CvMat cvmat_remove_column(const CvMat*mat, int column)
{
assert(column<mat->cols && column>=0);
assert(mat->cols > 1);
CvMat new_mat = cvMat(mat->rows, mat->cols-1, mat->type, malloc(mat->rows*mat->cols*8));
int t;
int size = CV_ELEM_SIZE(mat->type);
for(t=0;t<mat->rows;t++) {
int pos = 0;
int s;
for(s=0;s<mat->cols;s++) {
if(s!=column) {
memcpy(CV_MAT_ELEM_PTR(new_mat, t, pos), CV_MAT_ELEM_PTR((*mat), t, s), size);
pos++;
}
}
}
return new_mat;
}
/*
m_buf只在readHeader中被使用
*/
bool JpegDecoder::readHeader()
{
bool result = false;
close();
JpegState* state = new JpegState;
m_state = state;
state->cinfo.err = jpeg_std_error(&state->jerr.pub);
state->jerr.pub.error_exit = error_exit;
if( setjmp( state->jerr.setjmp_buffer ) == 0 )
{
jpeg_create_decompress( &state->cinfo );
if( !(m_buf.data.ptr == 0) )
{
jpeg_buffer_src(&state->cinfo, &state->source);
state->source.pub.next_input_byte = m_buf.data.ptr;
//state->source.pub.bytes_in_buffer = m_buf.cols*m_buf.rows*m_buf.elemSize();//+++CV_ELEM_SIZE
state->source.pub.bytes_in_buffer = m_buf.cols*m_buf.rows*CV_ELEM_SIZE(m_buf.type);//+++CV_ELEM_SIZE
}
else
{
m_f = fopen( m_filename.c_str(), "rb" );
if( m_f )
jpeg_stdio_src( &state->cinfo, m_f );
}
jpeg_read_header( &state->cinfo, TRUE );
m_width = state->cinfo.image_width;
m_height = state->cinfo.image_height;
m_type = state->cinfo.num_components > 1 ? CV_8UC3 : CV_8UC1;
result = true;
}
if( !result )
close();
return result;
}
// Selects sub-array (no data is copied)
CV_IMPL CvMat*
cvGetSubRect( const CvArr* arr, CvMat* submat, CvRect rect )
{
CvMat* res = 0;
CV_FUNCNAME( "cvGetRect" );
__BEGIN__;
CvMat stub, *mat = (CvMat*)arr;
if( !CV_IS_MAT( mat ))
CV_CALL( mat = cvGetMat( mat, &stub ));
if( !submat )
CV_ERROR( CV_StsNullPtr, "" );
if( (rect.x|rect.y|rect.width|rect.height) < 0 )
CV_ERROR( CV_StsBadSize, "" );
if( rect.x + rect.width > mat->cols ||
rect.y + rect.height > mat->rows )
CV_ERROR( CV_StsBadSize, "" );
{
submat->data.ptr = mat->data.ptr + (size_t)rect.y*mat->step +
rect.x*CV_ELEM_SIZE(mat->type);
submat->step = mat->step & (rect.height > 1 ? -1 : 0);
submat->type =
(mat->type & (rect.width < mat->cols ? ~CV_MAT_CONT_FLAG : -1)) |
(submat->step == 0 ? CV_MAT_CONT_FLAG : 0);
submat->rows = rect.height;
submat->cols = rect.width;
submat->refcount = 0;
res = submat;
}
__END__;
return res;
}
CameraRGB(std::string& propertyPrefix, const Ice::PropertiesPtr propIn)
: prefix(propertyPrefix),
imageFmt(),
imageDescription(new jderobot::ImageDescription()),
cameraDescription(new jderobot::CameraDescription()),
replyTask()
{
Ice::PropertiesPtr prop = propIn;
//fill cameraDescription
cameraDescription->name = prop->getProperty(prefix+"Name");
if (cameraDescription->name.size() == 0)
jderobot::Logger::getInstance()->warning( "Camera name not configured" );
cameraDescription->shortDescription = prop->getProperty(prefix + "ShortDescription");
//fill imageDescription
imageDescription->width = prop->getPropertyAsIntWithDefault(prefix+"width",5);;
imageDescription->height = prop->getPropertyAsIntWithDefault(prefix+"height",5);;
int fps = prop->getPropertyAsIntWithDefault(prefix+"fps",5);
//we use formats according to colorspaces
std::string fmtStr = prop->getPropertyWithDefault(prefix+"Format","ImageRGB8");//default format YUY2
imageFmt = colorspaces::Image::Format::searchFormat(fmtStr);
if (!imageFmt)
jderobot::Logger::getInstance()->warning( "Format " + fmtStr + " unknown" );
imageDescription->size = imageDescription->width * imageDescription->height * CV_ELEM_SIZE(imageFmt->cvType);
imageDescription->format = imageFmt->name;
// Set the formats allowed
mFormats.push_back(colorspaces::ImageRGB8::FORMAT_RGB8.get()->name);
jderobot::Logger::getInstance()->info( "Starting thread for camera: " + cameraDescription->name );
replyTask = new ReplyTask(this,fps, mFormats[0]);
this->control=replyTask->start();//my own thread
}
CvMat* cvGetSubRect_d( const CvArr* arr, CvMat* submat, CvRect rect )
{
CvMat* res = 0;
CvMat stub, *mat = (CvMat*)arr;
if( !CV_IS_MAT( mat ))
mat = cvGetMat( mat, &stub );
if( !submat )
CV_Error( CV_StsNullPtr, "" );
if( (rect.x|rect.y|rect.width|rect.height) < 0 )
CV_Error( CV_StsBadSize, "" );
if( rect.x + rect.width > mat->cols ||
rect.y + rect.height > mat->rows )
CV_Error( CV_StsBadSize, "" );
{
/*
int* refcount = mat->refcount;
if( refcount )
++*refcount;
cvDecRefData( submat );
*/
submat->data.ptr = mat->data.ptr + (size_t)rect.y*mat->step +
rect.x*CV_ELEM_SIZE(mat->type);
submat->step = mat->step;
submat->type = (mat->type & (rect.width < mat->cols ? ~CV_MAT_CONT_FLAG : -1)) |
(rect.height <= 1 ? CV_MAT_CONT_FLAG : 0);
submat->rows = rect.height;
submat->cols = rect.width;
submat->refcount = 0;
res = submat;
}
return res;
}
CV_IMPL CvSeq* cvPointSeqFromMat( int seq_kind, const CvArr* arr,
CvContour* contour_header, CvSeqBlock* block )
{
CvSeq* contour = 0;
CV_FUNCNAME( "cvPointSeqFromMat" );
assert( arr != 0 && contour_header != 0 && block != 0 );
__BEGIN__;
int eltype;
CvMat* mat = (CvMat*)arr;
if( !CV_IS_MAT( mat ))
CV_ERROR( CV_StsBadArg, "Input array is not a valid matrix" );
eltype = CV_MAT_TYPE( mat->type );
if( eltype != CV_32SC2 && eltype != CV_32FC2 )
CV_ERROR( CV_StsUnsupportedFormat,
"The matrix can not be converted to point sequence because of "
"inappropriate element type" );
if( (mat->width != 1 && mat->height != 1) || !CV_IS_MAT_CONT(mat->type))
CV_ERROR( CV_StsBadArg,
"The matrix converted to point sequence must be "
"1-dimensional and continuous" );
CV_CALL( cvMakeSeqHeaderForArray(
(seq_kind & (CV_SEQ_KIND_MASK|CV_SEQ_FLAG_CLOSED)) | eltype,
sizeof(CvContour), CV_ELEM_SIZE(eltype), mat->data.ptr,
mat->width*mat->height, (CvSeq*)contour_header, block ));
contour = (CvSeq*)contour_header;
__END__;
return contour;
}
Mat cvarrToMat(const CvArr* arr, bool copyData,
bool /*allowND*/, int coiMode, AutoBuffer<double>* abuf )
{
if( !arr )
return Mat();
if( CV_IS_MAT_HDR_Z(arr) )
return cvMatToMat((const CvMat*)arr, copyData);
if( CV_IS_MATND(arr) )
return cvMatNDToMat((const CvMatND*)arr, copyData );
if( CV_IS_IMAGE(arr) )
{
const IplImage* iplimg = (const IplImage*)arr;
if( coiMode == 0 && iplimg->roi && iplimg->roi->coi > 0 )
CV_Error(CV_BadCOI, "COI is not supported by the function");
return iplImageToMat(iplimg, copyData);
}
if( CV_IS_SEQ(arr) )
{
CvSeq* seq = (CvSeq*)arr;
int total = seq->total, type = CV_MAT_TYPE(seq->flags), esz = seq->elem_size;
if( total == 0 )
return Mat();
CV_Assert(total > 0 && CV_ELEM_SIZE(seq->flags) == esz);
if(!copyData && seq->first->next == seq->first)
return Mat(total, 1, type, seq->first->data);
if( abuf )
{
abuf->allocate(((size_t)total*esz + sizeof(double)-1)/sizeof(double));
double* bufdata = abuf->data();
cvCvtSeqToArray(seq, bufdata, CV_WHOLE_SEQ);
return Mat(total, 1, type, bufdata);
}
Mat buf(total, 1, type);
cvCvtSeqToArray(seq, buf.ptr(), CV_WHOLE_SEQ);
return buf;
}
CV_Error(CV_StsBadArg, "Unknown array type");
}
void cvArrPrint(CvArr * arr){
CvMat * mat;
CvMat stub;
mat = cvGetMat(arr, &stub);
int cn = CV_MAT_CN(mat->type);
int depth = CV_MAT_DEPTH(mat->type);
int step = MAX(mat->step, cn*mat->cols*CV_ELEM_SIZE(depth));
switch(depth){
case CV_8U:
cv_arr_write(stdout, "%u", (uchar *)mat->data.ptr, mat->rows, cn, step);
break;
case CV_8S:
cv_arr_write(stdout, "%d", (char *)mat->data.ptr, mat->rows, cn, step);
break;
case CV_16U:
cv_arr_write(stdout, "%u", (ushort *)mat->data.ptr, mat->rows, cn, step);
break;
case CV_16S:
cv_arr_write(stdout, "%d", (short *)mat->data.ptr, mat->rows, cn, step);
break;
case CV_32S:
cv_arr_write(stdout, "%d", (int *)mat->data.ptr, mat->rows, cn, step);
break;
case CV_32F:
cv_arr_write(stdout, "%f", (float *)mat->data.ptr, mat->rows, cn, step);
break;
case CV_64F:
cv_arr_write(stdout, "%g", (double *)mat->data.ptr, mat->rows, cn, step);
break;
default:
CV_Error( CV_StsError, "Unknown element type");
break;
}
}
CV_IMPL int
cvSampleLine( const void* img, CvPoint pt1, CvPoint pt2,
void* _buffer, int connectivity )
{
int count = -1;
CV_FUNCNAME( "cvSampleLine" );
__BEGIN__;
int i, coi = 0, pix_size;
CvMat stub, *mat = (CvMat*)img;
CvLineIterator iterator;
uchar* buffer = (uchar*)_buffer;
CV_CALL( mat = cvGetMat( mat, &stub, &coi ));
if( coi != 0 )
CV_ERROR( CV_BadCOI, "" );
if( !buffer )
CV_ERROR( CV_StsNullPtr, "" );
CV_CALL( count = cvInitLineIterator( mat, pt1, pt2, &iterator, connectivity ));
pix_size = CV_ELEM_SIZE(mat->type);
for( i = 0; i < count; i++ )
{
for( int j = 0; j < pix_size; j++ )
buffer[j] = iterator.ptr[j];
buffer += pix_size;
CV_NEXT_LINE_POINT( iterator );
}
__END__;
return count;
}
CV_IMPL void
cvDeInterlace( const CvArr* framearr, CvArr* fieldEven, CvArr* fieldOdd )
{
CV_FUNCNAME("cvDeInterlace");
__BEGIN__;
CvMat frame_stub, *frame = (CvMat*)framearr;
CvMat even_stub, *even = (CvMat*)fieldEven;
CvMat odd_stub, *odd = (CvMat*)fieldOdd;
CvSize size;
int y;
CV_CALL( frame = cvGetMat( frame, &frame_stub ));
CV_CALL( even = cvGetMat( even, &even_stub ));
CV_CALL( odd = cvGetMat( odd, &odd_stub ));
if( !CV_ARE_TYPES_EQ( frame, even ) || !CV_ARE_TYPES_EQ( frame, odd ))
CV_ERROR( CV_StsUnmatchedFormats, "All the input images must have the same type" );
if( frame->cols != even->cols || frame->cols != odd->cols ||
frame->rows != even->rows*2 || odd->rows != even->rows )
CV_ERROR( CV_StsUnmatchedSizes, "Uncorrelated sizes of the input image and output fields" );
size = cvGetMatSize( even );
size.width *= CV_ELEM_SIZE( even->type );
for( y = 0; y < size.height; y++ )
{
memcpy( even->data.ptr + even->step*y,
frame->data.ptr + frame->step*y*2, size.width );
memcpy( odd->data.ptr + even->step*y,
frame->data.ptr + frame->step*(y*2+1), size.width );
}
__END__;
}
// This function create cross-validation EstimateModel.
ML_IMPL CvStatModel*
cvCreateCrossValidationEstimateModel(
int samples_all,
const CvStatModelParams* estimateParams,
const CvMat* sampleIdx)
{
CvStatModel* model = NULL;
CvCrossValidationModel* crVal = NULL;
CV_FUNCNAME ("cvCreateCrossValidationEstimateModel");
__BEGIN__
int k_fold = 10;
int i, j, k, s_len;
int samples_selected;
CvRNG rng;
CvRNG* prng;
int* res_s_data;
int* te_s_data;
int* folds;
rng = cvRNG(cvGetTickCount());
cvRandInt (&rng);
cvRandInt (&rng);
cvRandInt (&rng);
cvRandInt (&rng);
// Check input parameters.
if (estimateParams)
k_fold = ((CvCrossValidationParams*)estimateParams)->k_fold;
if (!k_fold)
{
CV_ERROR (CV_StsBadArg, "Error in parameters of cross-validation (k_fold == 0)!");
}
if (samples_all <= 0)
{
CV_ERROR (CV_StsBadArg, "<samples_all> should be positive!");
}
// Alloc memory and fill standart StatModel's fields.
CV_CALL (crVal = (CvCrossValidationModel*)cvCreateStatModel (
CV_STAT_MODEL_MAGIC_VAL | CV_CROSSVAL_MAGIC_VAL,
sizeof(CvCrossValidationModel),
cvReleaseCrossValidationModel,
NULL, NULL));
crVal->current_fold = -1;
crVal->folds_all = k_fold;
if (estimateParams && ((CvCrossValidationParams*)estimateParams)->is_regression)
crVal->is_regression = 1;
else
crVal->is_regression = 0;
if (estimateParams && ((CvCrossValidationParams*)estimateParams)->rng)
prng = ((CvCrossValidationParams*)estimateParams)->rng;
else
prng = &rng;
// Check and preprocess sample indices.
if (sampleIdx)
{
int s_step;
int s_type = 0;
if (!CV_IS_MAT (sampleIdx))
CV_ERROR (CV_StsBadArg, "Invalid sampleIdx array");
if (sampleIdx->rows != 1 && sampleIdx->cols != 1)
CV_ERROR (CV_StsBadSize, "sampleIdx array must be 1-dimensional");
s_len = sampleIdx->rows + sampleIdx->cols - 1;
s_step = sampleIdx->rows == 1 ?
1 : sampleIdx->step / CV_ELEM_SIZE(sampleIdx->type);
s_type = CV_MAT_TYPE (sampleIdx->type);
switch (s_type)
{
case CV_8UC1:
case CV_8SC1:
{
uchar* s_data = sampleIdx->data.ptr;
// sampleIdx is array of 1's and 0's -
// i.e. it is a mask of the selected samples
if( s_len != samples_all )
CV_ERROR (CV_StsUnmatchedSizes,
"Sample mask should contain as many elements as the total number of samples");
samples_selected = 0;
for (i = 0; i < s_len; i++)
samples_selected += s_data[i * s_step] != 0;
if (samples_selected == 0)
CV_ERROR (CV_StsOutOfRange, "No samples is selected!");
}
s_len = samples_selected;
break;
case CV_32SC1:
if (s_len > samples_all)
CV_ERROR (CV_StsOutOfRange,
"sampleIdx array may not contain more elements than the total number of samples");
samples_selected = s_len;
break;
default:
CV_ERROR (CV_StsUnsupportedFormat, "Unsupported sampleIdx array data type "
"(it should be 8uC1, 8sC1 or 32sC1)");
}
// Alloc additional memory for internal Idx and fill it.
/*!!*/ CV_CALL (res_s_data = crVal->sampleIdxAll =
(int*)cvAlloc (2 * s_len * sizeof(int)));
if (s_type < CV_32SC1)
{
uchar* s_data = sampleIdx->data.ptr;
for (i = 0; i < s_len; i++)
if (s_data[i * s_step])
{
*res_s_data++ = i;
}
res_s_data = crVal->sampleIdxAll;
}
else
{
int* s_data = sampleIdx->data.i;
int out_of_order = 0;
for (i = 0; i < s_len; i++)
{
res_s_data[i] = s_data[i * s_step];
if (i > 0 && res_s_data[i] < res_s_data[i - 1])
out_of_order = 1;
}
if (out_of_order)
qsort (res_s_data, s_len, sizeof(res_s_data[0]), icvCmpIntegers);
if (res_s_data[0] < 0 ||
res_s_data[s_len - 1] >= samples_all)
CV_ERROR (CV_StsBadArg, "There are out-of-range sample indices");
for (i = 1; i < s_len; i++)
if (res_s_data[i] <= res_s_data[i - 1])
CV_ERROR (CV_StsBadArg, "There are duplicated");
}
}
else // if (sampleIdx)
{
// Alloc additional memory for internal Idx and fill it.
s_len = samples_all;
CV_CALL (res_s_data = crVal->sampleIdxAll = (int*)cvAlloc (2 * s_len * sizeof(int)));
for (i = 0; i < s_len; i++)
{
*res_s_data++ = i;
}
res_s_data = crVal->sampleIdxAll;
} // if (sampleIdx) ... else
// Resort internal Idx.
te_s_data = res_s_data + s_len;
for (i = s_len; i > 1; i--)
{
j = cvRandInt (prng) % i;
k = *(--te_s_data);
*te_s_data = res_s_data[j];
res_s_data[j] = k;
}
// Duplicate resorted internal Idx.
// It will be used to simplify operation of getting trainIdx.
te_s_data = res_s_data + s_len;
for (i = 0; i < s_len; i++)
{
*te_s_data++ = *res_s_data++;
}
// Cut sampleIdxAll to parts.
if (k_fold > 0)
{
if (k_fold > s_len)
{
CV_ERROR (CV_StsBadArg,
"Error in parameters of cross-validation ('k_fold' > #samples)!");
}
folds = crVal->folds = (int*) cvAlloc ((k_fold + 1) * sizeof (int));
*folds++ = 0;
for (i = 1; i < k_fold; i++)
{
*folds++ = cvRound (i * s_len * 1. / k_fold);
}
*folds = s_len;
folds = crVal->folds;
crVal->max_fold_size = (s_len - 1) / k_fold + 1;
}
else
{
k = -k_fold;
crVal->max_fold_size = k;
if (k >= s_len)
{
CV_ERROR (CV_StsBadArg,
"Error in parameters of cross-validation (-'k_fold' > #samples)!");
}
crVal->folds_all = k = (s_len - 1) / k + 1;
folds = crVal->folds = (int*) cvAlloc ((k + 1) * sizeof (int));
for (i = 0; i < k; i++)
{
*folds++ = -i * k_fold;
}
*folds = s_len;
folds = crVal->folds;
}
// Prepare other internal fields to working.
CV_CALL (crVal->predict_results = cvCreateMat (1, samples_all, CV_32FC1));
CV_CALL (crVal->sampleIdxEval = cvCreateMatHeader (1, 1, CV_32SC1));
CV_CALL (crVal->sampleIdxTrain = cvCreateMatHeader (1, 1, CV_32SC1));
crVal->sampleIdxEval->cols = 0;
crVal->sampleIdxTrain->cols = 0;
crVal->samples_all = s_len;
crVal->is_checked = 1;
crVal->getTrainIdxMat = cvCrossValGetTrainIdxMatrix;
crVal->getCheckIdxMat = cvCrossValGetCheckIdxMatrix;
crVal->nextStep = cvCrossValNextStep;
crVal->check = cvCrossValCheckClassifier;
crVal->getResult = cvCrossValGetResult;
crVal->reset = cvCrossValReset;
model = (CvStatModel*)crVal;
__END__
if (!model)
{
cvReleaseCrossValidationModel ((CvStatModel**)&crVal);
}
return model;
} // End of cvCreateCrossValidationEstimateModel
CV_IMPL void
cvFloodFill( CvArr* arr, CvPoint seed_point,
CvScalar newVal, CvScalar lo_diff, CvScalar up_diff,
CvConnectedComp* comp, int flags, CvArr* maskarr )
{
cv::Ptr<CvMat> tempMask;
std::vector<CvFFillSegment> buffer;
if( comp )
memset( comp, 0, sizeof(*comp) );
int i, type, depth, cn, is_simple;
int buffer_size, connectivity = flags & 255;
union {
uchar b[4];
int i[4];
float f[4];
double _[4];
} nv_buf;
nv_buf._[0] = nv_buf._[1] = nv_buf._[2] = nv_buf._[3] = 0;
struct { cv::Vec3b b; cv::Vec3i i; cv::Vec3f f; } ld_buf, ud_buf;
CvMat stub, *img = cvGetMat(arr, &stub);
CvMat maskstub, *mask = (CvMat*)maskarr;
CvSize size;
type = CV_MAT_TYPE( img->type );
depth = CV_MAT_DEPTH(type);
cn = CV_MAT_CN(type);
if( connectivity == 0 )
connectivity = 4;
else if( connectivity != 4 && connectivity != 8 )
CV_Error( CV_StsBadFlag, "Connectivity must be 4, 0(=4) or 8" );
is_simple = mask == 0 && (flags & CV_FLOODFILL_MASK_ONLY) == 0;
for( i = 0; i < cn; i++ )
{
if( lo_diff.val[i] < 0 || up_diff.val[i] < 0 )
CV_Error( CV_StsBadArg, "lo_diff and up_diff must be non-negative" );
is_simple &= fabs(lo_diff.val[i]) < DBL_EPSILON && fabs(up_diff.val[i]) < DBL_EPSILON;
}
size = cvGetMatSize( img );
if( (unsigned)seed_point.x >= (unsigned)size.width ||
(unsigned)seed_point.y >= (unsigned)size.height )
CV_Error( CV_StsOutOfRange, "Seed point is outside of image" );
cvScalarToRawData( &newVal, &nv_buf, type, 0 );
buffer_size = MAX( size.width, size.height ) * 2;
buffer.resize( buffer_size );
if( is_simple )
{
int elem_size = CV_ELEM_SIZE(type);
const uchar* seed_ptr = img->data.ptr + img->step*seed_point.y + elem_size*seed_point.x;
for(i = 0; i < elem_size; i++)
if (seed_ptr[i] != nv_buf.b[i])
break;
if (i != elem_size)
{
if( type == CV_8UC1 )
icvFloodFill_CnIR(img->data.ptr, img->step, size, seed_point, nv_buf.b[0],
comp, flags, &buffer);
else if( type == CV_8UC3 )
icvFloodFill_CnIR(img->data.ptr, img->step, size, seed_point, cv::Vec3b(nv_buf.b),
comp, flags, &buffer);
else if( type == CV_32SC1 )
icvFloodFill_CnIR(img->data.ptr, img->step, size, seed_point, nv_buf.i[0],
comp, flags, &buffer);
else if( type == CV_32FC1 )
icvFloodFill_CnIR(img->data.ptr, img->step, size, seed_point, nv_buf.f[0],
comp, flags, &buffer);
else if( type == CV_32SC3 )
icvFloodFill_CnIR(img->data.ptr, img->step, size, seed_point, cv::Vec3i(nv_buf.i),
comp, flags, &buffer);
else if( type == CV_32FC3 )
icvFloodFill_CnIR(img->data.ptr, img->step, size, seed_point, cv::Vec3f(nv_buf.f),
comp, flags, &buffer);
else
CV_Error( CV_StsUnsupportedFormat, "" );
return;
}
}
if( !mask )
{
/* created mask will be 8-byte aligned */
tempMask = cvCreateMat( size.height + 2, (size.width + 9) & -8, CV_8UC1 );
mask = tempMask;
}
else
{
mask = cvGetMat( mask, &maskstub );
if( !CV_IS_MASK_ARR( mask ))
CV_Error( CV_StsBadMask, "" );
if( mask->width != size.width + 2 || mask->height != size.height + 2 )
CV_Error( CV_StsUnmatchedSizes, "mask must be 2 pixel wider "
"and 2 pixel taller than filled image" );
}
int width = tempMask ? mask->step : size.width + 2;
uchar* mask_row = mask->data.ptr + mask->step;
memset( mask_row - mask->step, 1, width );
for( i = 1; i <= size.height; i++, mask_row += mask->step )
{
if( tempMask )
memset( mask_row, 0, width );
mask_row[0] = mask_row[size.width+1] = (uchar)1;
}
memset( mask_row, 1, width );
if( depth == CV_8U )
for( i = 0; i < cn; i++ )
{
int t = cvFloor(lo_diff.val[i]);
ld_buf.b[i] = CV_CAST_8U(t);
t = cvFloor(up_diff.val[i]);
ud_buf.b[i] = CV_CAST_8U(t);
}
else if( depth == CV_32S )
for( i = 0; i < cn; i++ )
{
int t = cvFloor(lo_diff.val[i]);
ld_buf.i[i] = t;
t = cvFloor(up_diff.val[i]);
ud_buf.i[i] = t;
}
else if( depth == CV_32F )
for( i = 0; i < cn; i++ )
{
ld_buf.f[i] = (float)lo_diff.val[i];
ud_buf.f[i] = (float)up_diff.val[i];
}
else
CV_Error( CV_StsUnsupportedFormat, "" );
if( type == CV_8UC1 )
icvFloodFillGrad_CnIR<uchar, int, Diff8uC1>(
img->data.ptr, img->step, mask->data.ptr, mask->step,
size, seed_point, nv_buf.b[0],
Diff8uC1(ld_buf.b[0], ud_buf.b[0]),
comp, flags, &buffer);
else if( type == CV_8UC3 )
icvFloodFillGrad_CnIR<cv::Vec3b, cv::Vec3i, Diff8uC3>(
img->data.ptr, img->step, mask->data.ptr, mask->step,
size, seed_point, cv::Vec3b(nv_buf.b),
Diff8uC3(ld_buf.b, ud_buf.b),
comp, flags, &buffer);
else if( type == CV_32SC1 )
icvFloodFillGrad_CnIR<int, int, Diff32sC1>(
img->data.ptr, img->step, mask->data.ptr, mask->step,
size, seed_point, nv_buf.i[0],
Diff32sC1(ld_buf.i[0], ud_buf.i[0]),
comp, flags, &buffer);
else if( type == CV_32SC3 )
icvFloodFillGrad_CnIR<cv::Vec3i, cv::Vec3i, Diff32sC3>(
img->data.ptr, img->step, mask->data.ptr, mask->step,
size, seed_point, cv::Vec3i(nv_buf.i),
Diff32sC3(ld_buf.i, ud_buf.i),
comp, flags, &buffer);
else if( type == CV_32FC1 )
icvFloodFillGrad_CnIR<float, float, Diff32fC1>(
img->data.ptr, img->step, mask->data.ptr, mask->step,
size, seed_point, nv_buf.f[0],
Diff32fC1(ld_buf.f[0], ud_buf.f[0]),
comp, flags, &buffer);
else if( type == CV_32FC3 )
icvFloodFillGrad_CnIR<cv::Vec3f, cv::Vec3f, Diff32fC3>(
img->data.ptr, img->step, mask->data.ptr, mask->step,
size, seed_point, cv::Vec3f(nv_buf.f),
Diff32fC3(ld_buf.f, ud_buf.f),
comp, flags, &buffer);
else
CV_Error(CV_StsUnsupportedFormat, "");
}
CV_IMPL void
cvPreCornerDetect( const void* srcarr, void* dstarr, int aperture_size )
{
CvSepFilter dx_filter, dy_filter, d2x_filter, d2y_filter, dxy_filter;
CvMat *Dx = 0, *Dy = 0, *D2x = 0, *D2y = 0, *Dxy = 0;
CvMat *tempsrc = 0;
int buf_size = 1 << 12;
CV_FUNCNAME( "cvPreCornerDetect" );
__BEGIN__;
int i, j, y, dst_y = 0, max_dy, delta = 0;
int temp_step = 0, d_step;
uchar* shifted_ptr = 0;
int depth, d_depth;
int stage = CV_START;
CvSobelFixedIPPFunc ipp_sobel_vert = 0, ipp_sobel_horiz = 0,
ipp_sobel_vert_second = 0, ipp_sobel_horiz_second = 0,
ipp_sobel_cross = 0;
CvSize el_size, size, stripe_size;
int aligned_width;
CvPoint el_anchor;
double factor;
CvMat stub, *src = (CvMat*)srcarr;
CvMat dststub, *dst = (CvMat*)dstarr;
bool use_ipp = false;
CV_CALL( src = cvGetMat( srcarr, &stub ));
CV_CALL( dst = cvGetMat( dst, &dststub ));
if( CV_MAT_TYPE(src->type) != CV_8UC1 && CV_MAT_TYPE(src->type) != CV_32FC1 ||
CV_MAT_TYPE(dst->type) != CV_32FC1 )
CV_ERROR( CV_StsUnsupportedFormat, "Input must be 8uC1 or 32fC1, output must be 32fC1" );
if( !CV_ARE_SIZES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
if( aperture_size == CV_SCHARR )
CV_ERROR( CV_StsOutOfRange, "CV_SCHARR is not supported by this function" );
if( aperture_size < 3 || aperture_size > 7 || !(aperture_size & 1) )
CV_ERROR( CV_StsOutOfRange,
"Derivative filter aperture size must be 3, 5 or 7" );
depth = CV_MAT_DEPTH(src->type);
d_depth = depth == CV_8U ? CV_16S : CV_32F;
size = cvGetMatSize(src);
aligned_width = cvAlign(size.width, 4);
el_size = cvSize( aperture_size, aperture_size );
el_anchor = cvPoint( aperture_size/2, aperture_size/2 );
if( aperture_size <= 5 && icvFilterSobelVert_8u16s_C1R_p )
{
if( depth == CV_8U )
{
ipp_sobel_vert = icvFilterSobelVert_8u16s_C1R_p;
ipp_sobel_horiz = icvFilterSobelHoriz_8u16s_C1R_p;
ipp_sobel_vert_second = icvFilterSobelVertSecond_8u16s_C1R_p;
ipp_sobel_horiz_second = icvFilterSobelHorizSecond_8u16s_C1R_p;
ipp_sobel_cross = icvFilterSobelCross_8u16s_C1R_p;
}
else if( depth == CV_32F )
{
ipp_sobel_vert = icvFilterSobelVert_32f_C1R_p;
ipp_sobel_horiz = icvFilterSobelHoriz_32f_C1R_p;
ipp_sobel_vert_second = icvFilterSobelVertSecond_32f_C1R_p;
ipp_sobel_horiz_second = icvFilterSobelHorizSecond_32f_C1R_p;
ipp_sobel_cross = icvFilterSobelCross_32f_C1R_p;
}
}
if( ipp_sobel_vert && ipp_sobel_horiz && ipp_sobel_vert_second &&
ipp_sobel_horiz_second && ipp_sobel_cross )
{
CV_CALL( tempsrc = icvIPPFilterInit( src, buf_size, el_size ));
shifted_ptr = tempsrc->data.ptr + el_anchor.y*tempsrc->step +
el_anchor.x*CV_ELEM_SIZE(depth);
temp_step = tempsrc->step ? tempsrc->step : CV_STUB_STEP;
max_dy = tempsrc->rows - aperture_size + 1;
use_ipp = true;
}
else
{
ipp_sobel_vert = ipp_sobel_horiz = 0;
ipp_sobel_vert_second = ipp_sobel_horiz_second = ipp_sobel_cross = 0;
dx_filter.init_deriv( size.width, depth, d_depth, 1, 0, aperture_size );
dy_filter.init_deriv( size.width, depth, d_depth, 0, 1, aperture_size );
d2x_filter.init_deriv( size.width, depth, d_depth, 2, 0, aperture_size );
d2y_filter.init_deriv( size.width, depth, d_depth, 0, 2, aperture_size );
dxy_filter.init_deriv( size.width, depth, d_depth, 1, 1, aperture_size );
max_dy = buf_size / src->cols;
max_dy = MAX( max_dy, aperture_size );
}
CV_CALL( Dx = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( Dy = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( D2x = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( D2y = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( Dxy = cvCreateMat( max_dy, aligned_width, d_depth ));
Dx->cols = Dy->cols = D2x->cols = D2y->cols = Dxy->cols = size.width;
if( !use_ipp )
max_dy -= aperture_size - 1;
d_step = Dx->step ? Dx->step : CV_STUB_STEP;
stripe_size = size;
factor = 1 << (aperture_size - 1);
if( depth == CV_8U )
factor *= 255;
factor = 1./(factor * factor * factor);
aperture_size = aperture_size * 10 + aperture_size;
for( y = 0; y < size.height; y += delta )
{
if( !use_ipp )
{
delta = MIN( size.height - y, max_dy );
CvRect roi = cvRect(0,y,size.width,delta);
CvPoint origin=cvPoint(0,0);
if( y + delta == size.height )
stage = stage & CV_START ? CV_START + CV_END : CV_END;
dx_filter.process(src,Dx,roi,origin,stage);
dy_filter.process(src,Dy,roi,origin,stage);
d2x_filter.process(src,D2x,roi,origin,stage);
d2y_filter.process(src,D2y,roi,origin,stage);
stripe_size.height = dxy_filter.process(src,Dxy,roi,origin,stage);
}
else
{
delta = icvIPPFilterNextStripe( src, tempsrc, y, el_size, el_anchor );
stripe_size.height = delta;
IPPI_CALL( ipp_sobel_vert( shifted_ptr, temp_step,
Dx->data.ptr, d_step, stripe_size, aperture_size ));
IPPI_CALL( ipp_sobel_horiz( shifted_ptr, temp_step,
Dy->data.ptr, d_step, stripe_size, aperture_size ));
IPPI_CALL( ipp_sobel_vert_second( shifted_ptr, temp_step,
D2x->data.ptr, d_step, stripe_size, aperture_size ));
IPPI_CALL( ipp_sobel_horiz_second( shifted_ptr, temp_step,
D2y->data.ptr, d_step, stripe_size, aperture_size ));
IPPI_CALL( ipp_sobel_cross( shifted_ptr, temp_step,
Dxy->data.ptr, d_step, stripe_size, aperture_size ));
}
for( i = 0; i < stripe_size.height; i++, dst_y++ )
{
float* dstdata = (float*)(dst->data.ptr + dst_y*dst->step);
if( d_depth == CV_16S )
{
const short* dxdata = (const short*)(Dx->data.ptr + i*Dx->step);
const short* dydata = (const short*)(Dy->data.ptr + i*Dy->step);
const short* d2xdata = (const short*)(D2x->data.ptr + i*D2x->step);
const short* d2ydata = (const short*)(D2y->data.ptr + i*D2y->step);
const short* dxydata = (const short*)(Dxy->data.ptr + i*Dxy->step);
for( j = 0; j < stripe_size.width; j++ )
{
double dx = dxdata[j];
double dx2 = dx * dx;
double dy = dydata[j];
double dy2 = dy * dy;
dstdata[j] = (float)(factor*(dx2*d2ydata[j] + dy2*d2xdata[j] - 2*dx*dy*dxydata[j]));
}
}
else
{
const float* dxdata = (const float*)(Dx->data.ptr + i*Dx->step);
const float* dydata = (const float*)(Dy->data.ptr + i*Dy->step);
const float* d2xdata = (const float*)(D2x->data.ptr + i*D2x->step);
const float* d2ydata = (const float*)(D2y->data.ptr + i*D2y->step);
const float* dxydata = (const float*)(Dxy->data.ptr + i*Dxy->step);
for( j = 0; j < stripe_size.width; j++ )
{
double dx = dxdata[j];
double dy = dydata[j];
dstdata[j] = (float)(factor*(dx*dx*d2ydata[j] + dy*dy*d2xdata[j] - 2*dx*dy*dxydata[j]));
}
}
}
stage = CV_MIDDLE;
}
__END__;
cvReleaseMat( &Dx );
cvReleaseMat( &Dy );
cvReleaseMat( &D2x );
cvReleaseMat( &D2y );
cvReleaseMat( &Dxy );
cvReleaseMat( &tempsrc );
}
static void
icvCornerEigenValsVecs( const CvMat* src, CvMat* eigenv, int block_size,
int aperture_size, int op_type, double k=0. )
{
CvSepFilter dx_filter, dy_filter;
CvBoxFilter blur_filter;
CvMat *tempsrc = 0;
CvMat *Dx = 0, *Dy = 0, *cov = 0;
CvMat *sqrt_buf = 0;
int buf_size = 1 << 12;
CV_FUNCNAME( "icvCornerEigenValsVecs" );
__BEGIN__;
int i, j, y, dst_y = 0, max_dy, delta = 0;
int aperture_size0 = aperture_size;
int temp_step = 0, d_step;
uchar* shifted_ptr = 0;
int depth, d_depth;
int stage = CV_START;
CvSobelFixedIPPFunc ipp_sobel_vert = 0, ipp_sobel_horiz = 0;
CvFilterFixedIPPFunc ipp_scharr_vert = 0, ipp_scharr_horiz = 0;
CvSize el_size, size, stripe_size;
int aligned_width;
CvPoint el_anchor;
double factorx, factory;
bool use_ipp = false;
if( block_size < 3 || !(block_size & 1) )
CV_ERROR( CV_StsOutOfRange, "averaging window size must be an odd number >= 3" );
if( aperture_size < 3 && aperture_size != CV_SCHARR || !(aperture_size & 1) )
CV_ERROR( CV_StsOutOfRange,
"Derivative filter aperture size must be a positive odd number >=3 or CV_SCHARR" );
depth = CV_MAT_DEPTH(src->type);
d_depth = depth == CV_8U ? CV_16S : CV_32F;
size = cvGetMatSize(src);
aligned_width = cvAlign(size.width, 4);
aperture_size = aperture_size == CV_SCHARR ? 3 : aperture_size;
el_size = cvSize( aperture_size, aperture_size );
el_anchor = cvPoint( aperture_size/2, aperture_size/2 );
if( aperture_size <= 5 && icvFilterSobelVert_8u16s_C1R_p )
{
if( depth == CV_8U && aperture_size0 == CV_SCHARR )
{
ipp_scharr_vert = icvFilterScharrVert_8u16s_C1R_p;
ipp_scharr_horiz = icvFilterScharrHoriz_8u16s_C1R_p;
}
else if( depth == CV_32F && aperture_size0 == CV_SCHARR )
{
ipp_scharr_vert = icvFilterScharrVert_32f_C1R_p;
ipp_scharr_horiz = icvFilterScharrHoriz_32f_C1R_p;
}
else if( depth == CV_8U )
{
ipp_sobel_vert = icvFilterSobelVert_8u16s_C1R_p;
ipp_sobel_horiz = icvFilterSobelHoriz_8u16s_C1R_p;
}
else if( depth == CV_32F )
{
ipp_sobel_vert = icvFilterSobelVert_32f_C1R_p;
ipp_sobel_horiz = icvFilterSobelHoriz_32f_C1R_p;
}
}
if( ipp_sobel_vert && ipp_sobel_horiz ||
ipp_scharr_vert && ipp_scharr_horiz )
{
CV_CALL( tempsrc = icvIPPFilterInit( src, buf_size,
cvSize(el_size.width,el_size.height + block_size)));
shifted_ptr = tempsrc->data.ptr + el_anchor.y*tempsrc->step +
el_anchor.x*CV_ELEM_SIZE(depth);
temp_step = tempsrc->step ? tempsrc->step : CV_STUB_STEP;
max_dy = tempsrc->rows - aperture_size + 1;
use_ipp = true;
}
else
{
ipp_sobel_vert = ipp_sobel_horiz = 0;
ipp_scharr_vert = ipp_scharr_horiz = 0;
CV_CALL( dx_filter.init_deriv( size.width, depth, d_depth, 1, 0, aperture_size0 ));
CV_CALL( dy_filter.init_deriv( size.width, depth, d_depth, 0, 1, aperture_size0 ));
max_dy = buf_size / src->cols;
max_dy = MAX( max_dy, aperture_size + block_size );
}
CV_CALL( Dx = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( Dy = cvCreateMat( max_dy, aligned_width, d_depth ));
CV_CALL( cov = cvCreateMat( max_dy + block_size + 1, size.width, CV_32FC3 ));
CV_CALL( sqrt_buf = cvCreateMat( 2, size.width, CV_32F ));
Dx->cols = Dy->cols = size.width;
if( !use_ipp )
max_dy -= aperture_size - 1;
d_step = Dx->step ? Dx->step : CV_STUB_STEP;
CV_CALL(blur_filter.init(size.width, CV_32FC3, CV_32FC3, 0, cvSize(block_size,block_size)));
stripe_size = size;
factorx = (double)(1 << (aperture_size - 1)) * block_size;
if( aperture_size0 == CV_SCHARR )
factorx *= 2;
if( depth == CV_8U )
factorx *= 255.;
factory = factorx = 1./factorx;
if( ipp_sobel_vert )
factory = -factory;
for( y = 0; y < size.height; y += delta )
{
if( !use_ipp )
{
delta = MIN( size.height - y, max_dy );
if( y + delta == size.height )
stage = stage & CV_START ? CV_START + CV_END : CV_END;
dx_filter.process( src, Dx, cvRect(0,y,-1,delta), cvPoint(0,0), stage );
stripe_size.height = dy_filter.process( src, Dy, cvRect(0,y,-1,delta),
cvPoint(0,0), stage );
}
else
{
delta = icvIPPFilterNextStripe( src, tempsrc, y, el_size, el_anchor );
stripe_size.height = delta;
if( ipp_sobel_vert )
{
IPPI_CALL( ipp_sobel_vert( shifted_ptr, temp_step,
Dx->data.ptr, d_step, stripe_size,
aperture_size*10 + aperture_size ));
IPPI_CALL( ipp_sobel_horiz( shifted_ptr, temp_step,
Dy->data.ptr, d_step, stripe_size,
aperture_size*10 + aperture_size ));
}
else /*if( ipp_scharr_vert )*/
{
IPPI_CALL( ipp_scharr_vert( shifted_ptr, temp_step,
Dx->data.ptr, d_step, stripe_size ));
IPPI_CALL( ipp_scharr_horiz( shifted_ptr, temp_step,
Dy->data.ptr, d_step, stripe_size ));
}
}
for( i = 0; i < stripe_size.height; i++ )
{
float* cov_data = (float*)(cov->data.ptr + i*cov->step);
if( d_depth == CV_16S )
{
const short* dxdata = (const short*)(Dx->data.ptr + i*Dx->step);
const short* dydata = (const short*)(Dy->data.ptr + i*Dy->step);
for( j = 0; j < size.width; j++ )
{
double dx = dxdata[j]*factorx;
double dy = dydata[j]*factory;
cov_data[j*3] = (float)(dx*dx);
cov_data[j*3+1] = (float)(dx*dy);
cov_data[j*3+2] = (float)(dy*dy);
}
}
else
{
const float* dxdata = (const float*)(Dx->data.ptr + i*Dx->step);
const float* dydata = (const float*)(Dy->data.ptr + i*Dy->step);
for( j = 0; j < size.width; j++ )
{
double dx = dxdata[j]*factorx;
double dy = dydata[j]*factory;
cov_data[j*3] = (float)(dx*dx);
cov_data[j*3+1] = (float)(dx*dy);
cov_data[j*3+2] = (float)(dy*dy);
}
}
}
if( y + stripe_size.height >= size.height )
stage = stage & CV_START ? CV_START + CV_END : CV_END;
stripe_size.height = blur_filter.process(cov,cov,
cvRect(0,0,-1,stripe_size.height),cvPoint(0,0),stage+CV_ISOLATED_ROI);
if( op_type == ICV_MINEIGENVAL )
icvCalcMinEigenVal( cov->data.fl, cov->step,
(float*)(eigenv->data.ptr + dst_y*eigenv->step), eigenv->step,
stripe_size, sqrt_buf );
else if( op_type == ICV_HARRIS )
icvCalcHarris( cov->data.fl, cov->step,
(float*)(eigenv->data.ptr + dst_y*eigenv->step), eigenv->step,
stripe_size, sqrt_buf, k );
else if( op_type == ICV_EIGENVALSVECS )
icvCalcEigenValsVecs( cov->data.fl, cov->step,
(float*)(eigenv->data.ptr + dst_y*eigenv->step), eigenv->step,
stripe_size, sqrt_buf );
dst_y += stripe_size.height;
stage = CV_MIDDLE;
}
__END__;
cvReleaseMat( &Dx );
cvReleaseMat( &Dy );
cvReleaseMat( &cov );
cvReleaseMat( &sqrt_buf );
cvReleaseMat( &tempsrc );
}
CV_IMPL CvBox2D
cvMinAreaRect2( const CvArr* array, CvMemStorage* storage )
{
CvMemStorage* temp_storage = 0;
CvBox2D box;
CvPoint2D32f* points = 0;
CV_FUNCNAME( "cvMinAreaRect2" );
memset(&box, 0, sizeof(box));
__BEGIN__;
int i, n;
CvSeqReader reader;
CvContour contour_header;
CvSeqBlock block;
CvSeq* ptseq = (CvSeq*)array;
CvPoint2D32f out[3];
if( CV_IS_SEQ(ptseq) )
{
if( !CV_IS_SEQ_POINT_SET(ptseq) &&
(CV_SEQ_KIND(ptseq) != CV_SEQ_KIND_CURVE || !CV_IS_SEQ_CONVEX(ptseq) ||
CV_SEQ_ELTYPE(ptseq) != CV_SEQ_ELTYPE_PPOINT ))
CV_ERROR( CV_StsUnsupportedFormat,
"Input sequence must consist of 2d points or pointers to 2d points" );
if( !storage )
storage = ptseq->storage;
}
else
{
CV_CALL( ptseq = cvPointSeqFromMat(
CV_SEQ_KIND_GENERIC, array, &contour_header, &block ));
}
if( storage )
{
CV_CALL( temp_storage = cvCreateChildMemStorage( storage ));
}
else
{
CV_CALL( temp_storage = cvCreateMemStorage(1 << 10));
}
if( !CV_IS_SEQ_CONVEX( ptseq ))
{
CV_CALL( ptseq = cvConvexHull2( ptseq, temp_storage, CV_CLOCKWISE, 1 ));
}
else if( !CV_IS_SEQ_POINT_SET( ptseq ))
{
CvSeqWriter writer;
if( !CV_IS_SEQ(ptseq->v_prev) || !CV_IS_SEQ_POINT_SET(ptseq->v_prev))
CV_ERROR( CV_StsBadArg,
"Convex hull must have valid pointer to point sequence stored in v_prev" );
cvStartReadSeq( ptseq, &reader );
cvStartWriteSeq( CV_SEQ_KIND_CURVE|CV_SEQ_FLAG_CONVEX|CV_SEQ_ELTYPE(ptseq->v_prev),
sizeof(CvContour), CV_ELEM_SIZE(ptseq->v_prev->flags),
temp_storage, &writer );
for( i = 0; i < ptseq->total; i++ )
{
CvPoint pt = **(CvPoint**)(reader.ptr);
CV_WRITE_SEQ_ELEM( pt, writer );
}
ptseq = cvEndWriteSeq( &writer );
}
n = ptseq->total;
CV_CALL( points = (CvPoint2D32f*)cvAlloc( n*sizeof(points[0]) ));
cvStartReadSeq( ptseq, &reader );
if( CV_SEQ_ELTYPE( ptseq ) == CV_32SC2 )
{
for( i = 0; i < n; i++ )
{
CvPoint pt;
CV_READ_SEQ_ELEM( pt, reader );
points[i].x = (float)pt.x;
points[i].y = (float)pt.y;
}
}
else
{
for( i = 0; i < n; i++ )
{
CV_READ_SEQ_ELEM( points[i], reader );
}
}
if( n > 2 )
{
icvRotatingCalipers( points, n, CV_CALIPERS_MINAREARECT, (float*)out );
box.center.x = out[0].x + (out[1].x + out[2].x)*0.5f;
box.center.y = out[0].y + (out[1].y + out[2].y)*0.5f;
box.size.height = (float)sqrt((double)out[1].x*out[1].x + (double)out[1].y*out[1].y);
box.size.width = (float)sqrt((double)out[2].x*out[2].x + (double)out[2].y*out[2].y);
box.angle = (float)atan2( -(double)out[1].y, (double)out[1].x );
}
else if( n == 2 )
{
box.center.x = (points[0].x + points[1].x)*0.5f;
box.center.y = (points[0].y + points[1].y)*0.5f;
double dx = points[1].x - points[0].x;
double dy = points[1].y - points[0].y;
box.size.height = (float)sqrt(dx*dx + dy*dy);
box.size.width = 0;
box.angle = (float)atan2( -dy, dx );
}
else
{
if( n == 1 )
box.center = points[0];
}
box.angle = (float)(box.angle*180/CV_PI);
__END__;
cvReleaseMemStorage( &temp_storage );
cvFree( &points );
return box;
}
void crossCorr( const Mat& img, const Mat& _templ, Mat& corr,
Size corrsize, int ctype,
Point anchor, double delta, int borderType )
{
const double blockScale = 4.5;
const int minBlockSize = 256;
std::vector<uchar> buf;
Mat templ = _templ;
int depth = img.depth(), cn = img.channels();
int tdepth = templ.depth(), tcn = templ.channels();
int cdepth = CV_MAT_DEPTH(ctype), ccn = CV_MAT_CN(ctype);
CV_Assert( img.dims <= 2 && templ.dims <= 2 && corr.dims <= 2 );
if( depth != tdepth && tdepth != std::max(CV_32F, depth) )
{
_templ.convertTo(templ, std::max(CV_32F, depth));
tdepth = templ.depth();
}
CV_Assert( depth == tdepth || tdepth == CV_32F);
CV_Assert( corrsize.height <= img.rows + templ.rows - 1 &&
corrsize.width <= img.cols + templ.cols - 1 );
CV_Assert( ccn == 1 || delta == 0 );
corr.create(corrsize, ctype);
int maxDepth = depth > CV_8S ? CV_64F : std::max(std::max(CV_32F, tdepth), cdepth);
Size blocksize, dftsize;
blocksize.width = cvRound(templ.cols*blockScale);
blocksize.width = std::max( blocksize.width, minBlockSize - templ.cols + 1 );
blocksize.width = std::min( blocksize.width, corr.cols );
blocksize.height = cvRound(templ.rows*blockScale);
blocksize.height = std::max( blocksize.height, minBlockSize - templ.rows + 1 );
blocksize.height = std::min( blocksize.height, corr.rows );
dftsize.width = std::max(getOptimalDFTSize(blocksize.width + templ.cols - 1), 2);
dftsize.height = getOptimalDFTSize(blocksize.height + templ.rows - 1);
if( dftsize.width <= 0 || dftsize.height <= 0 )
CV_Error( CV_StsOutOfRange, "the input arrays are too big" );
// recompute block size
blocksize.width = dftsize.width - templ.cols + 1;
blocksize.width = MIN( blocksize.width, corr.cols );
blocksize.height = dftsize.height - templ.rows + 1;
blocksize.height = MIN( blocksize.height, corr.rows );
Mat dftTempl( dftsize.height*tcn, dftsize.width, maxDepth );
Mat dftImg( dftsize, maxDepth );
int i, k, bufSize = 0;
if( tcn > 1 && tdepth != maxDepth )
bufSize = templ.cols*templ.rows*CV_ELEM_SIZE(tdepth);
if( cn > 1 && depth != maxDepth )
bufSize = std::max( bufSize, (blocksize.width + templ.cols - 1)*
(blocksize.height + templ.rows - 1)*CV_ELEM_SIZE(depth));
if( (ccn > 1 || cn > 1) && cdepth != maxDepth )
bufSize = std::max( bufSize, blocksize.width*blocksize.height*CV_ELEM_SIZE(cdepth));
buf.resize(bufSize);
// compute DFT of each template plane
for( k = 0; k < tcn; k++ )
{
int yofs = k*dftsize.height;
Mat src = templ;
Mat dst(dftTempl, Rect(0, yofs, dftsize.width, dftsize.height));
Mat dst1(dftTempl, Rect(0, yofs, templ.cols, templ.rows));
if( tcn > 1 )
{
src = tdepth == maxDepth ? dst1 : Mat(templ.size(), tdepth, &buf[0]);
int pairs[] = {k, 0};
mixChannels(&templ, 1, &src, 1, pairs, 1);
}
if( dst1.data != src.data )
src.convertTo(dst1, dst1.depth());
if( dst.cols > templ.cols )
{
Mat part(dst, Range(0, templ.rows), Range(templ.cols, dst.cols));
part = Scalar::all(0);
}
dft(dst, dst, 0, templ.rows);
}
int tileCountX = (corr.cols + blocksize.width - 1)/blocksize.width;
int tileCountY = (corr.rows + blocksize.height - 1)/blocksize.height;
int tileCount = tileCountX * tileCountY;
Size wholeSize = img.size();
Point roiofs(0,0);
Mat img0 = img;
if( !(borderType & BORDER_ISOLATED) )
{
img.locateROI(wholeSize, roiofs);
img0.adjustROI(roiofs.y, wholeSize.height-img.rows-roiofs.y,
roiofs.x, wholeSize.width-img.cols-roiofs.x);
}
borderType |= BORDER_ISOLATED;
// calculate correlation by blocks
for( i = 0; i < tileCount; i++ )
{
int x = (i%tileCountX)*blocksize.width;
int y = (i/tileCountX)*blocksize.height;
Size bsz(std::min(blocksize.width, corr.cols - x),
std::min(blocksize.height, corr.rows - y));
Size dsz(bsz.width + templ.cols - 1, bsz.height + templ.rows - 1);
int x0 = x - anchor.x + roiofs.x, y0 = y - anchor.y + roiofs.y;
int x1 = std::max(0, x0), y1 = std::max(0, y0);
int x2 = std::min(img0.cols, x0 + dsz.width);
int y2 = std::min(img0.rows, y0 + dsz.height);
Mat src0(img0, Range(y1, y2), Range(x1, x2));
Mat dst(dftImg, Rect(0, 0, dsz.width, dsz.height));
Mat dst1(dftImg, Rect(x1-x0, y1-y0, x2-x1, y2-y1));
Mat cdst(corr, Rect(x, y, bsz.width, bsz.height));
for( k = 0; k < cn; k++ )
{
Mat src = src0;
dftImg = Scalar::all(0);
if( cn > 1 )
{
src = depth == maxDepth ? dst1 : Mat(y2-y1, x2-x1, depth, &buf[0]);
int pairs[] = {k, 0};
mixChannels(&src0, 1, &src, 1, pairs, 1);
}
if( dst1.data != src.data )
src.convertTo(dst1, dst1.depth());
if( x2 - x1 < dsz.width || y2 - y1 < dsz.height )
copyMakeBorder(dst1, dst, y1-y0, dst.rows-dst1.rows-(y1-y0),
x1-x0, dst.cols-dst1.cols-(x1-x0), borderType);
dft( dftImg, dftImg, 0, dsz.height );
Mat dftTempl1(dftTempl, Rect(0, tcn > 1 ? k*dftsize.height : 0,
dftsize.width, dftsize.height));
mulSpectrums(dftImg, dftTempl1, dftImg, 0, true);
dft( dftImg, dftImg, DFT_INVERSE + DFT_SCALE, bsz.height );
src = dftImg(Rect(0, 0, bsz.width, bsz.height));
if( ccn > 1 )
{
if( cdepth != maxDepth )
{
Mat plane(bsz, cdepth, &buf[0]);
src.convertTo(plane, cdepth, 1, delta);
src = plane;
}
int pairs[] = {0, k};
mixChannels(&src, 1, &cdst, 1, pairs, 1);
}
else
{
if( k == 0 )
src.convertTo(cdst, cdepth, 1, delta);
else
{
if( maxDepth != cdepth )
{
Mat plane(bsz, cdepth, &buf[0]);
src.convertTo(plane, cdepth);
src = plane;
}
add(src, cdst, cdst);
}
}
}
}
}
void
icvCrossCorr( const CvArr* _img, const CvArr* _templ, CvArr* _corr,
CvPoint anchor, double delta, int borderType )
{
// disable OpenMP in the case of Visual Studio,
// otherwise the performance drops significantly
#undef USE_OPENMP
#if !defined _MSC_VER || defined CV_ICC
#define USE_OPENMP 1
#endif
const double block_scale = 4.5;
const int min_block_size = 256;
cv::Ptr<CvMat> dft_img[CV_MAX_THREADS];
cv::Ptr<CvMat> dft_templ;
std::vector<uchar> buf[CV_MAX_THREADS];
int k, num_threads = 0;
CvMat istub, *img = (CvMat*)_img;
CvMat tstub, *templ = (CvMat*)_templ;
CvMat cstub, *corr = (CvMat*)_corr;
CvSize dftsize, blocksize;
int depth, templ_depth, corr_depth, max_depth = CV_32F,
cn, templ_cn, corr_cn, buf_size = 0,
tile_count_x, tile_count_y, tile_count;
img = cvGetMat( img, &istub );
templ = cvGetMat( templ, &tstub );
corr = cvGetMat( corr, &cstub );
if( CV_MAT_DEPTH( img->type ) != CV_8U &&
CV_MAT_DEPTH( img->type ) != CV_16U &&
CV_MAT_DEPTH( img->type ) != CV_32F &&
CV_MAT_DEPTH( img->type ) != CV_64F )
CV_Error( CV_StsUnsupportedFormat,
"The function supports only 8u, 16u and 32f data types" );
if( !CV_ARE_DEPTHS_EQ( img, templ ) && CV_MAT_DEPTH( templ->type ) != CV_32F )
CV_Error( CV_StsUnsupportedFormat,
"Template (kernel) must be of the same depth as the input image, or be 32f" );
if( !CV_ARE_DEPTHS_EQ( img, corr ) && CV_MAT_DEPTH( corr->type ) != CV_32F &&
CV_MAT_DEPTH( corr->type ) != CV_64F )
CV_Error( CV_StsUnsupportedFormat,
"The output image must have the same depth as the input image, or be 32f/64f" );
if( (!CV_ARE_CNS_EQ( img, corr ) || CV_MAT_CN(templ->type) > 1) &&
(CV_MAT_CN( corr->type ) > 1 || !CV_ARE_CNS_EQ( img, templ)) )
CV_Error( CV_StsUnsupportedFormat,
"The output must have the same number of channels as the input (when the template has 1 channel), "
"or the output must have 1 channel when the input and the template have the same number of channels" );
depth = CV_MAT_DEPTH(img->type);
cn = CV_MAT_CN(img->type);
templ_depth = CV_MAT_DEPTH(templ->type);
templ_cn = CV_MAT_CN(templ->type);
corr_depth = CV_MAT_DEPTH(corr->type);
corr_cn = CV_MAT_CN(corr->type);
CV_Assert( corr_cn == 1 || delta == 0 );
max_depth = MAX( max_depth, templ_depth );
max_depth = MAX( max_depth, depth );
max_depth = MAX( max_depth, corr_depth );
if( depth > CV_8U )
max_depth = CV_64F;
/*if( img->cols < templ->cols || img->rows < templ->rows )
CV_Error( CV_StsUnmatchedSizes,
"Such a combination of image and template/filter size is not supported" );*/
if( corr->rows > img->rows + templ->rows - 1 ||
corr->cols > img->cols + templ->cols - 1 )
CV_Error( CV_StsUnmatchedSizes,
"output image should not be greater than (W + w - 1)x(H + h - 1)" );
blocksize.width = cvRound(templ->cols*block_scale);
blocksize.width = MAX( blocksize.width, min_block_size - templ->cols + 1 );
blocksize.width = MIN( blocksize.width, corr->cols );
blocksize.height = cvRound(templ->rows*block_scale);
blocksize.height = MAX( blocksize.height, min_block_size - templ->rows + 1 );
blocksize.height = MIN( blocksize.height, corr->rows );
dftsize.width = cvGetOptimalDFTSize(blocksize.width + templ->cols - 1);
if( dftsize.width == 1 )
dftsize.width = 2;
dftsize.height = cvGetOptimalDFTSize(blocksize.height + templ->rows - 1);
if( dftsize.width <= 0 || dftsize.height <= 0 )
CV_Error( CV_StsOutOfRange, "the input arrays are too big" );
// recompute block size
blocksize.width = dftsize.width - templ->cols + 1;
blocksize.width = MIN( blocksize.width, corr->cols );
blocksize.height = dftsize.height - templ->rows + 1;
blocksize.height = MIN( blocksize.height, corr->rows );
dft_templ = cvCreateMat( dftsize.height*templ_cn, dftsize.width, max_depth );
#ifdef USE_OPENMP
num_threads = cvGetNumThreads();
#else
num_threads = 1;
#endif
for( k = 0; k < num_threads; k++ )
dft_img[k] = cvCreateMat( dftsize.height, dftsize.width, max_depth );
if( templ_cn > 1 && templ_depth != max_depth )
buf_size = templ->cols*templ->rows*CV_ELEM_SIZE(templ_depth);
if( cn > 1 && depth != max_depth )
buf_size = MAX( buf_size, (blocksize.width + templ->cols - 1)*
(blocksize.height + templ->rows - 1)*CV_ELEM_SIZE(depth));
if( (corr_cn > 1 || cn > 1) && corr_depth != max_depth )
buf_size = MAX( buf_size, blocksize.width*blocksize.height*CV_ELEM_SIZE(corr_depth));
if( buf_size > 0 )
{
for( k = 0; k < num_threads; k++ )
buf[k].resize(buf_size);
}
// compute DFT of each template plane
for( k = 0; k < templ_cn; k++ )
{
CvMat dstub, *src, *dst, temp;
CvMat* planes[] = { 0, 0, 0, 0 };
int yofs = k*dftsize.height;
src = templ;
dst = cvGetSubRect( dft_templ, &dstub, cvRect(0,yofs,templ->cols,templ->rows));
if( templ_cn > 1 )
{
planes[k] = templ_depth == max_depth ? dst :
cvInitMatHeader( &temp, templ->rows, templ->cols, templ_depth, &buf[0][0] );
cvSplit( templ, planes[0], planes[1], planes[2], planes[3] );
src = planes[k];
planes[k] = 0;
}
if( dst != src )
cvConvert( src, dst );
if( dft_templ->cols > templ->cols )
{
cvGetSubRect( dft_templ, dst, cvRect(templ->cols, yofs,
dft_templ->cols - templ->cols, templ->rows) );
cvZero( dst );
}
cvGetSubRect( dft_templ, dst, cvRect(0,yofs,dftsize.width,dftsize.height) );
cvDFT( dst, dst, CV_DXT_FORWARD + CV_DXT_SCALE, templ->rows );
}
tile_count_x = (corr->cols + blocksize.width - 1)/blocksize.width;
tile_count_y = (corr->rows + blocksize.height - 1)/blocksize.height;
tile_count = tile_count_x*tile_count_y;
#if defined _OPENMP && defined USE_OPENMP
#pragma omp parallel for num_threads(num_threads) schedule(dynamic)
#endif
// calculate correlation by blocks
for( k = 0; k < tile_count; k++ )
{
#ifdef USE_OPENMP
int thread_idx = cvGetThreadNum();
#else
int thread_idx = 0;
#endif
int x = (k%tile_count_x)*blocksize.width;
int y = (k/tile_count_x)*blocksize.height;
int i, yofs;
CvMat sstub, dstub, *src, *dst, temp;
CvMat* planes[] = { 0, 0, 0, 0 };
CvMat* _dft_img = dft_img[thread_idx];
uchar* _buf = buf_size > 0 ? &buf[thread_idx][0] : 0;
CvSize csz = { blocksize.width, blocksize.height }, isz;
int x0 = x - anchor.x, y0 = y - anchor.y;
int x1 = MAX( 0, x0 ), y1 = MAX( 0, y0 ), x2, y2;
csz.width = MIN( csz.width, corr->cols - x );
csz.height = MIN( csz.height, corr->rows - y );
isz.width = csz.width + templ->cols - 1;
isz.height = csz.height + templ->rows - 1;
x2 = MIN( img->cols, x0 + isz.width );
y2 = MIN( img->rows, y0 + isz.height );
for( i = 0; i < cn; i++ )
{
CvMat dstub1, *dst1;
yofs = i*dftsize.height;
src = cvGetSubRect( img, &sstub, cvRect(x1,y1,x2-x1,y2-y1) );
dst = cvGetSubRect( _dft_img, &dstub,
cvRect(0,0,isz.width,isz.height) );
dst1 = dst;
if( x2 - x1 < isz.width || y2 - y1 < isz.height )
dst1 = cvGetSubRect( _dft_img, &dstub1,
cvRect( x1 - x0, y1 - y0, x2 - x1, y2 - y1 ));
if( cn > 1 )
{
planes[i] = dst1;
if( depth != max_depth )
planes[i] = cvInitMatHeader( &temp, y2 - y1, x2 - x1, depth, _buf );
cvSplit( src, planes[0], planes[1], planes[2], planes[3] );
src = planes[i];
planes[i] = 0;
}
if( dst1 != src )
cvConvert( src, dst1 );
if( dst != dst1 )
cvCopyMakeBorder( dst1, dst, cvPoint(x1 - x0, y1 - y0), borderType );
if( dftsize.width > isz.width )
{
cvGetSubRect( _dft_img, dst, cvRect(isz.width, 0,
dftsize.width - isz.width,dftsize.height) );
cvZero( dst );
}
cvDFT( _dft_img, _dft_img, CV_DXT_FORWARD, isz.height );
cvGetSubRect( dft_templ, dst,
cvRect(0,(templ_cn>1?yofs:0),dftsize.width,dftsize.height) );
cvMulSpectrums( _dft_img, dst, _dft_img, CV_DXT_MUL_CONJ );
cvDFT( _dft_img, _dft_img, CV_DXT_INVERSE, csz.height );
src = cvGetSubRect( _dft_img, &sstub, cvRect(0,0,csz.width,csz.height) );
dst = cvGetSubRect( corr, &dstub, cvRect(x,y,csz.width,csz.height) );
if( corr_cn > 1 )
{
planes[i] = src;
if( corr_depth != max_depth )
{
planes[i] = cvInitMatHeader( &temp, csz.height, csz.width,
corr_depth, _buf );
cvConvertScale( src, planes[i], 1, delta );
}
cvMerge( planes[0], planes[1], planes[2], planes[3], dst );
planes[i] = 0;
}
else
{
if( i == 0 )
cvConvertScale( src, dst, 1, delta );
else
{
if( max_depth > corr_depth )
{
cvInitMatHeader( &temp, csz.height, csz.width,
corr_depth, _buf );
cvConvert( src, &temp );
src = &temp;
}
cvAcc( src, dst );
}
}
}
}
}
void cv::Laplacian( InputArray _src, OutputArray _dst, int ddepth, int ksize,
double scale, double delta, int borderType )
{
int stype = _src.type(), sdepth = CV_MAT_DEPTH(stype), cn = CV_MAT_CN(stype);
if (ddepth < 0)
ddepth = sdepth;
_dst.create( _src.size(), CV_MAKETYPE(ddepth, cn) );
#ifdef HAVE_TEGRA_OPTIMIZATION
if (scale == 1.0 && delta == 0)
{
Mat src = _src.getMat(), dst = _dst.getMat();
if (ksize == 1 && tegra::laplace1(src, dst, borderType))
return;
if (ksize == 3 && tegra::laplace3(src, dst, borderType))
return;
if (ksize == 5 && tegra::laplace5(src, dst, borderType))
return;
}
#endif
if( ksize == 1 || ksize == 3 )
{
float K[2][9] =
{
{ 0, 1, 0, 1, -4, 1, 0, 1, 0 },
{ 2, 0, 2, 0, -8, 0, 2, 0, 2 }
};
Mat kernel(3, 3, CV_32F, K[ksize == 3]);
if( scale != 1 )
kernel *= scale;
filter2D( _src, _dst, ddepth, kernel, Point(-1, -1), delta, borderType );
}
else
{
int ktype = std::max(CV_32F, std::max(ddepth, sdepth));
int wdepth = sdepth == CV_8U && ksize <= 5 ? CV_16S : sdepth <= CV_32F ? CV_32F : CV_64F;
int wtype = CV_MAKETYPE(wdepth, cn);
Mat kd, ks;
getSobelKernels( kd, ks, 2, 0, ksize, false, ktype );
CV_OCL_RUN(_dst.isUMat(),
ocl_Laplacian5(_src, _dst, kd, ks, scale,
delta, borderType, wdepth, ddepth))
const size_t STRIPE_SIZE = 1 << 14;
Ptr<FilterEngine> fx = createSeparableLinearFilter(stype,
wtype, kd, ks, Point(-1,-1), 0, borderType, borderType, Scalar() );
Ptr<FilterEngine> fy = createSeparableLinearFilter(stype,
wtype, ks, kd, Point(-1,-1), 0, borderType, borderType, Scalar() );
Mat src = _src.getMat(), dst = _dst.getMat();
int y = fx->start(src), dsty = 0, dy = 0;
fy->start(src);
const uchar* sptr = src.data + y*src.step;
int dy0 = std::min(std::max((int)(STRIPE_SIZE/(CV_ELEM_SIZE(stype)*src.cols)), 1), src.rows);
Mat d2x( dy0 + kd.rows - 1, src.cols, wtype );
Mat d2y( dy0 + kd.rows - 1, src.cols, wtype );
for( ; dsty < src.rows; sptr += dy0*src.step, dsty += dy )
{
fx->proceed( sptr, (int)src.step, dy0, d2x.data, (int)d2x.step );
dy = fy->proceed( sptr, (int)src.step, dy0, d2y.data, (int)d2y.step );
if( dy > 0 )
{
Mat dstripe = dst.rowRange(dsty, dsty + dy);
d2x.rows = d2y.rows = dy; // modify the headers, which should work
d2x += d2y;
d2x.convertTo( dstripe, ddepth, scale, delta );
}
}
}
}
static inline size_t getElemSize(int type) { return CV_ELEM_SIZE(type); }
inline
size_t GpuMat::elemSize() const
{
return CV_ELEM_SIZE(flags);
}
CV_IMPL void
cvSVD( CvArr* aarr, CvArr* warr, CvArr* uarr, CvArr* varr, int flags )
{
uchar* buffer = 0;
int local_alloc = 0;
CV_FUNCNAME( "cvSVD" );
__BEGIN__;
CvMat astub, *a = (CvMat*)aarr;
CvMat wstub, *w = (CvMat*)warr;
CvMat ustub, *u;
CvMat vstub, *v;
CvMat tmat;
uchar* tw = 0;
int type;
int a_buf_offset = 0, u_buf_offset = 0, buf_size, pix_size;
int temp_u = 0, /* temporary storage for U is needed */
t_svd; /* special case: a->rows < a->cols */
int m, n;
int w_rows, w_cols;
int u_rows = 0, u_cols = 0;
int w_is_mat = 0;
if( !CV_IS_MAT( a ))
CV_CALL( a = cvGetMat( a, &astub ));
if( !CV_IS_MAT( w ))
CV_CALL( w = cvGetMat( w, &wstub ));
if( !CV_ARE_TYPES_EQ( a, w ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( a->rows >= a->cols )
{
m = a->rows;
n = a->cols;
w_rows = w->rows;
w_cols = w->cols;
t_svd = 0;
}
else
{
CvArr* t;
CV_SWAP( uarr, varr, t );
flags = (flags & CV_SVD_U_T ? CV_SVD_V_T : 0)|
(flags & CV_SVD_V_T ? CV_SVD_U_T : 0);
m = a->cols;
n = a->rows;
w_rows = w->cols;
w_cols = w->rows;
t_svd = 1;
}
u = (CvMat*)uarr;
v = (CvMat*)varr;
w_is_mat = w_cols > 1 && w_rows > 1;
if( !w_is_mat && CV_IS_MAT_CONT(w->type) && w_cols + w_rows - 1 == n )
tw = w->data.ptr;
if( u )
{
if( !CV_IS_MAT( u ))
CV_CALL( u = cvGetMat( u, &ustub ));
if( !(flags & CV_SVD_U_T) )
{
u_rows = u->rows;
u_cols = u->cols;
}
else
{
u_rows = u->cols;
u_cols = u->rows;
}
if( !CV_ARE_TYPES_EQ( a, u ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( u_rows != m || (u_cols != m && u_cols != n))
CV_ERROR( CV_StsUnmatchedSizes, !t_svd ? "U matrix has unappropriate size" :
"V matrix has unappropriate size" );
temp_u = (u_rows != u_cols && !(flags & CV_SVD_U_T)) || u->data.ptr==a->data.ptr;
if( w_is_mat && u_cols != w_rows )
CV_ERROR( CV_StsUnmatchedSizes, !t_svd ? "U and W have incompatible sizes" :
"V and W have incompatible sizes" );
}
else
{
u = &ustub;
u->data.ptr = 0;
u->step = 0;
}
if( v )
{
int v_rows, v_cols;
if( !CV_IS_MAT( v ))
CV_CALL( v = cvGetMat( v, &vstub ));
if( !(flags & CV_SVD_V_T) )
{
v_rows = v->rows;
v_cols = v->cols;
}
else
{
v_rows = v->cols;
v_cols = v->rows;
}
if( !CV_ARE_TYPES_EQ( a, v ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( v_rows != n || v_cols != n )
CV_ERROR( CV_StsUnmatchedSizes, t_svd ? "U matrix has unappropriate size" :
"V matrix has unappropriate size" );
if( w_is_mat && w_cols != v_cols )
CV_ERROR( CV_StsUnmatchedSizes, t_svd ? "U and W have incompatible sizes" :
"V and W have incompatible sizes" );
}
else
{
v = &vstub;
v->data.ptr = 0;
v->step = 0;
}
type = CV_MAT_TYPE( a->type );
pix_size = CV_ELEM_SIZE(type);
buf_size = n*2 + m;
if( !(flags & CV_SVD_MODIFY_A) )
{
a_buf_offset = buf_size;
buf_size += a->rows*a->cols;
}
if( temp_u )
{
u_buf_offset = buf_size;
buf_size += u->rows*u->cols;
}
buf_size *= pix_size;
if( buf_size <= CV_MAX_LOCAL_SIZE )
{
buffer = (uchar*)cvStackAlloc( buf_size );
local_alloc = 1;
}
else
{
CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
}
if( !(flags & CV_SVD_MODIFY_A) )
{
cvInitMatHeader( &tmat, m, n, type,
buffer + a_buf_offset*pix_size );
if( !t_svd )
cvCopy( a, &tmat );
else
cvT( a, &tmat );
a = &tmat;
}
if( temp_u )
{
cvInitMatHeader( &ustub, u_cols, u_rows, type, buffer + u_buf_offset*pix_size );
u = &ustub;
}
if( !tw )
tw = buffer + (n + m)*pix_size;
if( type == CV_32FC1 )
{
icvSVD_32f( a->data.fl, a->step/sizeof(float), a->rows, a->cols,
(float*)tw, u->data.fl, u->step/sizeof(float), u_cols,
v->data.fl, v->step/sizeof(float), (float*)buffer );
}
else if( type == CV_64FC1 )
{
icvSVD_64f( a->data.db, a->step/sizeof(double), a->rows, a->cols,
(double*)tw, u->data.db, u->step/sizeof(double), u_cols,
v->data.db, v->step/sizeof(double), (double*)buffer );
}
else
{
CV_ERROR( CV_StsUnsupportedFormat, "" );
}
if( tw != w->data.ptr )
{
int shift = w->cols != 1;
cvSetZero( w );
if( type == CV_32FC1 )
for( int i = 0; i < n; i++ )
((float*)(w->data.ptr + i*w->step))[i*shift] = ((float*)tw)[i];
else
for( int i = 0; i < n; i++ )
((double*)(w->data.ptr + i*w->step))[i*shift] = ((double*)tw)[i];
}
if( uarr )
{
if( !(flags & CV_SVD_U_T))
cvT( u, uarr );
else if( temp_u )
cvCopy( u, uarr );
/*CV_CHECK_NANS( uarr );*/
}
if( varr )
{
if( !(flags & CV_SVD_V_T))
cvT( v, varr );
/*CV_CHECK_NANS( varr );*/
}
CV_CHECK_NANS( w );
__END__;
if( buffer && !local_alloc )
cvFree( &buffer );
}
int elemSize() const { return CV_ELEM_SIZE(type_); }
CV_IMPL void
cvFilter2D( const CvArr* _src, CvArr* _dst, const CvMat* _kernel, CvPoint anchor )
{
// below that approximate size OpenCV is faster
const int ipp_lower_limit = 20;
static CvFuncTable filter_tab;
static int inittab = 0;
CvFilterState *state = 0;
float* kernel_data = 0;
int local_alloc = 1;
CvMat* temp = 0;
CV_FUNCNAME( "cvFilter2D" );
__BEGIN__;
CvFilterFunc func = 0;
int coi1 = 0, coi2 = 0;
CvMat srcstub, *src = (CvMat*)_src;
CvMat dststub, *dst = (CvMat*)_dst;
CvSize size;
int type, depth;
int src_step, dst_step;
CvMat kernel_hdr;
const CvMat* kernel = _kernel;
if( !inittab )
{
icvInitFilterTab( &filter_tab );
inittab = 1;
}
CV_CALL( src = cvGetMat( src, &srcstub, &coi1 ));
CV_CALL( dst = cvGetMat( dst, &dststub, &coi2 ));
if( coi1 != 0 || coi2 != 0 )
CV_ERROR( CV_BadCOI, "" );
type = CV_MAT_TYPE( src->type );
if( !CV_ARE_SIZES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
if( !CV_ARE_TYPES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( !CV_IS_MAT(kernel) ||
(CV_MAT_TYPE(kernel->type) != CV_32F &&
CV_MAT_TYPE(kernel->type) != CV_64F ))
CV_ERROR( CV_StsBadArg, "kernel must be single-channel floating-point matrix" );
if( anchor.x == -1 && anchor.y == -1 )
anchor = cvPoint(kernel->cols/2,kernel->rows/2);
if( (unsigned)anchor.x >= (unsigned)kernel->cols ||
(unsigned)anchor.y >= (unsigned)kernel->rows )
CV_ERROR( CV_StsOutOfRange, "anchor point is out of kernel" );
if( CV_MAT_TYPE(kernel->type) != CV_32FC1 || !CV_IS_MAT_CONT(kernel->type) || icvFilter_8u_C1R_p )
{
int sz = kernel->rows*kernel->cols*sizeof(kernel_data[0]);
if( sz < CV_MAX_LOCAL_SIZE )
kernel_data = (float*)cvStackAlloc( sz );
else
{
CV_CALL( kernel_data = (float*)cvAlloc( sz ));
local_alloc = 0;
}
kernel_hdr = cvMat( kernel->rows, kernel->cols, CV_32F, kernel_data );
if( CV_MAT_TYPE(kernel->type) == CV_32FC1 )
cvCopy( kernel, &kernel_hdr );
else
cvConvertScale( kernel, &kernel_hdr, 1, 0 );
kernel = &kernel_hdr;
}
size = cvGetMatSize( src );
depth = CV_MAT_DEPTH(type);
src_step = src->step;
dst_step = dst->step ? dst->step : CV_STUB_STEP;
if( icvFilter_8u_C1R_p && (src->rows >= ipp_lower_limit || src->cols >= ipp_lower_limit) )
{
CvFilterIPPFunc ipp_func =
type == CV_8UC1 ? (CvFilterIPPFunc)icvFilter_8u_C1R_p :
type == CV_8UC3 ? (CvFilterIPPFunc)icvFilter_8u_C3R_p :
type == CV_8UC4 ? (CvFilterIPPFunc)icvFilter_8u_C4R_p :
type == CV_16SC1 ? (CvFilterIPPFunc)icvFilter_16s_C1R_p :
type == CV_16SC3 ? (CvFilterIPPFunc)icvFilter_16s_C3R_p :
type == CV_16SC4 ? (CvFilterIPPFunc)icvFilter_16s_C4R_p :
type == CV_32FC1 ? (CvFilterIPPFunc)icvFilter_32f_C1R_p :
type == CV_32FC3 ? (CvFilterIPPFunc)icvFilter_32f_C3R_p :
type == CV_32FC4 ? (CvFilterIPPFunc)icvFilter_32f_C4R_p : 0;
if( ipp_func )
{
CvSize el_size = { kernel->cols, kernel->rows };
CvPoint el_anchor = { el_size.width - anchor.x - 1, el_size.height - anchor.y - 1 };
int stripe_size = 1 << 16; // the optimal value may depend on CPU cache,
// overhead of current IPP code etc.
const uchar* shifted_ptr;
int i, j, y, dy = 0;
int temp_step;
// mirror the kernel around the center
for( i = 0; i < (el_size.height+1)/2; i++ )
{
float* top_row = kernel->data.fl + el_size.width*i;
float* bottom_row = kernel->data.fl + el_size.width*(el_size.height - i - 1);
for( j = 0; j < (el_size.width+1)/2; j++ )
{
float a = top_row[j], b = top_row[el_size.width - j - 1];
float c = bottom_row[j], d = bottom_row[el_size.width - j - 1];
top_row[j] = d;
top_row[el_size.width - j - 1] = c;
bottom_row[j] = b;
bottom_row[el_size.width - j - 1] = a;
}
}
CV_CALL( temp = icvIPPFilterInit( src, stripe_size, el_size ));
shifted_ptr = temp->data.ptr +
anchor.y*temp->step + anchor.x*CV_ELEM_SIZE(type);
temp_step = temp->step ? temp->step : CV_STUB_STEP;
for( y = 0; y < src->rows; y += dy )
{
dy = icvIPPFilterNextStripe( src, temp, y, el_size, anchor );
IPPI_CALL( ipp_func( shifted_ptr, temp_step,
dst->data.ptr + y*dst_step, dst_step, cvSize(src->cols, dy),
kernel->data.fl, el_size, el_anchor ));
}
EXIT;
}
}
CV_CALL( state = icvFilterInitAlloc( src->cols, cv32f, CV_MAT_CN(type),
cvSize(kernel->cols, kernel->rows), anchor,
kernel->data.ptr, ICV_GENERIC_KERNEL ));
if( CV_MAT_CN(type) == 2 )
CV_ERROR( CV_BadNumChannels, "Unsupported number of channels" );
func = (CvFilterFunc)(filter_tab.fn_2d[depth]);
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "" );
if( size.height == 1 )
src_step = dst_step = CV_STUB_STEP;
IPPI_CALL( func( src->data.ptr, src_step, dst->data.ptr,
dst_step, &size, state, 0 ));
__END__;
cvReleaseMat( &temp );
icvFilterFree( &state );
if( !local_alloc )
cvFree( (void**)&kernel_data );
}
int icvIPPSepFilter( const CvMat* src, CvMat* dst, const CvMat* kernelX,
const CvMat* kernelY, CvPoint anchor )
{
int result = 0;
CvMat* top_bottom = 0;
CvMat* vout_hin = 0;
CvMat* dst_buf = 0;
CV_FUNCNAME( "icvIPPSepFilter" );
__BEGIN__;
CvSize ksize;
CvPoint el_anchor;
CvSize size;
int type, depth, pix_size;
int i, x, y, dy = 0, prev_dy = 0, max_dy;
CvMat vout;
CvCopyNonConstBorderFunc copy_border_func;
CvIPPSepFilterFunc x_func = 0, y_func = 0;
int src_step, top_bottom_step;
float *kx, *ky;
int align, stripe_size;
if( !icvFilterRow_8u_C1R_p )
EXIT;
if( !CV_ARE_TYPES_EQ( src, dst ) || !CV_ARE_SIZES_EQ( src, dst ) ||
!CV_IS_MAT_CONT(kernelX->type & kernelY->type) ||
CV_MAT_TYPE(kernelX->type) != CV_32FC1 ||
CV_MAT_TYPE(kernelY->type) != CV_32FC1 ||
kernelX->cols != 1 && kernelX->rows != 1 ||
kernelY->cols != 1 && kernelY->rows != 1 ||
(unsigned)anchor.x >= (unsigned)(kernelX->cols + kernelX->rows - 1) ||
(unsigned)anchor.y >= (unsigned)(kernelY->cols + kernelY->rows - 1) )
CV_ERROR( CV_StsError, "Internal Error: incorrect parameters" );
ksize.width = kernelX->cols + kernelX->rows - 1;
ksize.height = kernelY->cols + kernelY->rows - 1;
/*if( ksize.width <= 5 && ksize.height <= 5 )
{
float* ker = (float*)cvStackAlloc( ksize.width*ksize.height*sizeof(ker[0]));
CvMat kernel = cvMat( ksize.height, ksize.width, CV_32F, ker );
for( y = 0, i = 0; y < ksize.height; y++ )
for( x = 0; x < ksize.width; x++, i++ )
ker[i] = kernelY->data.fl[y]*kernelX->data.fl[x];
CV_CALL( cvFilter2D( src, dst, &kernel, anchor ));
EXIT;
}*/
type = CV_MAT_TYPE(src->type);
depth = CV_MAT_DEPTH(type);
pix_size = CV_ELEM_SIZE(type);
if( type == CV_8UC1 )
x_func = icvFilterRow_8u_C1R_p, y_func = icvFilterColumn_8u_C1R_p;
else if( type == CV_8UC3 )
x_func = icvFilterRow_8u_C3R_p, y_func = icvFilterColumn_8u_C3R_p;
else if( type == CV_8UC4 )
x_func = icvFilterRow_8u_C4R_p, y_func = icvFilterColumn_8u_C4R_p;
else if( type == CV_16SC1 )
x_func = icvFilterRow_16s_C1R_p, y_func = icvFilterColumn_16s_C1R_p;
else if( type == CV_16SC3 )
x_func = icvFilterRow_16s_C3R_p, y_func = icvFilterColumn_16s_C3R_p;
else if( type == CV_16SC4 )
x_func = icvFilterRow_16s_C4R_p, y_func = icvFilterColumn_16s_C4R_p;
else if( type == CV_32FC1 )
x_func = icvFilterRow_32f_C1R_p, y_func = icvFilterColumn_32f_C1R_p;
else if( type == CV_32FC3 )
x_func = icvFilterRow_32f_C3R_p, y_func = icvFilterColumn_32f_C3R_p;
else if( type == CV_32FC4 )
x_func = icvFilterRow_32f_C4R_p, y_func = icvFilterColumn_32f_C4R_p;
else
EXIT;
size = cvGetMatSize(src);
stripe_size = src->data.ptr == dst->data.ptr ? 1 << 15 : 1 << 16;
max_dy = MAX( ksize.height - 1, stripe_size/(size.width + ksize.width - 1));
max_dy = MIN( max_dy, size.height + ksize.height - 1 );
align = 8/CV_ELEM_SIZE(depth);
CV_CALL( top_bottom = cvCreateMat( ksize.height*2, cvAlign(size.width,align), type ));
CV_CALL( vout_hin = cvCreateMat( max_dy + ksize.height,
cvAlign(size.width + ksize.width - 1, align), type ));
if( src->data.ptr == dst->data.ptr && size.height )
CV_CALL( dst_buf = cvCreateMat( max_dy + ksize.height,
cvAlign(size.width, align), type ));
kx = (float*)cvStackAlloc( ksize.width*sizeof(kx[0]) );
ky = (float*)cvStackAlloc( ksize.height*sizeof(ky[0]) );
// mirror the kernels
for( i = 0; i < ksize.width; i++ )
kx[i] = kernelX->data.fl[ksize.width - i - 1];
for( i = 0; i < ksize.height; i++ )
ky[i] = kernelY->data.fl[ksize.height - i - 1];
el_anchor = cvPoint( ksize.width - anchor.x - 1, ksize.height - anchor.y - 1 );
cvGetCols( vout_hin, &vout, anchor.x, anchor.x + size.width );
copy_border_func = icvGetCopyNonConstBorderFunc( pix_size, IPL_BORDER_REPLICATE );
src_step = src->step ? src->step : CV_STUB_STEP;
top_bottom_step = top_bottom->step ? top_bottom->step : CV_STUB_STEP;
vout.step = vout.step ? vout.step : CV_STUB_STEP;
for( y = 0; y < size.height; y += dy )
{
const CvMat *vin = src, *hout = dst;
int src_y = y, dst_y = y;
dy = MIN( max_dy, size.height - (ksize.height - anchor.y - 1) - y );
if( y < anchor.y || dy < anchor.y )
{
int ay = anchor.y;
CvSize src_stripe_size = size;
if( y < anchor.y )
{
src_y = 0;
dy = MIN( anchor.y, size.height );
src_stripe_size.height = MIN( dy + ksize.height - anchor.y - 1, size.height );
}
else
{
src_y = MAX( y - anchor.y, 0 );
dy = size.height - y;
src_stripe_size.height = MIN( dy + anchor.y, size.height );
ay = MAX( anchor.y - y, 0 );
}
copy_border_func( src->data.ptr + src_y*src_step, src_step, src_stripe_size,
top_bottom->data.ptr, top_bottom_step,
cvSize(size.width, dy + ksize.height - 1),
ay, 0 );
vin = top_bottom;
src_y = anchor.y;
}
// do vertical convolution
IPPI_CALL( y_func( vin->data.ptr + src_y*vin->step, vin->step ? vin->step : CV_STUB_STEP,
vout.data.ptr, vout.step, cvSize(size.width, dy),
ky, ksize.height, el_anchor.y ));
// now it's time to copy the previously processed stripe to the input/output image
if( src->data.ptr == dst->data.ptr )
{
for( i = 0; i < prev_dy; i++ )
memcpy( dst->data.ptr + (y - prev_dy + i)*dst->step,
dst_buf->data.ptr + i*dst_buf->step, size.width*pix_size );
if( y + dy < size.height )
{
hout = dst_buf;
dst_y = 0;
}
}
// create a border for every line by replicating the left-most/right-most elements
for( i = 0; i < dy; i++ )
{
uchar* ptr = vout.data.ptr + i*vout.step;
for( x = -1; x >= -anchor.x*pix_size; x-- )
ptr[x] = ptr[x + pix_size];
for( x = size.width*pix_size; x < (size.width+ksize.width-anchor.x-1)*pix_size; x++ )
ptr[x] = ptr[x - pix_size];
}
// do horizontal convolution
IPPI_CALL( x_func( vout.data.ptr, vout.step, hout->data.ptr + dst_y*hout->step,
hout->step ? hout->step : CV_STUB_STEP,
cvSize(size.width, dy), kx, ksize.width, el_anchor.x ));
prev_dy = dy;
}
result = 1;
__END__;
cvReleaseMat( &vout_hin );
cvReleaseMat( &dst_buf );
cvReleaseMat( &top_bottom );
return result;
}
/* it must have more than 3 points */
CV_IMPL CvSeq*
cvConvexityDefects( const CvArr* array,
const CvArr* hullarray,
CvMemStorage* storage )
{
CvSeq* defects = 0;
CV_FUNCNAME( "cvConvexityDefects" );
__BEGIN__;
int i, index;
CvPoint* hull_cur;
/* is orientation of hull different from contour one */
int rev_orientation;
CvContour contour_header;
union { CvContour c; CvSeq s; } hull_header;
CvSeqBlock block, hullblock;
CvSeq *ptseq = (CvSeq*)array, *hull = (CvSeq*)hullarray;
CvSeqReader hull_reader;
CvSeqReader ptseq_reader;
CvSeqWriter writer;
int is_index;
if( CV_IS_SEQ( ptseq ))
{
if( !CV_IS_SEQ_POINT_SET( ptseq ))
CV_ERROR( CV_StsUnsupportedFormat,
"Input sequence is not a sequence of points" );
if( !storage )
storage = ptseq->storage;
}
else
{
CV_CALL( ptseq = cvPointSeqFromMat(
CV_SEQ_KIND_GENERIC, array, &contour_header, &block ));
}
if( CV_SEQ_ELTYPE( ptseq ) != CV_32SC2 )
CV_ERROR( CV_StsUnsupportedFormat,
"Floating-point coordinates are not supported here" );
if( CV_IS_SEQ( hull ))
{
int hulltype = CV_SEQ_ELTYPE( hull );
if( hulltype != CV_SEQ_ELTYPE_PPOINT && hulltype != CV_SEQ_ELTYPE_INDEX )
CV_ERROR( CV_StsUnsupportedFormat,
"Convex hull must represented as a sequence "
"of indices or sequence of pointers" );
if( !storage )
storage = hull->storage;
}
else
{
CvMat* mat = (CvMat*)hull;
if( !CV_IS_MAT( hull ))
CV_ERROR(CV_StsBadArg, "Convex hull is neither sequence nor matrix");
if( mat->cols != 1 && mat->rows != 1 ||
!CV_IS_MAT_CONT(mat->type) || CV_MAT_TYPE(mat->type) != CV_32SC1 )
CV_ERROR( CV_StsBadArg,
"The matrix should be 1-dimensional and continuous array of int's" );
if( mat->cols + mat->rows - 1 > ptseq->total )
CV_ERROR( CV_StsBadSize, "Convex hull is larger than the point sequence" );
CV_CALL( hull = cvMakeSeqHeaderForArray(
CV_SEQ_KIND_CURVE|CV_MAT_TYPE(mat->type)|CV_SEQ_FLAG_CLOSED,
sizeof(CvContour), CV_ELEM_SIZE(mat->type), mat->data.ptr,
mat->cols + mat->rows - 1, &hull_header.s, &hullblock ));
}
is_index = CV_SEQ_ELTYPE(hull) == CV_SEQ_ELTYPE_INDEX;
if( !storage )
CV_ERROR( CV_StsNullPtr, "NULL storage pointer" );
CV_CALL( defects = cvCreateSeq( CV_SEQ_KIND_GENERIC, sizeof(CvSeq),
sizeof(CvConvexityDefect), storage ));
if( ptseq->total < 4 || hull->total < 3)
{
//CV_ERROR( CV_StsBadSize,
// "point seq size must be >= 4, convex hull size must be >= 3" );
EXIT;
}
/* recognize co-orientation of ptseq and its hull */
{
int sign = 0;
int index1, index2, index3;
if( !is_index )
{
CvPoint* pos = *CV_SEQ_ELEM( hull, CvPoint*, 0 );
CV_CALL( index1 = cvSeqElemIdx( ptseq, pos ));
pos = *CV_SEQ_ELEM( hull, CvPoint*, 1 );
CV_CALL( index2 = cvSeqElemIdx( ptseq, pos ));
pos = *CV_SEQ_ELEM( hull, CvPoint*, 2 );
CV_CALL( index3 = cvSeqElemIdx( ptseq, pos ));
}
else
{
static void
icvInitPyramidalAlgorithm( const CvMat* imgA, const CvMat* imgB,
CvMat* pyrA, CvMat* pyrB,
int level, CvTermCriteria * criteria,
int max_iters, int flags,
uchar *** imgI, uchar *** imgJ,
int **step, CvSize** size,
double **scale, cv::AutoBuffer<uchar>* buffer )
{
const int ALIGN = 8;
int pyrBytes, bufferBytes = 0, elem_size;
int level1 = level + 1;
int i;
CvSize imgSize, levelSize;
*imgI = *imgJ = 0;
*step = 0;
*scale = 0;
*size = 0;
/* check input arguments */
if( ((flags & CV_LKFLOW_PYR_A_READY) != 0 && !pyrA) ||
((flags & CV_LKFLOW_PYR_B_READY) != 0 && !pyrB) )
CV_Error( CV_StsNullPtr, "Some of the precomputed pyramids are missing" );
if( level < 0 )
CV_Error( CV_StsOutOfRange, "The number of pyramid levels is negative" );
switch( criteria->type )
{
case CV_TERMCRIT_ITER:
criteria->epsilon = 0.f;
break;
case CV_TERMCRIT_EPS:
criteria->max_iter = max_iters;
break;
case CV_TERMCRIT_ITER | CV_TERMCRIT_EPS:
break;
default:
assert( 0 );
CV_Error( CV_StsBadArg, "Invalid termination criteria" );
}
/* compare squared values */
criteria->epsilon *= criteria->epsilon;
/* set pointers and step for every level */
pyrBytes = 0;
imgSize = cvGetSize(imgA);
elem_size = CV_ELEM_SIZE(imgA->type);
levelSize = imgSize;
for( i = 1; i < level1; i++ )
{
levelSize.width = (levelSize.width + 1) >> 1;
levelSize.height = (levelSize.height + 1) >> 1;
int tstep = cvAlign(levelSize.width,ALIGN) * elem_size;
pyrBytes += tstep * levelSize.height;
}
assert( pyrBytes <= imgSize.width * imgSize.height * elem_size * 4 / 3 );
/* buffer_size = <size for patches> + <size for pyramids> */
bufferBytes = (int)((level1 >= 0) * ((pyrA->data.ptr == 0) +
(pyrB->data.ptr == 0)) * pyrBytes +
(sizeof(imgI[0][0]) * 2 + sizeof(step[0][0]) +
sizeof(size[0][0]) + sizeof(scale[0][0])) * level1);
buffer->allocate( bufferBytes );
*imgI = (uchar **) (uchar*)(*buffer);
*imgJ = *imgI + level1;
*step = (int *) (*imgJ + level1);
*scale = (double *) (*step + level1);
*size = (CvSize *)(*scale + level1);
imgI[0][0] = imgA->data.ptr;
imgJ[0][0] = imgB->data.ptr;
step[0][0] = imgA->step;
scale[0][0] = 1;
size[0][0] = imgSize;
if( level > 0 )
{
uchar *bufPtr = (uchar *) (*size + level1);
uchar *ptrA = pyrA->data.ptr;
uchar *ptrB = pyrB->data.ptr;
if( !ptrA )
{
ptrA = bufPtr;
bufPtr += pyrBytes;
}
if( !ptrB )
ptrB = bufPtr;
levelSize = imgSize;
/* build pyramids for both frames */
for( i = 1; i <= level; i++ )
{
int levelBytes;
CvMat prev_level, next_level;
levelSize.width = (levelSize.width + 1) >> 1;
levelSize.height = (levelSize.height + 1) >> 1;
size[0][i] = levelSize;
step[0][i] = cvAlign( levelSize.width, ALIGN ) * elem_size;
scale[0][i] = scale[0][i - 1] * 0.5;
levelBytes = step[0][i] * levelSize.height;
imgI[0][i] = (uchar *) ptrA;
ptrA += levelBytes;
if( !(flags & CV_LKFLOW_PYR_A_READY) )
{
prev_level = cvMat( size[0][i-1].height, size[0][i-1].width, CV_8UC1 );
next_level = cvMat( size[0][i].height, size[0][i].width, CV_8UC1 );
cvSetData( &prev_level, imgI[0][i-1], step[0][i-1] );
cvSetData( &next_level, imgI[0][i], step[0][i] );
cvPyrDown( &prev_level, &next_level );
}
imgJ[0][i] = (uchar *) ptrB;
ptrB += levelBytes;
if( !(flags & CV_LKFLOW_PYR_B_READY) )
{
prev_level = cvMat( size[0][i-1].height, size[0][i-1].width, CV_8UC1 );
next_level = cvMat( size[0][i].height, size[0][i].width, CV_8UC1 );
cvSetData( &prev_level, imgJ[0][i-1], step[0][i-1] );
cvSetData( &next_level, imgJ[0][i], step[0][i] );
cvPyrDown( &prev_level, &next_level );
}
}
}
CV_IMPL void
cvSVBkSb( const CvArr* warr, const CvArr* uarr,
const CvArr* varr, const CvArr* barr,
CvArr* xarr, int flags )
{
uchar* buffer = 0;
int local_alloc = 0;
CV_FUNCNAME( "cvSVBkSb" );
__BEGIN__;
CvMat wstub, *w = (CvMat*)warr;
CvMat bstub, *b = (CvMat*)barr;
CvMat xstub, *x = (CvMat*)xarr;
CvMat ustub, ustub2, *u = (CvMat*)uarr;
CvMat vstub, vstub2, *v = (CvMat*)varr;
uchar* tw = 0;
int type;
int temp_u = 0, temp_v = 0;
int u_buf_offset = 0, v_buf_offset = 0, w_buf_offset = 0, t_buf_offset = 0;
int buf_size = 0, pix_size;
int m, n, nm;
int u_rows, u_cols;
int v_rows, v_cols;
if( !CV_IS_MAT( w ))
CV_CALL( w = cvGetMat( w, &wstub ));
if( !CV_IS_MAT( u ))
CV_CALL( u = cvGetMat( u, &ustub ));
if( !CV_IS_MAT( v ))
CV_CALL( v = cvGetMat( v, &vstub ));
if( !CV_IS_MAT( x ))
CV_CALL( x = cvGetMat( x, &xstub ));
if( !CV_ARE_TYPES_EQ( w, u ) || !CV_ARE_TYPES_EQ( w, v ) || !CV_ARE_TYPES_EQ( w, x ))
CV_ERROR( CV_StsUnmatchedFormats, "All matrices must have the same type" );
type = CV_MAT_TYPE( w->type );
pix_size = CV_ELEM_SIZE(type);
if( !(flags & CV_SVD_U_T) )
{
temp_u = 1;
u_buf_offset = buf_size;
buf_size += u->cols*u->rows*pix_size;
u_rows = u->rows;
u_cols = u->cols;
}
else
{
u_rows = u->cols;
u_cols = u->rows;
}
if( !(flags & CV_SVD_V_T) )
{
temp_v = 1;
v_buf_offset = buf_size;
buf_size += v->cols*v->rows*pix_size;
v_rows = v->rows;
v_cols = v->cols;
}
else
{
v_rows = v->cols;
v_cols = v->rows;
}
m = u_rows;
n = v_rows;
nm = MIN(n,m);
if( (u_rows != u_cols && v_rows != v_cols) || x->rows != v_rows )
CV_ERROR( CV_StsBadSize, "V or U matrix must be square" );
if( (w->rows == 1 || w->cols == 1) && w->rows + w->cols - 1 == nm )
{
if( CV_IS_MAT_CONT(w->type) )
tw = w->data.ptr;
else
{
w_buf_offset = buf_size;
buf_size += nm*pix_size;
}
}
else
{
if( w->cols != v_cols || w->rows != u_cols )
CV_ERROR( CV_StsBadSize, "W must be 1d array of MIN(m,n) elements or "
"matrix which size matches to U and V" );
w_buf_offset = buf_size;
buf_size += nm*pix_size;
}
if( b )
{
if( !CV_IS_MAT( b ))
CV_CALL( b = cvGetMat( b, &bstub ));
if( !CV_ARE_TYPES_EQ( w, b ))
CV_ERROR( CV_StsUnmatchedFormats, "All matrices must have the same type" );
if( b->cols != x->cols || b->rows != m )
CV_ERROR( CV_StsUnmatchedSizes, "b matrix must have (m x x->cols) size" );
}
else
{
b = &bstub;
memset( b, 0, sizeof(*b));
}
t_buf_offset = buf_size;
buf_size += (MAX(m,n) + b->cols)*pix_size;
if( buf_size <= CV_MAX_LOCAL_SIZE )
{
buffer = (uchar*)cvStackAlloc( buf_size );
local_alloc = 1;
}
else
CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
if( temp_u )
{
cvInitMatHeader( &ustub2, u_cols, u_rows, type, buffer + u_buf_offset );
cvT( u, &ustub2 );
u = &ustub2;
}
if( temp_v )
{
cvInitMatHeader( &vstub2, v_cols, v_rows, type, buffer + v_buf_offset );
cvT( v, &vstub2 );
v = &vstub2;
}
if( !tw )
{
int i, shift = w->cols > 1 ? pix_size : 0;
tw = buffer + w_buf_offset;
for( i = 0; i < nm; i++ )
memcpy( tw + i*pix_size, w->data.ptr + i*(w->step + shift), pix_size );
}
if( type == CV_32FC1 )
{
icvSVBkSb_32f( m, n, (float*)tw, u->data.fl, u->step/sizeof(float),
v->data.fl, v->step/sizeof(float),
b->data.fl, b->step/sizeof(float), b->cols,
x->data.fl, x->step/sizeof(float),
(float*)(buffer + t_buf_offset) );
}
else if( type == CV_64FC1 )
{
icvSVBkSb_64f( m, n, (double*)tw, u->data.db, u->step/sizeof(double),
v->data.db, v->step/sizeof(double),
b->data.db, b->step/sizeof(double), b->cols,
x->data.db, x->step/sizeof(double),
(double*)(buffer + t_buf_offset) );
}
else
{
CV_ERROR( CV_StsUnsupportedFormat, "" );
}
__END__;
if( buffer && !local_alloc )
cvFree( &buffer );
}
void icvConvertPointsHomogenious( const CvMat* src, CvMat* dst )
{
CvMat* temp = 0;
CvMat* denom = 0;
CV_FUNCNAME( "cvConvertPointsHomogenious" );
__BEGIN__;
int i, s_count, s_dims, d_count, d_dims;
CvMat _src, _dst, _ones;
CvMat* ones = 0;
if( !CV_IS_MAT(src) )
CV_ERROR( !src ? CV_StsNullPtr : CV_StsBadArg,
"The input parameter is not a valid matrix" );
if( !CV_IS_MAT(dst) )
CV_ERROR( !dst ? CV_StsNullPtr : CV_StsBadArg,
"The output parameter is not a valid matrix" );
if( src == dst || src->data.ptr == dst->data.ptr )
{
if( src != dst && (!CV_ARE_TYPES_EQ(src, dst) ||
!CV_ARE_SIZES_EQ(src,dst)) )
CV_ERROR( CV_StsBadArg, "Invalid inplace operation" );
EXIT;
}
if( src->rows > src->cols )
{
if( !((src->cols > 1) ^ (CV_MAT_CN(src->type) > 1)) )
CV_ERROR( CV_StsBadSize,
"Either the number of channels or columns or "
"rows must be =1" );
s_dims = CV_MAT_CN(src->type)*src->cols;
s_count = src->rows;
}
else
{
if( !((src->rows > 1) ^ (CV_MAT_CN(src->type) > 1)) )
CV_ERROR( CV_StsBadSize,
"Either the number of channels or columns or "
"rows must be =1" );
s_dims = CV_MAT_CN(src->type)*src->rows;
s_count = src->cols;
}
if( src->rows == 1 || src->cols == 1 )
src = cvReshape( src, &_src, 1, s_count );
if( dst->rows > dst->cols )
{
if( !((dst->cols > 1) ^ (CV_MAT_CN(dst->type) > 1)) )
CV_ERROR( CV_StsBadSize,
"Either the number of channels or columns or "
"rows in the input matrix must be =1" );
d_dims = CV_MAT_CN(dst->type)*dst->cols;
d_count = dst->rows;
}
else
{
if( !((dst->rows > 1) ^ (CV_MAT_CN(dst->type) > 1)) )
CV_ERROR( CV_StsBadSize,
"Either the number of channels or columns or "
"rows in the output matrix must be =1" );
d_dims = CV_MAT_CN(dst->type)*dst->rows;
d_count = dst->cols;
}
if( dst->rows == 1 || dst->cols == 1 )
dst = cvReshape( dst, &_dst, 1, d_count );
if( s_count != d_count )
CV_ERROR( CV_StsUnmatchedSizes, "Both matrices must have the "
"same number of points" );
if( CV_MAT_DEPTH(src->type) < CV_32F || CV_MAT_DEPTH(dst->type) < CV_32F )
CV_ERROR( CV_StsUnsupportedFormat,
"Both matrices must be floating-point "
"(single or double precision)" );
if( s_dims < 2 || s_dims > 4 || d_dims < 2 || d_dims > 4 )
CV_ERROR( CV_StsOutOfRange,
"Both input and output point dimensionality "
"must be 2, 3 or 4" );
if( s_dims < d_dims - 1 || s_dims > d_dims + 1 )
CV_ERROR( CV_StsUnmatchedSizes,
"The dimensionalities of input and output "
"point sets differ too much" );
if( s_dims == d_dims - 1 )
{
if( d_count == dst->rows )
{
ones = cvGetSubRect( dst, &_ones, cvRect( s_dims, 0, 1, d_count ));
dst = cvGetSubRect( dst, &_dst, cvRect( 0, 0, s_dims, d_count ));
}
else
{
ones = cvGetSubRect( dst, &_ones, cvRect( 0, s_dims, d_count, 1 ));
dst = cvGetSubRect( dst, &_dst, cvRect( 0, 0, d_count, s_dims ));
}
}
if( s_dims <= d_dims )
{
if( src->rows == dst->rows && src->cols == dst->cols )
{
if( CV_ARE_TYPES_EQ( src, dst ) )
cvCopy( src, dst );
else
cvConvert( src, dst );
}
else
{
if( !CV_ARE_TYPES_EQ( src, dst ))
{
CV_CALL( temp = cvCreateMat( src->rows, src->cols, dst->type ));
cvConvert( src, temp );
src = temp;
}
cvTranspose( src, dst );
}
if( ones )
cvSet( ones, cvRealScalar(1.) );
}
else
{
int s_plane_stride, s_stride, d_plane_stride, d_stride, elem_size;
if( !CV_ARE_TYPES_EQ( src, dst ))
{
CV_CALL( temp = cvCreateMat( src->rows, src->cols, dst->type ));
cvConvert( src, temp );
src = temp;
}
elem_size = CV_ELEM_SIZE(src->type);
if( s_count == src->cols )
s_plane_stride = src->step / elem_size, s_stride = 1;
else
s_stride = src->step / elem_size, s_plane_stride = 1;
if( d_count == dst->cols )
d_plane_stride = dst->step / elem_size, d_stride = 1;
else
d_stride = dst->step / elem_size, d_plane_stride = 1;
CV_CALL( denom = cvCreateMat( 1, d_count, dst->type ));
if( CV_MAT_DEPTH(dst->type) == CV_32F )
{
const float* xs = src->data.fl;
const float* ys = xs + s_plane_stride;
const float* zs = 0;
const float* ws = xs + (s_dims - 1)*s_plane_stride;
float* iw = denom->data.fl;
float* xd = dst->data.fl;
float* yd = xd + d_plane_stride;
float* zd = 0;
if( d_dims == 3 )
{
zs = ys + s_plane_stride;
zd = yd + d_plane_stride;
}
for( i = 0; i < d_count; i++, ws += s_stride )
{
float t = *ws;
iw[i] = t ? t : 1.f;
}
cvDiv( 0, denom, denom );
if( d_dims == 3 )
for( i = 0; i < d_count; i++ )
{
float w = iw[i];
float x = *xs * w, y = *ys * w, z = *zs * w;
xs += s_stride; ys += s_stride; zs += s_stride;
*xd = x; *yd = y; *zd = z;
xd += d_stride; yd += d_stride; zd += d_stride;
}
else
for( i = 0; i < d_count; i++ )
{
float w = iw[i];
float x = *xs * w, y = *ys * w;
xs += s_stride; ys += s_stride;
*xd = x; *yd = y;
xd += d_stride; yd += d_stride;
}
}
else
{
const double* xs = src->data.db;
const double* ys = xs + s_plane_stride;
const double* zs = 0;
const double* ws = xs + (s_dims - 1)*s_plane_stride;
double* iw = denom->data.db;
double* xd = dst->data.db;
double* yd = xd + d_plane_stride;
double* zd = 0;
if( d_dims == 3 )
{
zs = ys + s_plane_stride;
zd = yd + d_plane_stride;
}
for( i = 0; i < d_count; i++, ws += s_stride )
{
double t = *ws;
iw[i] = t ? t : 1.;
}
cvDiv( 0, denom, denom );
if( d_dims == 3 )
for( i = 0; i < d_count; i++ )
{
double w = iw[i];
double x = *xs * w, y = *ys * w, z = *zs * w;
xs += s_stride; ys += s_stride; zs += s_stride;
*xd = x; *yd = y; *zd = z;
xd += d_stride; yd += d_stride; zd += d_stride;
}
else
for( i = 0; i < d_count; i++ )
{
double w = iw[i];
double x = *xs * w, y = *ys * w;
xs += s_stride; ys += s_stride;
*xd = x; *yd = y;
xd += d_stride; yd += d_stride;
}
}
}
__END__;
cvReleaseMat( &denom );
cvReleaseMat( &temp );
}
inline
size_t HostMem::elemSize() const
{
return CV_ELEM_SIZE(flags);
}
CV_IMPL void
cvFitLine( const CvArr* array, int dist, double param,
double reps, double aeps, float *line )
{
cv::AutoBuffer<schar> buffer;
schar* points = 0;
union { CvContour contour; CvSeq seq; } header;
CvSeqBlock block;
CvSeq* ptseq = (CvSeq*)array;
int type;
if( !line )
CV_Error( CV_StsNullPtr, "NULL pointer to line parameters" );
if( CV_IS_SEQ(ptseq) )
{
type = CV_SEQ_ELTYPE(ptseq);
if( ptseq->total == 0 )
CV_Error( CV_StsBadSize, "The sequence has no points" );
if( (type!=CV_32FC2 && type!=CV_32FC3 && type!=CV_32SC2 && type!=CV_32SC3) ||
CV_ELEM_SIZE(type) != ptseq->elem_size )
CV_Error( CV_StsUnsupportedFormat,
"Input sequence must consist of 2d points or 3d points" );
}
else
{
CvMat* mat = (CvMat*)array;
type = CV_MAT_TYPE(mat->type);
if( !CV_IS_MAT(mat))
CV_Error( CV_StsBadArg, "Input array is not a sequence nor matrix" );
if( !CV_IS_MAT_CONT(mat->type) ||
(type!=CV_32FC2 && type!=CV_32FC3 && type!=CV_32SC2 && type!=CV_32SC3) ||
(mat->width != 1 && mat->height != 1))
CV_Error( CV_StsBadArg,
"Input array must be 1d continuous array of 2d or 3d points" );
ptseq = cvMakeSeqHeaderForArray(
CV_SEQ_KIND_GENERIC|type, sizeof(CvContour), CV_ELEM_SIZE(type), mat->data.ptr,
mat->width + mat->height - 1, &header.seq, &block );
}
if( reps < 0 || aeps < 0 )
CV_Error( CV_StsOutOfRange, "Both reps and aeps must be non-negative" );
if( CV_MAT_DEPTH(type) == CV_32F && ptseq->first->next == ptseq->first )
{
/* no need to copy data in this case */
points = ptseq->first->data;
}
else
{
buffer.allocate(ptseq->total*CV_ELEM_SIZE(type));
points = buffer;
cvCvtSeqToArray( ptseq, points, CV_WHOLE_SEQ );
if( CV_MAT_DEPTH(type) != CV_32F )
{
int i, total = ptseq->total*CV_MAT_CN(type);
assert( CV_MAT_DEPTH(type) == CV_32S );
for( i = 0; i < total; i++ )
((float*)points)[i] = (float)((int*)points)[i];
}
}
if( dist == CV_DIST_USER )
CV_Error( CV_StsBadArg, "User-defined distance is not allowed" );
if( CV_MAT_CN(type) == 2 )
{
IPPI_CALL( icvFitLine2D( (CvPoint2D32f*)points, ptseq->total,
dist, (float)param, (float)reps, (float)aeps, line ));
}
else
{
IPPI_CALL( icvFitLine3D( (CvPoint3D32f*)points, ptseq->total,
dist, (float)param, (float)reps, (float)aeps, line ));
}
}