*)y;
- mm.data.fl = (float*)magnitude;
- ma.data.fl = (float*)angle;
-
- cvCartToPolar( &mx, &my, &mm, angle ? &ma : NULL, 1 );
-}
-
-
-CV_INLINE void cvbFastArctan( const float* y, const float* x,
- float* angle, int len )
-{
- CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
- CvMat my = mx;
- CvMat ma = mx;
-
- my.data.fl = (float*)y;
- ma.data.fl = (float*)angle;
-
- cvCartToPolar( &mx, &my, NULL, &ma, 1 );
-}
-
-
-CV_INLINE void cvbSqrt( const float* x, float* y, int len )
-{
- CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
- CvMat my = mx;
- my.data.fl = (float*)y;
-
- cvPow( &mx, &my, 0.5 );
-}
-
-
-CV_INLINE void cvbInvSqrt( const float* x, float* y, int len )
-{
- CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
- CvMat my = mx;
- my.data.fl = (float*)y;
-
- cvPow( &mx, &my, -0.5 );
-}
-
-
-CV_INLINE void cvbReciprocal( const float* x, float* y, int len )
-{
- CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
- CvMat my = mx;
- my.data.fl = (float*)y;
-
- cvPow( &mx, &my, -1 );
-}
-
-
-CV_INLINE void cvbFastExp( const float* x, double* y, int len )
-{
- CvMat mx = cvMat( 1, len, CV_32F, (void*)x );
- CvMat my = cvMat( 1, len, CV_64F, y );
- cvExp( &mx, &my );
-}
-
-
-CV_INLINE void cvbFastLog( const double* x, float* y, int len )
-{
- CvMat mx = cvMat( 1, len, CV_64F, (void*)x );
- CvMat my = cvMat( 1, len, CV_32F, y );
- cvLog( &mx, &my );
-}
-
-
-CV_INLINE CvRect cvContourBoundingRect( void* point_set, int update CV_DEFAULT(0))
-{
- return cvBoundingRect( point_set, update );
-}
-
-
-CV_INLINE double cvPseudoInverse( const CvArr* src, CvArr* dst )
-{
- return cvInvert( src, dst, CV_SVD );
-}
-
-#define cvPseudoInv cvPseudoInverse
-
-#define cvContourMoments( contour, moments ) \
- cvMoments( contour, moments, 0 )
-
-#define cvGetPtrAt cvPtr2D
-#define cvGetAt cvGet2D
-#define cvSetAt(arr,val,y,x) cvSet2D((arr),(y),(x),(val))
-
-#define cvMeanMask cvMean
-#define cvMean_StdDevMask(img,mask,mean,sdv) cvMean_StdDev(img,mean,sdv,mask)
-
-#define cvNormMask(imgA,imgB,mask,normType) cvNorm(imgA,imgB,normType,mask)
-
-#define cvMinMaxLocMask(img, mask, min_val, max_val, min_loc, max_loc) \
- cvMinMaxLoc(img, min_val, max_val, min_loc, max_loc, mask)
-
-#define cvRemoveMemoryManager cvSetMemoryManager
-
-#define cvmSetZero( mat ) cvSetZero( mat )
-#define cvmSetIdentity( mat ) cvSetIdentity( mat )
-#define cvmAdd( src1, src2, dst ) cvAdd( src1, src2, dst, 0 )
-#define cvmSub( src1, src2, dst ) cvSub( src1, src2, dst, 0 )
-#define cvmCopy( src, dst ) cvCopy( src, dst, 0 )
-#define cvmMul( src1, src2, dst ) cvMatMulAdd( src1, src2, 0, dst )
-#define cvmTranspose( src, dst ) cvT( src, dst )
-#define cvmInvert( src, dst ) cvInv( src, dst )
-#define cvmMahalanobis(vec1, vec2, mat) cvMahalanobis( vec1, vec2, mat )
-#define cvmDotProduct( vec1, vec2 ) cvDotProduct( vec1, vec2 )
-#define cvmCrossProduct(vec1, vec2,dst) cvCrossProduct( vec1, vec2, dst )
-#define cvmTrace( mat ) (cvTrace( mat )).val[0]
-#define cvmMulTransposed( src, dst, order ) cvMulTransposed( src, dst, order )
-#define cvmEigenVV( mat, evec, eval, eps) cvEigenVV( mat, evec, eval, eps )
-#define cvmDet( mat ) cvDet( mat )
-#define cvmScale( src, dst, scale ) cvScale( src, dst, scale )
-
-#define cvCopyImage( src, dst ) cvCopy( src, dst, 0 )
-#define cvReleaseMatHeader cvReleaseMat
-
-/* Calculates exact convex hull of 2d point set */
-CV_INLINE void cvConvexHull( CvPoint* points, int num_points,
- CvRect* CV_UNREFERENCED(bound_rect),
- int orientation, int* hull, int* hullsize )
-{
- CvMat points1 = cvMat( 1, num_points, CV_32SC2, points );
- CvMat hull1 = cvMat( 1, num_points, CV_32SC1, hull );
-
- cvConvexHull2( &points1, &hull1, orientation, 0 );
- *hullsize = hull1.cols;
-}
-
-/* Calculates exact convex hull of 2d point set stored in a sequence */
-#define cvContourConvexHull( contour, orientation, storage ) \
- cvConvexHull2( contour, storage, orientation )
-
-/* Calculates approximate convex hull of 2d point set */
-#define cvConvexHullApprox( points, num_points, bound_rect, bandwidth, \
- orientation, hull, hullsize ) \
-cvConvexHull( points, num_points, bound_rect, orientation, hull, hullsize )
-
-/* Calculates approximate convex hull of 2d point set stored in a sequence */
-#define cvContourConvexHullApprox( contour, bandwidth, orientation, storage ) \
- cvConvexHull2( contour, storage, orientation )
-
-
-CV_INLINE void cvMinAreaRect( CvPoint* points, int n,
- int CV_UNREFERENCED(left), int CV_UNREFERENCED(bottom),
- int CV_UNREFERENCED(right), int CV_UNREFERENCED(top),
- CvPoint2D32f* anchor,
- CvPoint2D32f* vect1,
- CvPoint2D32f* vect2 )
-{
- CvMat mat = cvMat( 1, n, CV_32SC2, points );
- CvBox2D box = cvMinAreaRect2( &mat, 0 );
- CvPoint2D32f pt[4];
-
- cvBoxPoints( box, pt );
- *anchor = pt[0];
- vect1->x = pt[1].x - pt[0].x;
- vect1->y = pt[1].y - pt[0].y;
- vect2->x = pt[3].x - pt[0].x;
- vect2->y = pt[3].y - pt[0].y;
-
- CV_UNREFERENCED( (left, bottom, right, top) );
-}
-
-typedef int CvDisType;
-typedef int CvChainApproxMethod;
-typedef int CvContourRetrievalMode;
-
-CV_INLINE void cvFitLine3D( CvPoint3D32f* points, int count, int dist,
- void *param, float reps, float aeps, float* line )
-{
- CvMat mat = cvMat( 1, count, CV_32FC3, points );
- float _param = param != NULL ? *(float*)param : 0.f;
- assert( dist != CV_DIST_USER );
- cvFitLine( &mat, dist, _param, reps, aeps, line );
-}
-
-/* Fits a line into set of 2d points in a robust way (M-estimator technique) */
-CV_INLINE void cvFitLine2D( CvPoint2D32f* points, int count, int dist,
- void *param, float reps, float aeps, float* line )
-{
- CvMat mat = cvMat( 1, count, CV_32FC2, points );
- float _param = param != NULL ? *(float*)param : 0.f;
- assert( dist != CV_DIST_USER );
- cvFitLine( &mat, dist, _param, reps, aeps, line );
-}
-
-
-CV_INLINE void cvFitEllipse( const CvPoint2D32f* points, int count, CvBox2D* box )
-{
- CvMat mat = cvMat( 1, count, CV_32FC2, (void*)points );
- *box = cvFitEllipse2( &mat );
-}
-
-/* Projects 2d points to one of standard coordinate planes
- (i.e. removes one of coordinates) */
-CV_INLINE void cvProject3D( CvPoint3D32f* points3D, int count,
- CvPoint2D32f* points2D,
- int xIndx CV_DEFAULT(0),
- int yIndx CV_DEFAULT(1))
-{
- CvMat src = cvMat( 1, count, CV_32FC3, points3D );
- CvMat dst = cvMat( 1, count, CV_32FC2, points2D );
- float m[6] = {0,0,0,0,0,0};
- CvMat M = cvMat( 2, 3, CV_32F, m );
-
- assert( (unsigned)xIndx < 3 && (unsigned)yIndx < 3 );
- m[xIndx] = m[yIndx+3] = 1.f;
-
- cvTransform( &src, &dst, &M, NULL );
-}
-
-
-/* Retrieves value of the particular bin
- of x-dimensional (x=1,2,3,...) histogram */
-#define cvQueryHistValue_1D( hist, idx0 ) \
- ((float)cvGetReal1D( (hist)->bins, (idx0)))
-#define cvQueryHistValue_2D( hist, idx0, idx1 ) \
- ((float)cvGetReal2D( (hist)->bins, (idx0), (idx1)))
-#define cvQueryHistValue_3D( hist, idx0, idx1, idx2 ) \
- ((float)cvGetReal3D( (hist)->bins, (idx0), (idx1), (idx2)))
-#define cvQueryHistValue_nD( hist, idx ) \
- ((float)cvGetRealND( (hist)->bins, (idx)))
-
-/* Returns pointer to the particular bin of x-dimesional histogram.
- For sparse histogram the bin is created if it didn't exist before */
-#define cvGetHistValue_1D( hist, idx0 ) \
- ((float*)cvPtr1D( (hist)->bins, (idx0), 0))
-#define cvGetHistValue_2D( hist, idx0, idx1 ) \
- ((float*)cvPtr2D( (hist)->bins, (idx0), (idx1), 0))
-#define cvGetHistValue_3D( hist, idx0, idx1, idx2 ) \
- ((float*)cvPtr3D( (hist)->bins, (idx0), (idx1), (idx2), 0))
-#define cvGetHistValue_nD( hist, idx ) \
- ((float*)cvPtrND( (hist)->bins, (idx), 0))
-
-
-#define CV_IS_SET_ELEM_EXISTS CV_IS_SET_ELEM
-
-
-CV_INLINE int cvHoughLines( CvArr* image, double rho,
- double theta, int threshold,
- float* lines, int linesNumber )
-{
- CvMat linesMat = cvMat( 1, linesNumber, CV_32FC2, lines );
- cvHoughLines2( image, &linesMat, CV_HOUGH_STANDARD,
- rho, theta, threshold, 0, 0 );
-
- return linesMat.cols;
-}
-
-
-CV_INLINE int cvHoughLinesP( CvArr* image, double rho,
- double theta, int threshold,
- int lineLength, int lineGap,
- int* lines, int linesNumber )
-{
- CvMat linesMat = cvMat( 1, linesNumber, CV_32SC4, lines );
- cvHoughLines2( image, &linesMat, CV_HOUGH_PROBABILISTIC,
- rho, theta, threshold, lineLength, lineGap );
-
- return linesMat.cols;
-}
-
-
-CV_INLINE int cvHoughLinesSDiv( CvArr* image, double rho, int srn,
- double theta, int stn, int threshold,
- float* lines, int linesNumber )
-{
- CvMat linesMat = cvMat( 1, linesNumber, CV_32FC2, lines );
- cvHoughLines2( image, &linesMat, CV_HOUGH_MULTI_SCALE,
- rho, theta, threshold, srn, stn );
-
- return linesMat.cols;
-}
-
-
-/* Find fundamental matrix */
-CV_INLINE void cvFindFundamentalMatrix( int* points1, int* points2,
- int numpoints, int CV_UNREFERENCED(method), float* matrix )
-{
- CvMat* pointsMat1;
- CvMat* pointsMat2;
- CvMat fundMatr = cvMat(3,3,CV_32F,matrix);
- int i, curr = 0;
-
- pointsMat1 = cvCreateMat(3,numpoints,CV_64F);
- pointsMat2 = cvCreateMat(3,numpoints,CV_64F);
-
- for( i = 0; i < numpoints; i++ )
- {
- cvmSet(pointsMat1,0,i,points1[curr]);//x
- cvmSet(pointsMat1,1,i,points1[curr+1]);//y
- cvmSet(pointsMat1,2,i,1.0);
-
- cvmSet(pointsMat2,0,i,points2[curr]);//x
- cvmSet(pointsMat2,1,i,points2[curr+1]);//y
- cvmSet(pointsMat2,2,i,1.0);
- curr += 2;
- }
-
- cvFindFundamentalMat(pointsMat1,pointsMat2,&fundMatr,CV_FM_RANSAC,1,0.99,0);
-
- cvReleaseMat(&pointsMat1);
- cvReleaseMat(&pointsMat2);
-}
-
-
-
-CV_INLINE int
-cvFindChessBoardCornerGuesses( const void* arr, void* CV_UNREFERENCED(thresharr),
- CvMemStorage * CV_UNREFERENCED(storage),
- CvSize pattern_size, CvPoint2D32f * corners,
- int *corner_count )
-{
- return cvFindChessboardCorners( arr, pattern_size, corners,
- corner_count, CV_CALIB_CB_ADAPTIVE_THRESH );
-}
-
-
-/* Calibrates camera using multiple views of calibration pattern */
-CV_INLINE void cvCalibrateCamera( int image_count, int* _point_counts,
- CvSize image_size, CvPoint2D32f* _image_points, CvPoint3D32f* _object_points,
- float* _distortion_coeffs, float* _camera_matrix, float* _translation_vectors,
- float* _rotation_matrices, int flags )
-{
- int i, total = 0;
- CvMat point_counts = cvMat( image_count, 1, CV_32SC1, _point_counts );
- CvMat image_points, object_points;
- CvMat dist_coeffs = cvMat( 4, 1, CV_32FC1, _distortion_coeffs );
- CvMat camera_matrix = cvMat( 3, 3, CV_32FC1, _camera_matrix );
- CvMat rotation_matrices = cvMat( image_count, 9, CV_32FC1, _rotation_matrices );
- CvMat translation_vectors = cvMat( image_count, 3, CV_32FC1, _translation_vectors );
-
- for( i = 0; i < image_count; i++ )
- total += _point_counts[i];
-
- image_points = cvMat( total, 1, CV_32FC2, _image_points );
- object_points = cvMat( total, 1, CV_32FC3, _object_points );
-
- cvCalibrateCamera2( &object_points, &image_points, &point_counts, image_size,
- &camera_matrix, &dist_coeffs, &rotation_matrices, &translation_vectors,
- flags );
-}
-
-
-CV_INLINE void cvCalibrateCamera_64d( int image_count, int* _point_counts,
- CvSize image_size, CvPoint2D64f* _image_points, CvPoint3D64f* _object_points,
- double* _distortion_coeffs, double* _camera_matrix, double* _translation_vectors,
- double* _rotation_matrices, int flags )
-{
- int i, total = 0;
- CvMat point_counts = cvMat( image_count, 1, CV_32SC1, _point_counts );
- CvMat image_points, object_points;
- CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion_coeffs );
- CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, _camera_matrix );
- CvMat rotation_matrices = cvMat( image_count, 9, CV_64FC1, _rotation_matrices );
- CvMat translation_vectors = cvMat( image_count, 3, CV_64FC1, _translation_vectors );
-
- for( i = 0; i < image_count; i++ )
- total += _point_counts[i];
-
- image_points = cvMat( total, 1, CV_64FC2, _image_points );
- object_points = cvMat( total, 1, CV_64FC3, _object_points );
-
- cvCalibrateCamera2( &object_points, &image_points, &point_counts, image_size,
- &camera_matrix, &dist_coeffs, &rotation_matrices, &translation_vectors,
- flags );
-}
-
-
-
-/* Find 3d position of object given intrinsic camera parameters,
- 3d model of the object and projection of the object into view plane */
-CV_INLINE void cvFindExtrinsicCameraParams( int point_count,
- CvSize CV_UNREFERENCED(image_size), CvPoint2D32f* _image_points,
- CvPoint3D32f* _object_points, float* focal_length,
- CvPoint2D32f principal_point, float* _distortion_coeffs,
- float* _rotation_vector, float* _translation_vector )
-{
- CvMat image_points = cvMat( point_count, 1, CV_32FC2, _image_points );
- CvMat object_points = cvMat( point_count, 1, CV_32FC3, _object_points );
- CvMat dist_coeffs = cvMat( 4, 1, CV_32FC1, _distortion_coeffs );
- float a[9];
- CvMat camera_matrix = cvMat( 3, 3, CV_32FC1, a );
- CvMat rotation_vector = cvMat( 1, 1, CV_32FC3, _rotation_vector );
- CvMat translation_vector = cvMat( 1, 1, CV_32FC3, _translation_vector );
-
- a[0] = focal_length[0]; a[4] = focal_length[1];
- a[2] = principal_point.x; a[5] = principal_point.y;
- a[1] = a[3] = a[6] = a[7] = 0.f;
- a[8] = 1.f;
-
- cvFindExtrinsicCameraParams2( &object_points, &image_points, &camera_matrix,
- &dist_coeffs, &rotation_vector, &translation_vector );
-}
-
-
-/* Variant of the previous function that takes double-precision parameters */
-CV_INLINE void cvFindExtrinsicCameraParams_64d( int point_count,
- CvSize CV_UNREFERENCED(image_size), CvPoint2D64f* _image_points,
- CvPoint3D64f* _object_points, double* focal_length,
- CvPoint2D64f principal_point, double* _distortion_coeffs,
- double* _rotation_vector, double* _translation_vector )
-{
- CvMat image_points = cvMat( point_count, 1, CV_64FC2, _image_points );
- CvMat object_points = cvMat( point_count, 1, CV_64FC3, _object_points );
- CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion_coeffs );
- double a[9];
- CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, a );
- CvMat rotation_vector = cvMat( 1, 1, CV_64FC3, _rotation_vector );
- CvMat translation_vector = cvMat( 1, 1, CV_64FC3, _translation_vector );
-
- a[0] = focal_length[0]; a[4] = focal_length[1];
- a[2] = principal_point.x; a[5] = principal_point.y;
- a[1] = a[3] = a[6] = a[7] = 0.;
- a[8] = 1.;
-
- cvFindExtrinsicCameraParams2( &object_points, &image_points, &camera_matrix,
- &dist_coeffs, &rotation_vector, &translation_vector );
-}
-
-
-/* Rodrigues transform */
-#define CV_RODRIGUES_M2V 0
-#define CV_RODRIGUES_V2M 1
-
-/* Converts rotation_matrix matrix to rotation_matrix vector or vice versa */
-CV_INLINE void cvRodrigues( CvMat* rotation_matrix, CvMat* rotation_vector,
- CvMat* jacobian, int conv_type )
-{
- if( conv_type == CV_RODRIGUES_V2M )
- cvRodrigues2( rotation_vector, rotation_matrix, jacobian );
- else
- cvRodrigues2( rotation_matrix, rotation_vector, jacobian );
-}
-
-
-/* Does reprojection of 3d object points to the view plane */
-CV_INLINE void cvProjectPoints( int point_count, CvPoint3D64f* _object_points,
- double* _rotation_vector, double* _translation_vector,
- double* focal_length, CvPoint2D64f principal_point,
- double* _distortion, CvPoint2D64f* _image_points,
- double* _deriv_points_rotation_matrix,
- double* _deriv_points_translation_vect,
- double* _deriv_points_focal,
- double* _deriv_points_principal_point,
- double* _deriv_points_distortion_coeffs )
-{
- CvMat object_points = cvMat( point_count, 1, CV_64FC3, _object_points );
- CvMat image_points = cvMat( point_count, 1, CV_64FC2, _image_points );
- CvMat rotation_vector = cvMat( 3, 1, CV_64FC1, _rotation_vector );
- CvMat translation_vector = cvMat( 3, 1, CV_64FC1, _translation_vector );
- double a[9];
- CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, a );
- CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion );
- CvMat dpdr = cvMat( 2*point_count, 3, CV_64FC1, _deriv_points_rotation_matrix );
- CvMat dpdt = cvMat( 2*point_count, 3, CV_64FC1, _deriv_points_translation_vect );
- CvMat dpdf = cvMat( 2*point_count, 2, CV_64FC1, _deriv_points_focal );
- CvMat dpdc = cvMat( 2*point_count, 2, CV_64FC1, _deriv_points_principal_point );
- CvMat dpdk = cvMat( 2*point_count, 4, CV_64FC1, _deriv_points_distortion_coeffs );
-
- a[0] = focal_length[0]; a[4] = focal_length[1];
- a[2] = principal_point.x; a[5] = principal_point.y;
- a[1] = a[3] = a[6] = a[7] = 0.;
- a[8] = 1.;
-
- cvProjectPoints2( &object_points, &rotation_vector, &translation_vector,
- &camera_matrix, &dist_coeffs, &image_points,
- &dpdr, &dpdt, &dpdf, &dpdc, &dpdk );
-}
-
-
-/* Simpler version of the previous function */
-CV_INLINE void cvProjectPointsSimple( int point_count, CvPoint3D64f* _object_points,
- double* _rotation_matrix, double* _translation_vector,
- double* _camera_matrix, double* _distortion, CvPoint2D64f* _image_points )
-{
- CvMat object_points = cvMat( point_count, 1, CV_64FC3, _object_points );
- CvMat image_points = cvMat( point_count, 1, CV_64FC2, _image_points );
- CvMat rotation_matrix = cvMat( 3, 3, CV_64FC1, _rotation_matrix );
- CvMat translation_vector = cvMat( 3, 1, CV_64FC1, _translation_vector );
- CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, _camera_matrix );
- CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion );
-
- cvProjectPoints2( &object_points, &rotation_matrix, &translation_vector,
- &camera_matrix, &dist_coeffs, &image_points,
- 0, 0, 0, 0, 0 );
-}
-
-
-CV_INLINE void cvUnDistortOnce( const CvArr* src, CvArr* dst,
- const float* intrinsic_matrix,
- const float* distortion_coeffs,
- int CV_UNREFERENCED(interpolate) )
-{
- CvMat _a = cvMat( 3, 3, CV_32F, (void*)intrinsic_matrix );
- CvMat _k = cvMat( 4, 1, CV_32F, (void*)distortion_coeffs );
- cvUndistort2( src, dst, &_a, &_k );
-}
-
-
-/* the two functions below have quite hackerish implementations, use with care
- (or, which is better, switch to cvUndistortInitMap and cvRemap instead */
-CV_INLINE void cvUnDistortInit( const CvArr* CV_UNREFERENCED(src),
- CvArr* undistortion_map,
- const float* A, const float* k,
- int CV_UNREFERENCED(interpolate) )
-{
- union { uchar* ptr; float* fl; } data;
- CvSize sz;
- cvGetRawData( undistortion_map, &data.ptr, 0, &sz );
- assert( sz.width >= 8 );
- /* just save the intrinsic parameters to the map */
- data.fl[0] = A[0]; data.fl[1] = A[4];
- data.fl[2] = A[2]; data.fl[3] = A[5];
- data.fl[4] = k[0]; data.fl[5] = k[1];
- data.fl[6] = k[2]; data.fl[7] = k[3];
-}
-
-CV_INLINE void cvUnDistort( const CvArr* src, CvArr* dst,
- const CvArr* undistortion_map,
- int CV_UNREFERENCED(interpolate) )
-{
- union { uchar* ptr; float* fl; } data;
- float a[] = {0,0,0,0,0,0,0,0,1};
- CvSize sz;
- cvGetRawData( undistortion_map, &data.ptr, 0, &sz );
- assert( sz.width >= 8 );
- a[0] = data.fl[0]; a[4] = data.fl[1];
- a[2] = data.fl[2]; a[5] = data.fl[3];
- cvUnDistortOnce( src, dst, a, data.fl + 4, 1 );
-}
-
-
-CV_INLINE float cvCalcEMD( const float* signature1, int size1,
- const float* signature2, int size2,
- int dims, int dist_type CV_DEFAULT(CV_DIST_L2),
- CvDistanceFunction dist_func CV_DEFAULT(0),
- float* lower_bound CV_DEFAULT(0),
- void* user_param CV_DEFAULT(0))
-{
- CvMat sign1 = cvMat( size1, dims + 1, CV_32FC1, (void*)signature1 );
- CvMat sign2 = cvMat( size2, dims + 1, CV_32FC1, (void*)signature2 );
-
- return cvCalcEMD2( &sign1, &sign2, dist_type, dist_func, 0, 0, lower_bound, user_param );
-}
-
-
-CV_INLINE void cvKMeans( int num_clusters, float** samples,
- int num_samples, int vec_size,
- CvTermCriteria termcrit, int* cluster_idx )
-{
- CvMat* samples_mat = cvCreateMat( num_samples, vec_size, CV_32FC1 );
- CvMat cluster_idx_mat = cvMat( num_samples, 1, CV_32SC1, cluster_idx );
- int i;
- for( i = 0; i < num_samples; i++ )
- memcpy( samples_mat->data.fl + i*vec_size, samples[i], vec_size*sizeof(float));
- cvKMeans2( samples_mat, num_clusters, &cluster_idx_mat, termcrit );
- cvReleaseMat( &samples_mat );
-}
-
-
-CV_INLINE void cvStartScanGraph( CvGraph* graph, CvGraphScanner* scanner,
- CvGraphVtx* vtx CV_DEFAULT(NULL),
- int mask CV_DEFAULT(CV_GRAPH_ALL_ITEMS))
-{
- CvGraphScanner* temp_scanner;
-
- if( !scanner )
- cvError( CV_StsNullPtr, "cvStartScanGraph", "Null scanner pointer", "cvcompat.h", 0 );
-
- temp_scanner = cvCreateGraphScanner( graph, vtx, mask );
- *scanner = *temp_scanner;
- cvFree( &temp_scanner );
-}
-
-
-CV_INLINE void cvEndScanGraph( CvGraphScanner* scanner )
-{
- if( !scanner )
- cvError( CV_StsNullPtr, "cvEndScanGraph", "Null scanner pointer", "cvcompat.h", 0 );
-
- if( scanner->stack )
- {
- CvGraphScanner* temp_scanner = (CvGraphScanner*)cvAlloc( sizeof(*temp_scanner) );
- *temp_scanner = *scanner;
- cvReleaseGraphScanner( &temp_scanner );
- memset( scanner, 0, sizeof(*scanner) );
- }
-}
-
-
-#define cvKalmanUpdateByTime cvKalmanPredict
-#define cvKalmanUpdateByMeasurement cvKalmanCorrect
-
-/* old drawing functions */
-CV_INLINE void cvLineAA( CvArr* img, CvPoint pt1, CvPoint pt2,
- double color, int scale CV_DEFAULT(0))
-{
- cvLine( img, pt1, pt2, cvColorToScalar(color, cvGetElemType(img)), 1, CV_AA, scale );
-}
-
-CV_INLINE void cvCircleAA( CvArr* img, CvPoint center, int radius,
- double color, int scale CV_DEFAULT(0) )
-{
- cvCircle( img, center, radius, cvColorToScalar(color, cvGetElemType(img)), 1, CV_AA, scale );
-}
-
-CV_INLINE void cvEllipseAA( CvArr* img, CvPoint center, CvSize axes,
- double angle, double start_angle,
- double end_angle, double color,
- int scale CV_DEFAULT(0) )
-{
- cvEllipse( img, center, axes, angle, start_angle, end_angle,
- cvColorToScalar(color, cvGetElemType(img)), 1, CV_AA, scale );
-}
-
-CV_INLINE void cvPolyLineAA( CvArr* img, CvPoint** pts, int* npts, int contours,
- int is_closed, double color, int scale CV_DEFAULT(0) )
-{
- cvPolyLine( img, pts, npts, contours, is_closed,
- cvColorToScalar(color, cvGetElemType(img)),
- 1, CV_AA, scale );
-}
-
-
-#define cvMake2DPoints cvConvertPointsHomogenious
-#define cvMake3DPoints cvConvertPointsHomogenious
-
-#define cvWarpPerspectiveQMatrix cvGetPerspectiveTransform
-
-/****************************************************************************************\
-* Pixel Access Macros *
-\****************************************************************************************/
-
-typedef struct _CvPixelPosition8u
-{
- uchar* currline; /* pointer to the start of the current pixel line */
- uchar* topline; /* pointer to the start of the top pixel line */
- uchar* bottomline; /* pointer to the start of the first line */
- /* which is below the image */
- int x; /* current x coordinate ( in pixels ) */
- int width; /* width of the image ( in pixels ) */
- int height; /* height of the image ( in pixels ) */
- int step; /* distance between lines ( in elements of single */
- /* plane ) */
- int step_arr[3]; /* array: ( 0, -step, step ). It is used for */
- /* vertical moving */
-} CvPixelPosition8u;
-
-/* this structure differs from the above only in data type */
-typedef struct _CvPixelPosition8s
-{
- schar* currline;
- schar* topline;
- schar* bottomline;
- int x;
- int width;
- int height;
- int step;
- int step_arr[3];
-} CvPixelPosition8s;
-
-/* this structure differs from the CvPixelPosition8u only in data type */
-typedef struct _CvPixelPosition32f
-{
- float* currline;
- float* topline;
- float* bottomline;
- int x;
- int width;
- int height;
- int step;
- int step_arr[3];
-} CvPixelPosition32f;
-
-
-/* Initialize one of the CvPixelPosition structures. */
-/* pos - initialized structure */
-/* origin - pointer to the left-top corner of the ROI */
-/* step - width of the whole image in bytes */
-/* roi - width & height of the ROI */
-/* x, y - initial position */
-#define CV_INIT_PIXEL_POS(pos, origin, _step, roi, _x, _y, orientation) \
- ( \
- (pos).step = (_step)/sizeof((pos).currline[0]) * (orientation ? -1 : 1), \
- (pos).width = (roi).width, \
- (pos).height = (roi).height, \
- (pos).bottomline = (origin) + (pos).step*(pos).height, \
- (pos).topline = (origin) - (pos).step, \
- (pos).step_arr[0] = 0, \
- (pos).step_arr[1] = -(pos).step, \
- (pos).step_arr[2] = (pos).step, \
- (pos).x = (_x), \
- (pos).currline = (origin) + (pos).step*(_y) )
-
-
-/* Move to specified point ( absolute shift ) */
-/* pos - position structure */
-/* x, y - coordinates of the new position */
-/* cs - number of the image channels */
-#define CV_MOVE_TO( pos, _x, _y, cs ) \
-((pos).currline = (_y) >= 0 && (_y) < (pos).height ? (pos).topline + ((_y)+1)*(pos).step : 0, \
- (pos).x = (_x) >= 0 && (_x) < (pos).width ? (_x) : 0, (pos).currline + (_x) * (cs) )
-
-/* Get current coordinates */
-/* pos - position structure */
-/* x, y - coordinates of the new position */
-/* cs - number of the image channels */
-#define CV_GET_CURRENT( pos, cs ) ((pos).currline + (pos).x * (cs))
-
-/* Move by one pixel relatively to current position */
-/* pos - position structure */
-/* cs - number of the image channels */
-
-/* left */
-#define CV_MOVE_LEFT( pos, cs ) \
- ( --(pos).x >= 0 ? (pos).currline + (pos).x*(cs) : 0 )
-
-/* right */
-#define CV_MOVE_RIGHT( pos, cs ) \
- ( ++(pos).x < (pos).width ? (pos).currline + (pos).x*(cs) : 0 )
-
-/* up */
-#define CV_MOVE_UP( pos, cs ) \
- (((pos).currline -= (pos).step) != (pos).topline ? (pos).currline + (pos).x*(cs) : 0 )
-
-/* down */
-#define CV_MOVE_DOWN( pos, cs ) \
- (((pos).currline += (pos).step) != (pos).bottomline ? (pos).currline + (pos).x*(cs) : 0 )
-
-/* left up */
-#define CV_MOVE_LU( pos, cs ) ( CV_MOVE_LEFT(pos, cs), CV_MOVE_UP(pos, cs))
-
-/* right up */
-#define CV_MOVE_RU( pos, cs ) ( CV_MOVE_RIGHT(pos, cs), CV_MOVE_UP(pos, cs))
-
-/* left down */
-#define CV_MOVE_LD( pos, cs ) ( CV_MOVE_LEFT(pos, cs), CV_MOVE_DOWN(pos, cs))
-
-/* right down */
-#define CV_MOVE_RD( pos, cs ) ( CV_MOVE_RIGHT(pos, cs), CV_MOVE_DOWN(pos, cs))
-
-
-
-/* Move by one pixel relatively to current position with wrapping when the position */
-/* achieves image boundary */
-/* pos - position structure */
-/* cs - number of the image channels */
-
-/* left */
-#define CV_MOVE_LEFT_WRAP( pos, cs ) \
- ((pos).currline + ( --(pos).x >= 0 ? (pos).x : ((pos).x = (pos).width-1))*(cs))
-
-/* right */
-#define CV_MOVE_RIGHT_WRAP( pos, cs ) \
- ((pos).currline + ( ++(pos).x < (pos).width ? (pos).x : ((pos).x = 0))*(cs) )
-
-/* up */
-#define CV_MOVE_UP_WRAP( pos, cs ) \
- ((((pos).currline -= (pos).step) != (pos).topline ? \
- (pos).currline : ((pos).currline = (pos).bottomline - (pos).step)) + (pos).x*(cs) )
-
-/* down */
-#define CV_MOVE_DOWN_WRAP( pos, cs ) \
- ((((pos).currline += (pos).step) != (pos).bottomline ? \
- (pos).currline : ((pos).currline = (pos).topline + (pos).step)) + (pos).x*(cs) )
-
-/* left up */
-#define CV_MOVE_LU_WRAP( pos, cs ) ( CV_MOVE_LEFT_WRAP(pos, cs), CV_MOVE_UP_WRAP(pos, cs))
-/* right up */
-#define CV_MOVE_RU_WRAP( pos, cs ) ( CV_MOVE_RIGHT_WRAP(pos, cs), CV_MOVE_UP_WRAP(pos, cs))
-/* left down */
-#define CV_MOVE_LD_WRAP( pos, cs ) ( CV_MOVE_LEFT_WRAP(pos, cs), CV_MOVE_DOWN_WRAP(pos, cs))
-/* right down */
-#define CV_MOVE_RD_WRAP( pos, cs ) ( CV_MOVE_RIGHT_WRAP(pos, cs), CV_MOVE_DOWN_WRAP(pos, cs))
-
-/* Numeric constants which used for moving in arbitrary direction */
-#define CV_SHIFT_NONE 2
-#define CV_SHIFT_LEFT 1
-#define CV_SHIFT_RIGHT 3
-#define CV_SHIFT_UP 6
-#define CV_SHIFT_DOWN 10
-#define CV_SHIFT_LU 5
-#define CV_SHIFT_RU 7
-#define CV_SHIFT_LD 9
-#define CV_SHIFT_RD 11
-
-/* Move by one pixel in specified direction */
-/* pos - position structure */
-/* shift - direction ( it's value must be one of the CV_SHIFT_\85 constants ) */
-/* cs - number of the image channels */
-#define CV_MOVE_PARAM( pos, shift, cs ) \
- ( (pos).currline += (pos).step_arr[(shift)>>2], (pos).x += ((shift)&3)-2, \
- ((pos).currline != (pos).topline && (pos).currline != (pos).bottomline && \
- (pos).x >= 0 && (pos).x < (pos).width) ? (pos).currline + (pos).x*(cs) : 0 )
-
-/* Move by one pixel in specified direction with wrapping when the */
-/* position achieves image boundary */
-/* pos - position structure */
-/* shift - direction ( it's value must be one of the CV_SHIFT_\85 constants ) */
-/* cs - number of the image channels */
-#define CV_MOVE_PARAM_WRAP( pos, shift, cs ) \
- ( (pos).currline += (pos).step_arr[(shift)>>2], \
- (pos).currline = ((pos).currline == (pos).topline ? \
- (pos).bottomline - (pos).step : \
- (pos).currline == (pos).bottomline ? \
- (pos).topline + (pos).step : (pos).currline), \
- \
- (pos).x += ((shift)&3)-2, \
- (pos).x = ((pos).x < 0 ? (pos).width-1 : (pos).x >= (pos).width ? 0 : (pos).x), \
- \
- (pos).currline + (pos).x*(cs) )
-
-#endif/*_CVCOMPAT_H_*/
projects / opencv / blobdiff