static bool calcLut(cv::InputArray _src, cv::OutputArray _dst,
const int tilesX, const int tilesY, const cv::Size tileSize,
const int clipLimit, const float lutScale)
{
cv::ocl::Kernel k("calcLut", cv::ocl::imgproc::clahe_oclsrc);
if(k.empty())
return false;
cv::UMat src = _src.getUMat();
_dst.create(tilesX * tilesY, 256, CV_8UC1);
cv::UMat dst = _dst.getUMat();
int tile_size[2];
tile_size[0] = tileSize.width;
tile_size[1] = tileSize.height;
size_t localThreads[3] = { 32, 8, 1 };
size_t globalThreads[3] = { tilesX * localThreads[0], tilesY * localThreads[1], 1 };
int idx = 0;
idx = k.set(idx, cv::ocl::KernelArg::ReadOnlyNoSize(src));
idx = k.set(idx, cv::ocl::KernelArg::WriteOnlyNoSize(dst));
idx = k.set(idx, tile_size);
idx = k.set(idx, tilesX);
idx = k.set(idx, clipLimit);
k.set(idx, lutScale);
return k.run(2, globalThreads, localThreads, false);
}
void colorChange(cv::InputArray _src,
cv::InputArray _mask,
cv::OutputArray _dst,
float r,
float g,
float b)
{
Mat src = _src.getMat();
Mat mask = _mask.getMat();
_dst.create(src.size(), src.type());
Mat blend = _dst.getMat();
float red = r;
float green = g;
float blue = b;
Mat gray = Mat::zeros(mask.size(), CV_8UC1);
if(mask.channels() == 3)
cvtColor(mask, gray, COLOR_BGR2GRAY);
else
gray = mask;
Mat cs_mask = Mat::zeros(src.size(), CV_8UC3);
src.copyTo(cs_mask, gray);
Cloning obj;
obj.local_color_change(src, cs_mask, gray, blend, red, green, blue);
}
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);
}
void BackgroundSubtractorLOBSTER_<ParallelUtils::eGLSL>::getBackgroundDescriptorsImage(cv::OutputArray oBGDescImg) const {
lvDbgExceptionWatch;
CV_Assert(m_bInitialized);
glAssert(m_bGLInitialized && !m_vnBGModelData.empty());
CV_Assert(LBSP::DESC_SIZE==2);
oBGDescImg.create(m_oFrameSize,CV_16UC(int(m_nImgChannels)));
cv::Mat oOutputImg = oBGDescImg.getMatRef();
glBindBuffer(GL_SHADER_STORAGE_BUFFER,getSSBOId(BackgroundSubtractorLOBSTER_::eLOBSTERStorageBuffer_BGModelBinding));
glGetBufferSubData(GL_SHADER_STORAGE_BUFFER,0,m_nBGModelSize*sizeof(uint),(void*)m_vnBGModelData.data());
glErrorCheck;
for(size_t nRowIdx=0; nRowIdx<(size_t)m_oFrameSize.height; ++nRowIdx) {
const size_t nModelRowOffset = nRowIdx*m_nRowStepSize;
const size_t nImgRowOffset = nRowIdx*oOutputImg.step.p[0];
for(size_t nColIdx=0; nColIdx<(size_t)m_oFrameSize.width; ++nColIdx) {
const size_t nModelColOffset = nColIdx*m_nColStepSize+nModelRowOffset;
const size_t nImgColOffset = nColIdx*oOutputImg.step.p[1]+nImgRowOffset;
std::array<float,4> afCurrPxSum = {0.0f,0.0f,0.0f,0.0f};
for(size_t nSampleIdx=0; nSampleIdx<m_nBGSamples; ++nSampleIdx) {
const size_t nModelPxOffset_color = nSampleIdx*m_nSampleStepSize+nModelColOffset;
const size_t nModelPxOffset_desc = nModelPxOffset_color+(m_nBGSamples*m_nSampleStepSize);
for(size_t nChannelIdx=0; nChannelIdx<m_nImgChannels; ++nChannelIdx) {
const size_t nModelTotOffset = nChannelIdx+nModelPxOffset_desc;
afCurrPxSum[nChannelIdx] += m_vnBGModelData[nModelTotOffset];
}
}
for(size_t nChannelIdx=0; nChannelIdx<m_nImgChannels; ++nChannelIdx) {
const size_t nSampleChannelIdx = ((nChannelIdx==3||m_nImgChannels==1)?nChannelIdx:2-nChannelIdx);
const size_t nImgTotOffset = nSampleChannelIdx*2+nImgColOffset;
*(ushort*)(oOutputImg.data+nImgTotOffset) = (ushort)(afCurrPxSum[nChannelIdx]/m_nBGSamples);
}
}
}
}
static bool transform(cv::InputArray _src, cv::OutputArray _dst, cv::InputArray _lut,
const int tilesX, const int tilesY, const cv::Size & tileSize)
{
cv::ocl::Kernel k("transform", cv::ocl::imgproc::clahe_oclsrc);
if(k.empty())
return false;
int tile_size[2];
tile_size[0] = tileSize.width;
tile_size[1] = tileSize.height;
cv::UMat src = _src.getUMat();
_dst.create(src.size(), src.type());
cv::UMat dst = _dst.getUMat();
cv::UMat lut = _lut.getUMat();
size_t localThreads[3] = { 32, 8, 1 };
size_t globalThreads[3] = { (size_t)src.cols, (size_t)src.rows, 1 };
int idx = 0;
idx = k.set(idx, cv::ocl::KernelArg::ReadOnlyNoSize(src));
idx = k.set(idx, cv::ocl::KernelArg::WriteOnlyNoSize(dst));
idx = k.set(idx, cv::ocl::KernelArg::ReadOnlyNoSize(lut));
idx = k.set(idx, src.cols);
idx = k.set(idx, src.rows);
idx = k.set(idx, tile_size);
idx = k.set(idx, tilesX);
k.set(idx, tilesY);
return k.run(2, globalThreads, localThreads, false);
}
void stereo_disparity_normal(cv::InputArray left_image, cv::InputArray right_image, cv::OutputArray disp_,
int max_dis_level, int scale, float sigma) {
cv::Mat imL = left_image.getMat();
cv::Mat imR = right_image.getMat();
CV_Assert(imL.size() == imR.size());
CV_Assert(imL.type() == CV_8UC3 && imR.type() == CV_8UC3);
cv::Size imageSize = imL.size();
disp_.create(imageSize, CV_8U);
cv::Mat disp = disp_.getMat();
CDisparityHelper dispHelper;
//step 1: cost initialization
cv::Mat costVol = dispHelper.GetMatchingCost(imL, imR, max_dis_level);
//step 2: cost aggregation
CSegmentTree stree;
CColorWeight cWeight(imL);
stree.BuildSegmentTree(imL.size(), sigma, TAU, cWeight);
stree.Filter(costVol, max_dis_level);
//step 3: disparity computation
cv::Mat disparity = dispHelper.GetDisparity_WTA((float*)costVol.data,
imageSize.width, imageSize.height, max_dis_level);
MeanFilter(disparity, disparity, 3);
disparity *= scale;
disparity.copyTo(disp);
}
/**
* @brief Compute derivative kernels for sizes different than 3
* @param _kx Horizontal kernel ues
* @param _ky Vertical kernel values
* @param dx Derivative order in X-direction (horizontal)
* @param dy Derivative order in Y-direction (vertical)
* @param scale_ Scale factor or derivative size
*/
void compute_derivative_kernels(cv::OutputArray _kx, cv::OutputArray _ky, int dx, int dy, int scale) {
int ksize = 3 + 2 * (scale - 1);
// The standard Scharr kernel
if (scale == 1) {
getDerivKernels(_kx, _ky, dx, dy, 0, true, CV_32F);
return;
}
_kx.create(ksize, 1, CV_32F, -1, true);
_ky.create(ksize, 1, CV_32F, -1, true);
Mat kx = _kx.getMat();
Mat ky = _ky.getMat();
float w = 10.0f / 3.0f;
float norm = 1.0f / (2.0f*scale*(w + 2.0f));
for (int k = 0; k < 2; k++) {
Mat* kernel = k == 0 ? &kx : &ky;
int order = k == 0 ? dx : dy;
std::vector<float> kerI(ksize, 0.0f);
if (order == 0) {
kerI[0] = norm, kerI[ksize / 2] = w*norm, kerI[ksize - 1] = norm;
}
else if (order == 1) {
kerI[0] = -1, kerI[ksize / 2] = 0, kerI[ksize - 1] = 1;
}
Mat temp(kernel->rows, kernel->cols, CV_32F, &kerI[0]);
temp.copyTo(*kernel);
}
}
void illuminationChange(cv::InputArray _src,
cv::InputArray _mask,
cv::OutputArray _dst,
float a,
float b)
{
Mat src = _src.getMat();
Mat mask = _mask.getMat();
_dst.create(src.size(), src.type());
Mat blend = _dst.getMat();
float alpha = a;
float beta = b;
Mat gray = Mat::zeros(mask.size(), CV_8UC1);
if(mask.channels() == 3)
cvtColor(mask, gray, COLOR_BGR2GRAY);
else
gray = mask;
Mat cs_mask = Mat::zeros(src.size(), CV_8UC3);
src.copyTo(cs_mask, gray);
Cloning obj;
obj.illum_change(src, cs_mask, gray, blend, alpha, beta);
}
void EdgeDetector_<ParallelUtils::eGLSL>::getLatestEdgeMask(cv::OutputArray _oLastEdgeMask) {
_oLastEdgeMask.create(m_oFrameSize,CV_8UC1);
cv::Mat oLastEdgeMask = _oLastEdgeMask.getMat();
if(!GLImageProcAlgo::m_bFetchingOutput)
glAssert(GLImageProcAlgo::setOutputFetching(true))
GLImageProcAlgo::fetchLastOutput(oLastEdgeMask);
}
void textureFlattening(cv::InputArray _src,
cv::InputArray _mask,
cv::OutputArray _dst,
double low_threshold,
double high_threshold,
int kernel_size)
{
Mat src = _src.getMat();
Mat mask = _mask.getMat();
_dst.create(src.size(), src.type());
Mat blend = _dst.getMat();
Mat gray = Mat::zeros(mask.size(), CV_8UC1);
if(mask.channels() == 3)
cvtColor(mask, gray, COLOR_BGR2GRAY);
else
gray = mask;
Mat cs_mask = Mat::zeros(src.size(), CV_8UC3);
src.copyTo(cs_mask, gray);
Cloning obj;
obj.texture_flatten(src, cs_mask, gray, low_threshold, high_threshold, kernel_size, blend);
}
void BackgroundSubtractorMedian::operator()(cv::InputArray _image, cv::OutputArray _fgmask, double learningRate)
{
framecount++;
cv::Mat image = _image.getMat();
if (image.channels() > 1) {
cvtColor(image,image,CV_BGR2GRAY);
}
if (image.cols == 0 || image.rows == 0) {
return;
}
_fgmask.create(image.size(), CV_8U);
cv::Mat fgmask = _fgmask.getMat();
if (!init)
{
init = true;
bgmodel = cv::Mat(image.size(), CV_8U);
}
//printf("(%d,%d)(%d) ",image.cols,image.rows,image.type());
//printf("(%d,%d)(%d)\n",bgmodel.cols,bgmodel.rows,bgmodel.type());
cv::Mat cmpArr = cv::Mat(image.size(),CV_8U);
cv::compare(image, bgmodel, cmpArr, CV_CMP_GT);
cv::bitwise_and(cmpArr, 1, cmpArr);
cv::add(bgmodel, cmpArr, bgmodel);
cmpArr = cv::Mat(image.size(),CV_8U);
cv::compare(image, bgmodel, cmpArr, CV_CMP_LT);
cv::bitwise_and(cmpArr, 1, cmpArr);
cv::subtract(bgmodel, cmpArr, bgmodel);
cv::absdiff(image, bgmodel,fgmask);
cv::threshold(fgmask,fgmask,fg_threshold,255,CV_THRESH_TOZERO);
cv::medianBlur(fgmask,fgmask,median_filter_level);
}
void IBackgroundSubtractor_GLSL::getLatestForegroundMask(cv::OutputArray _oLastFGMask) {
_oLastFGMask.create(m_oImgSize,CV_8UC1);
cv::Mat oLastFGMask = _oLastFGMask.getMat();
glAssert(GLImageProcAlgo::m_bFetchingOutput || GLImageProcAlgo::setOutputFetching(true))
if(GLImageProcAlgo::m_nInternalFrameIdx>0)
GLImageProcAlgo::fetchLastOutput(oLastFGMask);
else
oLastFGMask = cv::Scalar_<uchar>(0);
}
bool OpenNI2Grabber::grabFrame(cv::OutputArray _color) {
if (_color.kind() != cv::_InputArray::MAT)
BOOST_THROW_EXCEPTION(GrabberException("Grabbing only into cv::Mat"));
_color.create(p->color_image_resolution.height, p->color_image_resolution.width, CV_8UC3);
cv::Mat color = _color.getMat();
return p->grabFrame(color);
}
void BackgroundSubtractor_<ParallelUtils::eGLSL>::getLatestForegroundMask(cv::OutputArray _oLastFGMask) {
_oLastFGMask.create(m_oImgSize,CV_8UC1);
cv::Mat oLastFGMask = _oLastFGMask.getMat();
if(!GLImageProcAlgo::m_bFetchingOutput)
glAssert(GLImageProcAlgo::setOutputFetching(true))
else if(m_nFrameIdx>0)
GLImageProcAlgo::fetchLastOutput(oLastFGMask);
else
oLastFGMask = cv::Scalar_<uchar>(0);
}
void warmify(cv::InputArray src, cv::OutputArray dst, uchar delta)
{
CV_Assert(src.type() == CV_8UC3);
Mat imgSrc = src.getMat();
CV_Assert(imgSrc.data);
dst.create(src.size(), CV_8UC3);
Mat imgDst = dst.getMat();
imgDst = imgSrc + Scalar(0, delta, delta);
}
void stereo::stereoMatching(cv::InputArray _recImage1, cv::InputArray _recIamge2, cv::OutputArray _disparityMap, int minDisparity, int numDisparities, int SADWindowSize, int P1, int P2)
{
Mat img1 = _recImage1.getMat();
Mat img2 = _recIamge2.getMat();
_disparityMap.create(img1.size(), CV_16S);
Mat dis = _disparityMap.getMat();
StereoSGBM matcher(minDisparity, numDisparities, SADWindowSize, P1, P2);
matcher(img1, img2, dis);
dis = dis / 16.0;
}
void IEdgeDetector_GLSL::getLatestEdgeMask(cv::OutputArray _oLastEdgeMask) {
lvAssert_(GLImageProcAlgo::m_bGLInitialized,"algo must be initialized first");
_oLastEdgeMask.create(GLImageProcAlgo::m_oFrameSize,CV_8UC1);
cv::Mat oLastEdgeMask = _oLastEdgeMask.getMat();
lvAssert_(GLImageProcAlgo::m_bFetchingOutput || GLImageProcAlgo::setOutputFetching(true),"algo not initialized with mat output support")
if(GLImageProcAlgo::m_nInternalFrameIdx>0)
GLImageProcAlgo::fetchLastOutput(oLastEdgeMask);
else
oLastEdgeMask = cv::Scalar_<uchar>(0);
}
static void seqToMat(const CvSeq* seq, cv::OutputArray _arr)
{
if( seq && seq->total > 0 )
{
_arr.create(1, seq->total, seq->flags, -1, true);
cv::Mat arr = _arr.getMat();
cvCvtSeqToArray(seq, arr.data);
}
else
_arr.release();
}
void StereoMatch::StereoMatching(cv::InputArray rec_image1, cv::InputArray rec_image2,
cv::OutputArray disparity_map, int min_disparity, int num_disparities, int SAD_window_size,
int P1, int P2)
{
cv::Mat img1 = rec_image1.getMat();
cv::Mat img2 = rec_image2.getMat();
disparity_map.create(img1.size(), CV_16S);
cv::Mat dis = disparity_map.getMat();
cv::StereoSGBM matcher(min_disparity, num_disparities, SAD_window_size, P1, P2);
matcher(img1, img2, dis);
dis = dis / 16.0;
}
void EdgeDetectorCanny::apply(cv::InputArray _oInputImage, cv::OutputArray _oEdgeMask) {
cv::Mat oInputImg = _oInputImage.getMat();
CV_Assert(!oInputImg.empty());
CV_Assert(oInputImg.channels()==1 || oInputImg.channels()==3 || oInputImg.channels()==4);
_oEdgeMask.create(oInputImg.size(),CV_8UC1);
cv::Mat oEdgeMask = _oEdgeMask.getMat();
oEdgeMask = cv::Scalar_<uchar>(0);
cv::Mat oTempEdgeMask = oEdgeMask.clone();
for(size_t nCurrThreshold=0; nCurrThreshold<UCHAR_MAX; ++nCurrThreshold) {
apply_threshold(oInputImg,oTempEdgeMask,double(nCurrThreshold));
oEdgeMask += oTempEdgeMask/UCHAR_MAX;
}
cv::normalize(oEdgeMask,oEdgeMask,0,UCHAR_MAX,cv::NORM_MINMAX);
}
void MixtureOfGaussianCPU::operator() (cv::InputArray in, cv::OutputArray out,
float learningRate)
{
cv::Mat frame = in.getMat();
++nframe;
float alpha = learningRate >= 0 && nframe > 1
? learningRate
: 1.0f/std::min(nframe, history);
out.create(frame.size(), CV_8U);
cv::Mat mask = out.getMat();
calc_impl(frame.data, mask.data, bgmodel.ptr<MixtureData>(), alpha);
}
void Tools::ReduceRowByMost(cv::InputArray _src, cv::OutputArray _dst, cv::InputArray _mask) {
cv::Mat src = _src.getMat();
_dst.create(1, src.cols, CV_8UC1);
cv::Mat dst = _dst.getMat();
cv::Mat mask = _mask.getMat();
if (src.depth() != CV_8U || mask.depth() != CV_8U) {
throw "TYPE DON'T SUPPORT";
}
int i, j, addr;
cv::Size size = src.size();
uchar *srcd = src.data;
uchar *dstd = dst.data;
uchar *maskd = mask.data;
std::map<uchar, int> m;
std::map<uchar, int>::iterator p;
uchar mostVal;
uchar rVal;
int r;
for (i = 0;i < size.width;++i) {
m.clear();
mostVal = 0;
for (j = 0;j < size.height;++j) {
addr = j*size.width + i;
if (!maskd[addr])
continue;
for (r = -2;r <= 2;++r) {
rVal = (uchar)(((int)srcd[addr] + r) % 180);
if (m.find(rVal) != m.end()) {
m[rVal]++;
}
else {
m[rVal] = 1;
}
}
}
if (m.size() == 0) {
dstd[i] = 0;
continue;
}
mostVal = m.begin()->first;
for (p = m.begin();p != m.end();++p) {
if (p->second > m[mostVal]) {
mostVal = p->first;
}
}
dstd[i] = mostVal;
}
}
int boostColor(cv::InputArray src, cv::OutputArray dst, float intensity)
{
const int MAX_INTENSITY = 255;
Mat srcImg = src.getMat();
CV_Assert(srcImg.channels() == 3);
CV_Assert(intensity >= 0.0f && intensity <= 1.0f);
if (srcImg.type() != CV_8UC3)
{
srcImg.convertTo(srcImg, CV_8UC3);
}
Mat srcHls;
cvtColor(srcImg, srcHls, CV_BGR2HLS);
int intensityInt = intensity * MAX_INTENSITY;
srcHls += Scalar(0, 0, intensityInt);
cvtColor(srcHls, dst, CV_HLS2BGR);
dst.getMat().convertTo(dst, srcImg.type());
return 0;
}
void RadiometricResponse::directMap(cv::InputArray _E, cv::OutputArray _I) const {
if (_E.empty()) {
_I.clear();
return;
}
auto E = _E.getMat();
_I.create(_E.size(), CV_8UC3);
auto I = _I.getMat();
#if CV_MAJOR_VERSION > 2
E.forEach<cv::Vec3f>(
[&I, this](cv::Vec3f& v, const int* p) { I.at<cv::Vec3b>(p[0], p[1]) = inverseLUT(response_channels_, v); });
#else
for (int i = 0; i < E.rows; i++)
for (int j = 0; j < E.cols; j++) I.at<cv::Vec3b>(i, j) = inverseLUT(response_channels_, E.at<cv::Vec3f>(i, j));
#endif
}
/**
* Get the average image at the given altitude.
* If the altitude is not located exactly at one of the altitude bins,
* the average image is interpolated between any overlapping bins.
* @param _dst the output image (zeros at desired resolution)
* @param alt the altitude the image was taken at
* @param pitch the pitch of the vehicle
* @param roll the roll of the vehicle
*/
void getAverage(cv::OutputArray _dst, double alt, double pitch, double roll) {
Mat dst = _dst.getMat();
int width = dst.size().width;
int height = dst.size().height;
Mat D = Mat::zeros(height, width, CV_32F);
double width_m = width * cameras.pixel_sep;
double height_m = height * cameras.pixel_sep;
interp::distance_map(D, alt, pitch, roll, width_m, height_m, cameras.focal_length);
// now discretize into slices
int i = 0;
Mat W = Mat::zeros(D.size(), CV_32F);
while(cv::countNonZero(W) == 0) {
interp::dist_weight(D, W, alt_step, i++);
}
while(cv::countNonZero(W) > 0) {
Slice<int>* slice = getSlice(i);
Mat sAverage;
// get the slice average
boost::mutex* mutex = slice->get_mutex();
{ // protect slice with mutex to prevent interleaved read/write operations
boost::lock_guard<boost::mutex> lock(*mutex);
sAverage = slice->getLightfield()->getAverage();
}
dst += sAverage.mul(W); // multiply by slice weight
interp::dist_weight(D, W, alt_step, i++);
}
}
void Camera::undistortLUT(cv::InputArray source, cv::OutputArray dest) {
cv::Mat src = source.getMat();
dest.create(src.size(), src.type());
cv::Mat dst = dest.getMat();
int stripeSize = std::min(std::max(1, (1 << 12) / std::max(camFrameWidth, 1)), camFrameHeight);
for (int y = 0; y < src.rows; y += stripeSize) {
int stripe = std::min(stripeSize, src.rows - y);
cv::Mat map1Part = map1LUT[y];
cv::Mat map2Part = map2LUT[y];
cv::Mat destPart = dst.rowRange(y, y + stripe);
cv::remap(src, destPart, map1Part, map2Part, cv::INTER_LINEAR, cv::BORDER_CONSTANT);
}
}
void FilterBase::apply(cv::InputArray _src, cv::OutputArray _dst, const int &ddepth){
int stype = _src.type();
int dcn = _src.channels();
int depth = CV_MAT_DEPTH(stype);
if (0 <= ddepth)
depth = ddepth;
Mat src, dst;
src = _src.getMat();
Size sz = src.size();
_dst.create(sz, CV_MAKETYPE(depth, dcn));
dst = _dst.getMat();
int imageWidth = src.rows;
int imageHeight = src.cols;
Mat srcChannels[3];
split(src, srcChannels);
int margineWidth = kernel.cols / 2;
int margineHeight = kernel.rows / 2;
double kernelElemCount = (double)(kernel.cols * kernel.rows);
for(int ch = 0; ch < dcn; ++ch){
for(int y = 0; y < imageHeight; ++y){
Vec3d *ptr = dst.ptr<Vec3d>(y);
for(int x = 0; x < imageWidth; ++x){
if (isEdge(x, y, imageWidth, imageHeight, margineWidth, margineWidth)){
ptr[x][ch]
= calcKernelOutputAtEdge(srcChannels[ch],
kernel, x, y,
imageWidth, imageHeight,
margineWidth, margineHeight);
}else{
ptr[x][ch]
= calcKernelOutput(srcChannels[ch],
kernel, x, y,
margineWidth, margineHeight,
kernelElemCount);
}
}
}
}
}
void stereo::stereoMatching(cv::InputArray _recImage1, cv::InputArray _recIamge2, cv::OutputArray _disparityMap, int minDisparity, int numDisparities, int SADWindowSize, int P1, int P2)
{
Mat img1 = _recImage1.getMat();
Mat img2 = _recIamge2.getMat();
_disparityMap.create(img1.size(), CV_16S);
Mat dis = _disparityMap.getMat();
// create(int minDisparity, int numDisparities, int blockSize,)
Ptr<StereoSGBM> matcher = StereoSGBM::create(minDisparity, numDisparities, SADWindowSize);
matcher->setP1(P1);
matcher->setP2(P2);
matcher->compute(img1, img2, dis);
//StereoSGBM matcher(minDisparity, numDisparities, SADWindowSize, P1, P2);
//matcher(img1, img2, dis);
dis = dis / 16.0;
}
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;
}
void Eular2Rotation(const double pitch, const double roll, const double yaw, cv::OutputArray dest)
{
dest.create(3, 3, CV_64F);
Mat a = Mat::eye(3, 3, CV_64F); a.copyTo(dest);
rotYaw(dest, dest, yaw);
rotPitch(dest, dest, pitch);
rotPitch(dest, dest, roll);
}