void globalMatting(cv::InputArray _image, cv::InputArray _trimap, cv::OutputArray _foreground, cv::OutputArray _alpha, cv::OutputArray _conf)
{
cv::Mat image = _image.getMat();
cv::Mat trimap = _trimap.getMat();
if (image.empty())
CV_Error(CV_StsBadArg, "image is empty");
if (image.type() != CV_8UC3)
CV_Error(CV_StsBadArg, "image mush have CV_8UC3 type");
if (trimap.empty())
CV_Error(CV_StsBadArg, "trimap is empty");
if (trimap.type() != CV_8UC1)
CV_Error(CV_StsBadArg, "trimap mush have CV_8UC1 type");
if (image.size() != trimap.size())
CV_Error(CV_StsBadArg, "image and trimap mush have same size");
cv::Mat &foreground = _foreground.getMatRef();
cv::Mat &alpha = _alpha.getMatRef();
cv::Mat tempConf;
globalMattingHelper(image, trimap, foreground, alpha, tempConf);
if(_conf.needed())
tempConf.copyTo(_conf);
}
double
Camera::reprojectionError(const std::vector< std::vector<cv::Point3f> >& objectPoints,
const std::vector< std::vector<cv::Point2f> >& imagePoints,
const std::vector<cv::Mat>& rvecs,
const std::vector<cv::Mat>& tvecs,
cv::OutputArray _perViewErrors) const
{
int imageCount = objectPoints.size();
size_t pointsSoFar = 0;
double totalErr = 0.0;
bool computePerViewErrors = _perViewErrors.needed();
cv::Mat perViewErrors;
if (computePerViewErrors)
{
_perViewErrors.create(imageCount, 1, CV_64F);
perViewErrors = _perViewErrors.getMat();
}
for (int i = 0; i < imageCount; ++i)
{
size_t pointCount = imagePoints.at(i).size();
pointsSoFar += pointCount;
std::vector<cv::Point2f> estImagePoints;
projectPoints(objectPoints.at(i), rvecs.at(i), tvecs.at(i),
estImagePoints);
double err = 0.0;
for (size_t j = 0; j < imagePoints.at(i).size(); ++j)
{
err += cv::norm(imagePoints.at(i).at(j) - estImagePoints.at(j));
}
if (computePerViewErrors)
{
perViewErrors.at<double>(i) = err / pointCount;
}
totalErr += err;
}
return totalErr / pointsSoFar;
}
arma::fvec
HsvExtractor::extract(const cv::Mat& image, bool normalize, cv::OutputArray& qimage) const {
cv::Mat hsv = toHsv(image);
cv::Mat quantized = quantize(hsv, hsvlevels);
if (medfilt) {
quantized = medfilt2(quantized);
}
BOOST_ASSERT(quantized.size() == image.size());
if (qimage.needed()) {
cv::Mat render = toBgr(quantized, hsvlevels);
render.copyTo(qimage);
}
return computeHistogram<float>(quantized, levels, normalize);
}
void findPose1pt(cv::InputArray _points1, cv::InputArray _points2,
double focal, cv::Point2d pp,
cv::OutputArray _rvec, cv::OutputArray _tvec,
int method, double prob, double threshold, cv::OutputArray _mask)
{
cv::Mat points1, points2;
_points1.getMat().copyTo(points1);
_points2.getMat().copyTo(points2);
int npoints = points1.checkVector(2);
CV_Assert( npoints >= 1 && points2.checkVector(2) == npoints &&
points1.type() == points2.type());
if (points1.channels() > 1)
{
points1 = points1.reshape(1, npoints);
points2 = points2.reshape(1, npoints);
}
points1.convertTo(points1, CV_64F);
points2.convertTo(points2, CV_64F);
points1.col(0) = (points1.col(0) - pp.x) / focal;
points2.col(0) = (points2.col(0) - pp.x) / focal;
points1.col(1) = (points1.col(1) - pp.y) / focal;
points2.col(1) = (points2.col(1) - pp.y) / focal;
// Reshape data to fit opencv ransac function
points1 = points1.reshape(2, 1);
points2 = points2.reshape(2, 1);
CvOnePointEstimator estimator;
cv::Mat theta(1, 1, CV_64F);
CvMat p1 = points1;
CvMat p2 = points2;
CvMat _theta = theta;
CvMat* tempMask = cvCreateMat(1, npoints, CV_8U);
assert(npoints >= 1);
threshold /= focal;
if (method == CV_RANSAC)
{
estimator.runRANSAC(&p1, &p2, &_theta, tempMask, threshold, prob);
}
else
{
estimator.runLMeDS(&p1, &p2, &_theta, tempMask, prob);
}
if (_mask.needed())
{
_mask.create(1, npoints, CV_8U, -1, true);
cv::Mat mask = _mask.getMat();
cv::Mat(tempMask).copyTo(mask);
}
_rvec.create(3, 2, CV_64F, -1, true);
_tvec.create(3, 2, CV_64F, -1, true);
double t = theta.at<double>(0);
cv::Mat rvec = (cv::Mat_<double>(3, 2) << 0, 0,
-t, -t,
0, 0);
cv::Mat tvec = (cv::Mat_<double>(3, 2) << -sin(t / 2.0), sin(t / 2.0),
0, 0,
cos(t / 2.0), -cos(t / 2.0));
rvec.copyTo(_rvec.getMat());
tvec.copyTo(_tvec.getMat());
}