Ejemplo n.º 1
0
void convertFalseColor(const cv::Mat& srcmat, cv::Mat& dstmat, palette::palettetypes paltype){

	palette pal = GetPalette(paltype);

	dstmat.create(srcmat.rows, srcmat.cols, CV_8UC3);


	cv::Size sz = srcmat.size();
	const uchar* src = srcmat.data;
	uchar* dst = dstmat.data;

	if( srcmat.isContinuous() && dstmat.isContinuous() )
	{
		sz.width *= sz.height;
		sz.height = 1;
	}

	for(int i = 0;i<sz.width;++i){
		for(int j = 0;j<sz.height;++j){
			int idx = j*sz.width + i;
			uint8_t val = src[idx];
			dst[idx*dstmat.channels() + 0] = pal.colors[val].rgbBlue;
			dst[idx*dstmat.channels() + 1] = pal.colors[val].rgbGreen;
			dst[idx*dstmat.channels() + 2] = pal.colors[val].rgbRed;
		}
	}

}
Ejemplo n.º 2
0
void Binalize(const cv::Mat& depth_image, const cv::Mat& uv_map, cv::Mat1b& binary_image, short depth_threshold_mm) {

	assert(depth_image.size() == uv_map.size());
	assert(depth_image.type() == CV_16SC1);
	assert(uv_map.type() == CV_32FC2);

	cv::Size binary_size = binary_image.size();
	//Clear all pixels of binary_image
	binary_image = 0;

	cv::Size loop_size = depth_image.size();
	if(depth_image.isContinuous() && uv_map.isContinuous()) {
		loop_size.width *= loop_size.height;
		loop_size.height = 1;
	}
	for(int i = 0; i < loop_size.height; ++i) {
		const short* depth = depth_image.ptr<short>(i);
		const cv::Vec2f* uv = uv_map.ptr<cv::Vec2f>(i);
		for(int j = 0; j < loop_size.width; ++j) {
			if(depth[j] < depth_threshold_mm) {
				int x = cvRound(uv[j][0] * binary_size.width);
				int y = cvRound(uv[j][1] * binary_size.height);
				if(0 <= x && x < binary_size.width && 0 <= y && y < binary_size.height) {
					binary_image.at<unsigned char>(cv::Point(x, y)) = 255;
				}
			}
		}
	}
}
Ejemplo n.º 3
0
    void fhogToCol(const cv::Mat& img, cv::Mat& cvFeatures,
                   int binSize, int colIdx, PRIMITIVE_TYPE cosFactor) {
        const int orientations = 9;
        // ensure array is continuous
        const cv::Mat& image = (img.isContinuous() ? img : img.clone());
        int channels = image.channels();
        int computeChannels = 32;
        int width = image.cols;
        int height = image.rows;
        int widthBin = width / binSize;
        int heightBin = height / binSize;

        CV_Assert(channels == 1 || channels == 3);
        CV_Assert(cvFeatures.channels() == 1 && cvFeatures.isContinuous());

        float* const H = (float*)wrCalloc(static_cast<size_t>(widthBin * heightBin * computeChannels), sizeof(float));
        float* const I = (float*)wrCalloc(static_cast<size_t>(width * height * channels), sizeof(float));
        float* const M = (float*)wrCalloc(static_cast<size_t>(width * height), sizeof(float));
        float* const O = (float*)wrCalloc(static_cast<size_t>(width * height), sizeof(float));

        // row major (interleaved) to col major (non-interleaved;clustered;block)
        float* imageData = reinterpret_cast<float*>(image.data);

        float* const redChannel = I;
        float* const greenChannel = I + width * height;
        float* const blueChannel = I + 2 * width * height;
        int colMajorPos = 0, rowMajorPos = 0;

        for (int row = 0; row < height; ++row) {
            for (int col = 0; col < width; ++col) {
                colMajorPos = col * height + row;
                rowMajorPos = row * channels * width + col * channels;

                blueChannel[colMajorPos] = imageData[rowMajorPos];
                greenChannel[colMajorPos] = imageData[rowMajorPos + 1];
                redChannel[colMajorPos] = imageData[rowMajorPos + 2];
            }
        }

        // calc fhog in col major
        gradMag(I, M, O, height, width, channels, true);
        fhog(M, O, H, height, width, binSize, orientations, -1, 0.2f);

        // the order of rows in cvFeatures does not matter
        // as long as it is the same for all columns;
        // zero channel is not copied as it is the last
        // channel in H and cvFeatures rows doesn't include it
        PRIMITIVE_TYPE* cdata = reinterpret_cast<PRIMITIVE_TYPE*>(cvFeatures.data);
        int outputWidth = cvFeatures.cols;

        for (int row = 0; row < cvFeatures.rows; ++row)
        { cdata[outputWidth * row + colIdx] = H[row] * cosFactor; }

        wrFree(H);
        wrFree(M);
        wrFree(O);
        wrFree(I);
    }
Ejemplo n.º 4
0
    void fhogToCvColT(const cv::Mat& img, cv::Mat& cvFeatures,
                      int binSize, int colIdx, PRIMITIVE_TYPE cosFactor) {
        const int orientations = 9;
        // ensure array is continuous
        const cv::Mat& image = (img.isContinuous() ? img : img.clone());
        int channels = image.channels();
        int computeChannels = 32;
        int width = image.cols;
        int height = image.rows;
        int widthBin = width / binSize;
        int heightBin = height / binSize;

        CV_Assert(channels == 1 || channels == 3);
        CV_Assert(cvFeatures.channels() == 1 && cvFeatures.isContinuous());

        float* const H = (float*)wrCalloc(static_cast<size_t>(widthBin * heightBin * computeChannels), sizeof(float));
        float* const M = (float*)wrCalloc(static_cast<size_t>(width * height), sizeof(float));
        float* const O = (float*)wrCalloc(static_cast<size_t>(width * height), sizeof(float));

        float* I = NULL;

        if (channels == 1)
        { I = reinterpret_cast<float*>(image.data); }
        else {
            I = (float*)wrCalloc(static_cast<size_t>(width * height * channels), sizeof(float));
            float* imageData = reinterpret_cast<float*>(image.data);
            float* redChannel = I;
            float* greenChannel = I + width * height;
            float* blueChannel = I + 2 * width * height;

            for (int i = 0; i < height * width; ++i) {
                blueChannel[i] = imageData[i * 3];
                greenChannel[i] = imageData[i * 3 + 1];
                redChannel[i] = imageData[i * 3 + 2];
            }
        }

        // calc fhog in col major - switch width and height
        gradMag(I, M, O, width, height, channels, true);
        fhog(M, O, H, width, height, binSize, orientations, -1, 0.2f);

        // the order of rows in cvFeatures does not matter
        // as long as it is the same for all columns;
        // zero channel is not copied as it is the last
        // channel in H and cvFeatures rows doesn't include it
        PRIMITIVE_TYPE* cdata = reinterpret_cast<PRIMITIVE_TYPE*>(cvFeatures.data);
        int outputWidth = cvFeatures.cols;

        for (int row = 0; row < cvFeatures.rows; ++row)
        { cdata[outputWidth * row + colIdx] = H[row] * cosFactor; }

        wrFree(H);
        wrFree(M);
        wrFree(O);

        if (channels != 1)
        { wrFree(I); }
    }
Ejemplo n.º 5
0
void fhog(const cv::Mat& image, vector<Mat>& fhogs, int binSize,
          int orientations) {
    assert(image.type() == CV_32F || image.type() == CV_32FC3);
    assert(image.isContinuous());
    float *M = new float[image.rows * image.cols];
    float *O = new float[image.rows * image.cols];

    int hb       = image.rows / binSize;
    int wb       = image.cols / binSize;
    int nChannls = orientations * 3 + 5;

    float *H = new float[hb * wb * nChannls];
    fill_n(H, hb * wb * nChannls, 0);
    gradientMagnitude(image, M, O);

    fhog(M, O, H, image.rows, image.cols, binSize, orientations, -1, 0.2f);

    for (size_t i = 0; i < nChannls; i++) {
        Mat tmp(Size(wb, hb), CV_32FC1);
        Matlab2OpenCVC1(H + ( i * (wb * hb)), tmp);
        fhogs.push_back(tmp);
    }

    delete[] H;
    delete[] M;
    delete[] O;
}
Ejemplo n.º 6
0
void save(Archive &ar, const cv::Mat &mat)
{
    int rows, cols, type;
    bool continuous;
    rows = mat.rows;
    cols = mat.cols;
    type = mat.type();
    continuous = mat.isContinuous();
    ar &rows &cols &type &continuous;

    if (continuous)
    {
        const int data_size = rows * cols * static_cast<int>(mat.elemSize());
        auto mat_data = cereal::binary_data(mat.ptr(), data_size);
        ar &mat_data;
    }

    else
    {
        const int row_size = cols * static_cast<int>(mat.elemSize());

        for (int i = 0; i < rows; i++)
        {
            auto row_data = cereal::binary_data(mat.ptr(i), row_size);
            ar &row_data;
        }
    }
}
    // Save a matrix which is generated by OpenCV
    int saveMat( const string& filename, const cv::Mat& M)
    {
        if (M.empty())
        {
            return 0;
        }
        ofstream out(filename.c_str(), ios::out|ios::binary);
        if (!out)
            return 0;

        int cols = M.cols;
        int rows = M.rows;
        int chan = M.channels();
        int eSiz = (M.dataend-M.datastart)/(cols*rows*chan);

        // Write header
        out.write((char*)&cols,sizeof(cols));
        out.write((char*)&rows,sizeof(rows));
        out.write((char*)&chan,sizeof(chan));
        out.write((char*)&eSiz,sizeof(eSiz));

        // Write data.
        if (M.isContinuous())
        {
            out.write((char *)M.data,cols*rows*chan*eSiz);
        }
        else
        {
            return 0;
        }
        out.close();
        return 1;
    }
Ejemplo n.º 8
0
// Read one cv::Mat from file
bool read_one(FILE * file, cv::Mat & data)
{
	bool okay = true;
	int32_t rows, cols; uint32_t type;
	okay &= read_one(file, rows);
	okay &= read_one(file, cols);
	okay &= read_one(file, type);
	if (rows <= 0 || cols <= 0 || (type & ~CV_MAT_TYPE_MASK) != 0)
		return false;
	data.create(rows, cols, type);

	// If matrix memory is continuous, we can reshape the matrix
	if (data.isContinuous()) {
		cols = rows*cols;
		rows = 1;
	}

	// Currently only supports float/double matrices!
	if (data.depth() == CV_32F)
		for (int r = 0; r < rows; ++r)
			okay &= read_n(file, data.ptr<float>(r), cols);
	else if (data.depth() == CV_64F)
		for (int r = 0; r < rows; ++r)
			okay &= read_n(file, data.ptr<double>(r), cols);
	else
		return false;

	return okay;
}
Ejemplo n.º 9
0
// using .ptr and * ++ and bitwise (continuous+channels)
void colorReduce7(cv::Mat &image, int div=64) {

	  int nl= image.rows; // number of lines
	  int nc= image.cols ; // number of columns

	  if (image.isContinuous())  {
		  // then no padded pixels
		  nc= nc*nl; 
		  nl= 1;  // it is now a 1D array
	   }

	  int n= static_cast<int>(log(static_cast<double>(div))/log(2.0));
	  // mask used to round the pixel value
	  uchar mask= 0xFF<<n; // e.g. for div=16, mask= 0xF0
              
      for (int j=0; j<nl; j++) {

		  uchar* data= image.ptr<uchar>(j);

          for (int i=0; i<nc; i++) {
 
            // process each pixel ---------------------
                 
            *data++= *data&mask + div/2;
            *data++= *data&mask + div/2;
            *data++= *data&mask + div/2;
 
            // end of pixel processing ----------------
 
            } // end of line                   
      }
}
Ejemplo n.º 10
0
 //
 // showPropertiesOfMat
 //
 //   ...displays all properties of specified Mat.
 //
 void showPropertiesOfMat (const cv::Mat &src_mat)
 {
   // 行数
   std::cout << "rows:" << src_mat.rows <<std::endl;
   // 列数
   std::cout << "cols:" << src_mat.cols << std::endl;
   // 次元数
   std::cout << "dims:" << src_mat.dims << std::endl;
   // サイズ(2次元の場合)
   std::cout << "size[]:" << src_mat.size().width << "," << src_mat.size().height  << "[byte]" << std::endl;
   // ビット深度ID
   std::cout << "depth (ID):" << src_mat.depth() << "(=" << CV_64F << ")" << std::endl;
   // チャンネル数
   std::cout << "channels:" << src_mat.channels() << std::endl;
   // 1要素内の1チャンネル分のサイズ [バイト単位]
   std::cout << "elemSize1 (elemSize/channels):" << src_mat.elemSize1() << "[byte]" << std::endl;
   // 要素の総数
   std::cout << "total:" << src_mat.total() << std::endl;
   // ステップ数 [バイト単位]
   std::cout << "step:" << src_mat.step << "[byte]" << std::endl;
   // 1ステップ内のチャンネル総数
   std::cout << "step1 (step/elemSize1):" << src_mat.step1()  << std::endl;
   // データは連続か?
   std::cout << "isContinuous:" << (src_mat.isContinuous()?"true":"false") << std::endl;
   // 部分行列か?
   std::cout << "isSubmatrix:" << (src_mat.isSubmatrix()?"true":"false") << std::endl;
   // データは空か?
   std::cout << "empty:" << (src_mat.empty()?"true":"false") << std::endl;
 }
Ejemplo n.º 11
0
Archivo: LBSP.cpp Proyecto: caomw/litiv
static inline void lbsp_computeImpl(const cv::Mat& oInputImg, const cv::Mat& oRefImg, const std::vector<cv::KeyPoint>& voKeyPoints,
                                    cv::Mat& oDesc, bool bSingleColumnDesc, size_t nThreshold) {
    static_assert(LBSP::DESC_SIZE==2,"bad assumptions in impl below");
    CV_DbgAssert(oRefImg.empty() || (oRefImg.size==oInputImg.size && oRefImg.type()==oInputImg.type()));
    CV_DbgAssert(oInputImg.type()==CV_8UC1 || oInputImg.type()==CV_8UC3);
    const size_t nChannels = (size_t)oInputImg.channels();
    const cv::Mat& oRefMat = oRefImg.empty()?oInputImg:oRefImg;
    CV_DbgAssert(oInputImg.isContinuous() && oRefMat.isContinuous());
    const size_t nKeyPoints = voKeyPoints.size();
    if(nChannels==1) {
        if(bSingleColumnDesc)
            oDesc.create((int)nKeyPoints,1,CV_16UC1);
        else
            oDesc.create(oInputImg.size(),CV_16UC1);
        for(size_t k=0; k<nKeyPoints; ++k) {
            const int x = (int)voKeyPoints[k].pt.x;
            const int y = (int)voKeyPoints[k].pt.y;
            LBSP::computeDescriptor<1>(oInputImg,oRefMat.at<uchar>(y,x),x,y,0,nThreshold,oDesc.at<ushort>((int)k));
        }
        return;
    }
    else { //nChannels==3
        if(bSingleColumnDesc)
            oDesc.create((int)nKeyPoints,1,CV_16UC3);
        else
            oDesc.create(oInputImg.size(),CV_16UC3);
        const std::array<size_t,3> anThreshold = {nThreshold,nThreshold,nThreshold};
        for(size_t k=0; k<nKeyPoints; ++k) {
            const int x = (int)voKeyPoints[k].pt.x;
            const int y = (int)voKeyPoints[k].pt.y;
            const uchar* acRef = oRefMat.data+oInputImg.step.p[0]*y+oInputImg.step.p[1]*x;
            LBSP::computeDescriptor(oInputImg,acRef,x,y,anThreshold,((ushort*)(oDesc.data+oDesc.step.p[0]*k)));
        }
    }
}
Ejemplo n.º 12
0
void cv::write(const std::string& sFilePath, const cv::Mat& _oData, cv::MatArchiveList eArchiveType) {
    lvAssert_(!sFilePath.empty() && !_oData.empty(),"output file path and matrix must both be non-empty");
    cv::Mat oData = _oData.isContinuous()?_oData:_oData.clone();
    if(eArchiveType==MatArchive_FILESTORAGE) {
        cv::FileStorage oArchive(sFilePath,cv::FileStorage::WRITE);
        lvAssert__(oArchive.isOpened(),"could not open archive at '%s' for writing",sFilePath.c_str());
        oArchive << "htag" << lv::getVersionStamp();
        oArchive << "date" << lv::getTimeStamp();
        oArchive << "matrix" << oData;
    }
    else if(eArchiveType==MatArchive_PLAINTEXT) {
        std::ofstream ssStr(sFilePath);
        lvAssert__(ssStr.is_open(),"could not open text file at '%s' for writing",sFilePath.c_str());
        ssStr << "htag " << lv::getVersionStamp() << std::endl;
        ssStr << "date " << lv::getTimeStamp() << std::endl;
        ssStr << "nDataType " << (int32_t)oData.type() << std::endl;
        ssStr << "nDataDepth " << (int32_t)oData.depth() << std::endl;
        ssStr << "nChannels " << (int32_t)oData.channels() << std::endl;
        ssStr << "nElemSize " << (uint64_t)oData.elemSize() << std::endl;
        ssStr << "nElemCount " << (uint64_t)oData.total() << std::endl;
        ssStr << "nDims " << (int32_t)oData.dims << std::endl;
        ssStr << "anSizes";
        for(int nDimIdx=0; nDimIdx<oData.dims; ++nDimIdx)
            ssStr << " " << (int32_t)oData.size[nDimIdx];
        ssStr << std::endl << std::endl;
        if(oData.depth()!=CV_64F)
            _oData.convertTo(oData,CV_64F);
        double* pdData = (double*)oData.data;
        for(int nElemIdx=0; nElemIdx<(int)oData.total(); ++nElemIdx) {
            ssStr << *pdData++;
            for(int nElemPackIdx=1; nElemPackIdx<oData.channels(); ++nElemPackIdx)
                ssStr << " " << *pdData++;
            if(((nElemIdx+1)%oData.size[oData.dims-1])==0)
                ssStr << std::endl;
            else
                ssStr << " ";
        }
        lvAssert_(ssStr,"plain text archive write failed");
    }
    else if(eArchiveType==MatArchive_BINARY) {
        std::ofstream ssStr(sFilePath,std::ios::binary);
        lvAssert__(ssStr.is_open(),"could not open binary file at '%s' for writing",sFilePath.c_str());
        const int32_t nDataType = (int32_t)oData.type();
        ssStr.write((const char*)&nDataType,sizeof(nDataType));
        const uint64_t nElemSize = (uint64_t)oData.elemSize();
        ssStr.write((const char*)&nElemSize,sizeof(nElemSize));
        const uint64_t nElemCount = (uint64_t)oData.total();
        ssStr.write((const char*)&nElemCount,sizeof(nElemCount));
        const int32_t nDims = (int32_t)oData.dims;
        ssStr.write((const char*)&nDims,sizeof(nDims));
        for(int32_t nDimIdx=0; nDimIdx<nDims; ++nDimIdx) {
            const int32_t nDimSize = (int32_t)oData.size[nDimIdx];
            ssStr.write((const char*)&nDimSize,sizeof(nDimSize));
        }
        ssStr.write((const char*)(oData.data),nElemSize*nElemCount);
        lvAssert_(ssStr,"binary archive write failed");
    }
    else
        lvError("unrecognized mat archive type flag");
}
Ejemplo n.º 13
0
void Processor::colorReduceCheckForContinuous(const cv::Mat& image,
		cv::Mat& result, int div) {

	startTimer();
	int lines = image.rows;

	int pixels = image.cols * image.channels();

	if (image.isContinuous()) {
		pixels = pixels * lines;
		lines = 1;
		std::cout << "Image is continuous" << std::endl;
	} else {
		std::cout << "Image is not continuous" << std::endl;
	}

	result.create(image.rows, image.cols, image.type());

	for (int i = 0; i < lines; i++) {
		const uchar* data_in = image.ptr<uchar>(i);
		uchar* data_out = result.ptr<uchar>(i);

		for (int j = 0; j < pixels; j++)
			*data_out++ = *data_in++ / div * div + div / 2;
	}

	stopTimer("ColorReduceCheckForContinous");

}
void merge(cv::Mat &in1, cv::Mat &in2,cv::Mat &out)
{
    int nLines = in1.rows;
    int nc = in1.cols * in1.channels();
    if(in1.isContinuous())
    {
        nc = nc*nLines;
        nLines = 1;
    }
    for(int j=0;j<nLines;j++)
    {
        uchar* dataIN1 = in1.ptr<uchar>(j); //fajne :)
        uchar* dataIN2 = in2.ptr<uchar>(j);
        uchar* dataOUT = out.ptr<uchar>(j);
        for(int i=0;i<nc; i++)
        {
            if(dataIN2[i] == 0)
            {
                dataOUT[i] = dataIN1[i];
            }
            else
            {
                dataOUT[i] = dataIN2[i];
            }

        }
    }
}
Ejemplo n.º 15
0
void TreeLiveProc::process (const cv::Mat& dmap,
                            cv::Mat&       lmap )
{
	if( dmap.depth()       != CV_16U ) TLIVEEXCEPT("depth has incorrect channel type")
	if( dmap.channels()    != 1 )      TLIVEEXCEPT("depth has incorrect channel count")
	if( dmap.size().width  != 640 )    TLIVEEXCEPT("depth has incorrect width")
	if( dmap.size().height != 480 )    TLIVEEXCEPT("depth has incorrect height")
	if( !dmap.isContinuous() )         TLIVEEXCEPT("depth has non contiguous rows")

	// alloc the buffer if it isn't done yet
	lmap.create( 480, 640, CV_8UC(1) );
	
	// copy depth to cuda
	cudaMemcpy(m_dmap_device, (const void*) dmap.data, 
	                          640*480*sizeof(uint16_t), cudaMemcpyHostToDevice);
	// process the dmap
	CUDA_runTree( 640,480, focal, 
	              m_tree->treeHeight(), 
	              m_tree->numNodes(), 
	              m_tree->nodes_device(), 
	              m_tree->leaves_device(),
	              m_dmap_device, 
	              m_lmap_device );
	// download back from cuda
	cudaMemcpy((Label*)(lmap.data), m_lmap_device,
	                             640*480*sizeof(Label), cudaMemcpyDeviceToHost);
}
Ejemplo n.º 16
0
void ImgProc::cvtAlphaToBinary(const cv::Mat &src, cv::Mat &out) const
{
    int nl= src.rows; // number of lines
    int nc= src.cols * src.channels();
    out = cv::Mat(src.rows, src.cols, CV_8UC1);

    if (src.isContinuous())
    {
        // then no padded pixels
        nc= nc*nl;
        nl= 1; // it is now a 1D array
    }

    // this loop is executed only once
    // in case of continuous images
    for (int j=0; j<nl; j++) {

        const uchar* data= src.ptr<uchar>(j);
        uchar * out_data = out.ptr<uchar>(j);

        for (int i=3; i<nc; i+=4) {
            *out_data++ = data[i] < ALPHA_THRESSHOLD ? 0 : 255;
        }

        data = NULL; delete data;
        out_data = NULL; delete out_data;
    }
}
Ejemplo n.º 17
0
ConnectedComponents::ConnectedComponents( cv::Mat &img ) 
{
  CV_Assert(img.depth() == CV_8U);  // accept only uchar images
  CV_Assert(img.channels() == 1);   // just one channel

  rows = img.rows; 
  cols = img.cols; 
  
  group_t *labels = new group_t [img.cols * img.rows];

  int nrows = img.rows;
  int ncols = img.cols;

  if (img.isContinuous())
  {
    ncols *= nrows;
    nrows = 1;
  }

  // populate label matrix
  int i, j, ct, label = 0; 
  uchar* p;
  for (i = 0; i < nrows; ++i)
  {
    group_t &q = labels[i * img.cols + j]; 
    p = img.ptr<uchar>(i);
    for (j = 0; j < ncols; ++j)
    {
      labels[i * img.cols + j].pixel = p[j];
      labels[i * img.cols + j].label = UNASSIGNED; 
      labels[i * img.cols + j].parent = NULL; 
    }
  }

}
Ejemplo n.º 18
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inline std::vector<uint8_t> format_signal(const cv::Mat& oInputImage) {
    CV_Assert(!oInputImage.empty() && oInputImage.isContinuous() && (oInputImage.type()==CV_8UC1 || oInputImage.type()==CV_8UC3));
    std::vector<uint8_t> vSignal;

	// If greyscale
	if (oInputImage.type() == CV_8UC1) {
		int nbPixel = oInputImage.rows * oInputImage.cols;
		for (int byteCounter = 0; byteCounter < nbPixel; ++byteCounter)
		{
			uint8_t currentPixel = (uint8_t)*(oInputImage.data + byteCounter * sizeof(uint8_t));
			vSignal.push_back(currentPixel);
		}
	}
	// If color
	else {
		// For B, G, R
		int nbOfColor = 3;
		int nbPixel = oInputImage.rows * oInputImage.cols * nbOfColor;

		for (int colorIndex = 0; colorIndex < nbOfColor; ++colorIndex)
		{
			for (int byteCounter = colorIndex; byteCounter < nbPixel; byteCounter+=nbOfColor)
			{
				uint8_t currentPixel = (uint8_t)*(oInputImage.data + byteCounter * sizeof(uint8_t));
				vSignal.push_back(currentPixel);
			}
		}
	}

	
	return vSignal;
}
Ejemplo n.º 19
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// Write one cv::Mat to file
bool write_one(FILE * file, const cv::Mat & data)
{
	bool okay = true;
	okay &= write_one(file, int32_t(data.rows));
	okay &= write_one(file, int32_t(data.cols));
	okay &= write_one(file, uint32_t(data.type()));

	// If matrix memory is continuous, we can reshape the matrix
	int rows = data.rows, cols = data.cols;
	if (data.isContinuous()) {
		cols = rows*cols;
		rows = 1;
	}

	// Currently only supports float/double matrices!
	assert(data.depth() == CV_32F || data.depth() == CV_64F);
	if (data.depth() == CV_32F)
		for (int r = 0; r < rows; ++r)
			okay &= write_n(file, data.ptr<float>(r), cols);
	else if (data.depth() == CV_64F)
		for (int r = 0; r < rows; ++r)
			okay &= write_n(file, data.ptr<double>(r), cols);
	else
		return false;

	return okay;
}
Ejemplo n.º 20
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 static void createRawImage(const cv::Mat &src, ppr_raw_image_type &dst)
 {
     if      (!src.isContinuous()) qFatal("PP5Context::createRawImage requires continuous data.");
     else if (src.channels() == 3) ppr_raw_image_create(&dst, src.cols, src.rows, PPR_RAW_IMAGE_BGR24);
     else if (src.channels() == 1) ppr_raw_image_create(&dst, src.cols, src.rows, PPR_RAW_IMAGE_GRAY8);
     else                          qFatal("PP5Context::createRawImage invalid channel count.");
     memcpy(dst.data, src.data, src.channels()*src.rows*src.cols);
 }
Ejemplo n.º 21
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inline void opencv_copy_image_to_mat(const image2d &image,
                                     cv::Mat &mat,
                                     command_queue &queue = system::default_queue())
{
    BOOST_ASSERT(mat.isContinuous());
    BOOST_ASSERT(image.get_context() == queue.get_context());

    queue.enqueue_read_image(image, image.origin(), image.size(), mat.data);
}
Ejemplo n.º 22
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void UndistorterPTAM::undistort(const cv::Mat& image, cv::OutputArray result) const
{
	if (!valid)
	{
		result.getMatRef() = image;
		return;
	}

	if (image.rows != in_height || image.cols != in_width)
	{
		printf("UndistorterPTAM: input image size differs from expected input size! Not undistorting.\n");
		result.getMatRef() = image;
		return;
	}

	if (in_height == out_height && in_width == out_width && inputCalibration[4] == 0)
	{
		// No transformation if neither distortion nor resize
		result.getMatRef() = image;
		return;
	}

	result.create(out_height, out_width, CV_8U);
	cv::Mat resultMat = result.getMatRef();
	assert(result.getMatRef().isContinuous());
	assert(image.isContinuous());

	uchar* data = resultMat.data;

	for(int idx = out_width*out_height-1;idx>=0;idx--)
	{
		// get interp. values
		float xx = remapX[idx];
		float yy = remapY[idx];

		if(xx<0)
			data[idx] = 0;
		else
		{
			// get integer and rational parts
			int xxi = xx;
			int yyi = yy;
			xx -= xxi;
			yy -= yyi;
			float xxyy = xx*yy;

			// get array base pointer
			const uchar* src = (uchar*)image.data + xxi + yyi * in_width;

			// interpolate (bilinear)
			data[idx] =  xxyy * src[1+in_width]
			                    + (yy-xxyy) * src[in_width]
			                    + (xx-xxyy) * src[1]
			                    + (1-xx-yy+xxyy) * src[0];
		}
	}
}
Ejemplo n.º 23
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LocalBinaryPattern::LocalBinaryPattern( const cv::Mat& img)
    : RFeatures::FeatureOperator( img.size()), _imgRct( 0, 0, img.cols, img.rows)
{
    assert( img.channels() == 1);
    assert( img.isContinuous());
    cv::Mat iimg;
    img.convertTo( iimg, CV_32F);
    cv::integral( iimg, _intImg, CV_64F);
}   // end ctor
Ejemplo n.º 24
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double getThreshVal_Otsu_8u( const cv::Mat& _src )
{
    cv::Size size = _src.size();
    if ( _src.isContinuous() )
    {
        size.width *= size.height;
        size.height = 1;
    }
    const int N = 256;
    int i, j, h[N] = {0};
    for ( i = 0; i < size.height; i++ )
    {
        const uchar* src = _src.data + _src.step*i;
        for ( j = 0; j <= size.width - 4; j += 4 )
        {
            int v0 = src[j], v1 = src[j+1];
            h[v0]++; h[v1]++;
            v0 = src[j+2]; v1 = src[j+3];
            h[v0]++; h[v1]++;
        }
        for ( ; j < size.width; j++ )
            h[src[j]]++;
    }

    double mu = 0, scale = 1./(size.width*size.height);
    for ( i = 0; i < N; i++ )
        mu += i*h[i];

    mu *= scale;
    double mu1 = 0, q1 = 0;
    double max_sigma = 0, max_val = 0;

    for ( i = 0; i < N; i++ )
    {
        double p_i, q2, mu2, sigma;

        p_i = h[i]*scale;
        mu1 *= q1;
        q1 += p_i;
        q2 = 1. - q1;

        if ( std::min(q1,q2) < FLT_EPSILON || std::max(q1,q2) > 1. - FLT_EPSILON )
            continue;

        mu1 = (mu1 + i*p_i)/q1;
        mu2 = (mu - q1*mu1)/q2;
        sigma = q1*q2*(mu1 - mu2)*(mu1 - mu2);
        if ( sigma > max_sigma )
        {
            max_sigma = sigma;
            max_val = i;
        }
    }

    return max_val;
}
Ejemplo n.º 25
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/**
*Decodes and returns the grabbed video frame.
 */
bool RaspiCam_Cv::retrieve ( cv::Mat& image ) {
    image.create ( _height,_width,CV_8UC3 );
    if ( image.isContinuous() )
        memcpy ( image.ptr<uchar> ( 0 ),_imgData.ptr,_imgData.size );
    else {
        for ( int y=0; y<_height; y++ )
            memcpy ( image.ptr<uchar> ( y ),_imgData.ptr+_width*y*3,_width*3 );

    }
}
Ejemplo n.º 26
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void convertMatToVector(cv::Mat &mat, std::vector<float> &array) {
	if (mat.isContinuous()) {
		array.assign((float*)mat.datastart, (float*)mat.dataend);
	}
	else {
		for (int i = 0; i < mat.rows; ++i) {
			array.insert(array.end(), (float*)mat.ptr<uchar>(i), (float*)mat.ptr<uchar>(i) + mat.cols);
		}
	}
}
Ejemplo n.º 27
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inline void opencv_copy_buffer_to_mat(const buffer_iterator<T> buffer,
                                      cv::Mat &mat,
                                      command_queue &queue = system::default_queue())
{
    BOOST_ASSERT(mat.isContinuous());

    ::boost::compute::copy_n(
        buffer, mat.cols * mat.rows, reinterpret_cast<T *>(mat.data), queue
    );
}
Ejemplo n.º 28
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//===========================================================================
void sum2one(cv::Mat &M)
{
  assert(M.type() == CV_64F);
  double sum = 0; int cols = M.cols, rows = M.rows;
  if(M.isContinuous()){cols *= rows;rows = 1;}
  for(int i = 0; i < rows; i++){
    const double* Mi = M.ptr<double>(i);
    for(int j = 0; j < cols; j++)sum += *Mi++;
  }
  M /= sum; return;
}
Ejemplo n.º 29
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template <typename Tp, int cn> KDTree <Tp, cn>::
KDTree(const cv::Mat &img, const int _leafNumber, const int _zeroThresh)
    : height(img.rows), width(img.cols),
      leafNumber(_leafNumber), zeroThresh(_zeroThresh)
///////////////////////////////////////////////////
{
    int imgch = img.channels();
    CV_Assert( img.isContinuous() && imgch <= cn);

    for(size_t i = 0; i < img.total(); i++)
    {
        cv::Vec<Tp, cn> v = cv::Vec<Tp, cn>::all((Tp)0);
        for (int c = 0; c < imgch; c++)
        {
            v[c] = *((Tp*)(img.data) + i*imgch + c);
        }
        data.push_back(v);
    }

    generate_seq( std::back_inserter(idx), 0, int(data.size()) );
    std::fill_n( std::back_inserter(nodes),
        int(data.size()), cv::Point2i(0, 0) );

    std::stack <int> left, right;
    left.push( 0 );
    right.push( int(idx.size()) );

    while ( !left.empty() )
    {
        int  _left = left.top();   left.pop();
        int _right = right.top(); right.pop();

        if ( _right - _left <= leafNumber)
        {
            for (int i = _left; i < _right; ++i)
                nodes[idx[i]] = cv::Point2i(_left, _right);
            continue;
        }

        int nth = _left + (_right - _left)/2;

        int dimIdx = getMaxSpreadN(_left, _right);
        KDTreeComparator comp( this, dimIdx );

        std::nth_element(/**/
            idx.begin() +  _left,
            idx.begin() +    nth,
            idx.begin() + _right, comp
                         /**/);

          left.push(_left); right.push(nth + 1);
        left.push(nth + 1);  right.push(_right);
    }
}
Ejemplo n.º 30
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cv::Mat connectedComponentsFilter(cv::Mat& curFrame, cv::Mat& img) {

    if (!img.isContinuous()) {
        throwError("Parammeter 'img' in 'connectedComponentsFilter' must be continuous");
    }

    //morphology_(img);

    maskContours.clear();

    // Отрисовать найденные области обратно в маску
    cv::Mat result(img.size(), img.type());
    result.setTo(0);

    cv::findContours(img, maskContours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
    size_t i = 0;

    while (i < maskContours.size()) {
        Contour& contour = maskContours[i];

        cv::Mat contourMat(contour, false);
        double len = cv::arcLength(contourMat, true);

        if (len * PERIM_SCALE < img.size().height + img.size().width) {
            // Отбрасываем контуры со слишком маленьким периметром.
            maskContours.erase(maskContours.begin() + i);
        } else {
            // Достаточно большие контуры аппроксимируем указанным методом.
            Contour newContour;

            // Методы аппроксимации.
            //cv::approxPolyDP(contourMat, newContour, CHAIN_APPROX_SIMPLE, true);
            cv::convexHull(contourMat, newContour, true);

            cv::Mat newContourMat(newContour, false);
            Rect boundingRect = cv::boundingRect(newContourMat);
            cv::rectangle(curFrame, boundingRect, cv::Scalar(255));

            maskContours[i] = newContour;

            i++;

            //points.push_back(CvPoint(boundingRect.x + boundingRect.width / 2, boundingRect.y + boundingRect.height / 2));
        }
    }


    if (!maskContours.empty()) { // Обходим баг OpenCV 2.1.0; в 2.3.1 он уже исправлен.
        cv::drawContours(result, maskContours, -1, cv::Scalar(255), FILLED);

    }
    return result;
}