void cvCLAdaptEqualize(const CvArr* srcarr, CvArr* dstarr,
unsigned int xdivs, unsigned int ydivs, unsigned int bins,
float limit, int range)
{
double min_val, max_val;
unsigned char min, max;
int type;
IplImage sstub, *src = cvGetImage(srcarr, &sstub);
IplImage dstub, *dst = cvGetImage(dstarr, &dstub);
if ((src == NULL) || (dst == NULL))
CV_ERROR( CV_StsUnsupportedFormat, "NULL value passed as image to function" );
CV_CALL( type = cvGetElemType( src ));
if( type != CV_8UC1 )
CV_ERROR( CV_StsUnsupportedFormat, "Only 8uC1 images are supported" );
CV_CALL( type = cvGetElemType( src ));
if( type != CV_8UC1 )
CV_ERROR( CV_StsUnsupportedFormat, "Only 8uC1 images are supported" );
//if( !CV_ARE_SIZES_EQ( src, dst )) // Modified by Shervin Emami, 17Nov2010.
if (src->width != dst->width || src->height != dst->height)
CV_ERROR( CV_StsUnmatchedSizes, "src and dst images must be equal sizes" );
if (((xdivs < 2) || (xdivs > 16)) || ((ydivs < 2) || (ydivs > 16)))
CV_ERROR( CV_StsBadFlag, "xdivs and ydivs must in range (MIN=2 MAX = 16)" );
if ((bins < 2) || (bins > 256))
CV_ERROR( CV_StsBadFlag, "bins must in range (MIN=2 MAX = 256)" );
// copy src to dst for in-place CLAHE.
cvCopy(src, dst);
// If the dimensions of the image are not a multiple of the xdivs and ydivs, then enlarge the image to be a correct size and then shrink the image.
// Also make sure the image is aligned to 8 pixels width, so that OpenCV won't add extra padding to the image.
// Added by Shervin Emami, 17Nov2010.
int enlarged = 0;
int origW = dst->width;
int origH = dst->height;
IplImage *tmpDst = 0;
if ((dst->width & (8-1)) || (dst->height & (8-1)) || (dst->width % xdivs) || (dst->height % ydivs)) {
int newW = ((dst->width + 8-1) & -8); // Align to 8 pixels, so that widthStep hopefully equals width.
newW = ((newW + xdivs-1) & -xdivs); // Also align for CLAHE.
int newH = ((dst->height + ydivs-1) & -ydivs);
//std::cout << "w=" << dst->width << ", h=" << dst->height << ". new w = " << newW << ", h = " << newH << std::endl;
IplImage *enlargedDst = cvCreateImage(cvSize(newW, newH), dst->depth, dst->nChannels);
cvResize(dst, enlargedDst, CV_INTER_CUBIC);
//cvReleaseImage(&dst);
tmpDst = dst;
dst = enlargedDst; // Use the enlarged image instead of the original dst image.
enlarged = 1; // signal that we need to shrink later!
}
// Check if OpenCV adds padding bytes on each row. Added by Shervin Emami, 17Nov2010.
if (dst->width != dst->widthStep)
CV_ERROR( CV_StsBadFlag, "dst->widthStep should be the same as dst->width. The IplImage has padding, so use a larger image." );
// check number of xdivs and ydivs is a multiple of image dimensions
if (dst->width % xdivs)
CV_ERROR( CV_StsBadFlag, "xdiv must be an integer multiple of image width " );
if (dst->height % ydivs)
CV_ERROR( CV_StsBadFlag, "ydiv must be an integer multiple of image height " );
// get the min and max values of the image
if (range == CV_CLAHE_RANGE_INPUT) {
cvMinMaxLoc(dst, &min_val, &max_val);
min = (unsigned char) min_val;
max = (unsigned char) max_val;
} else {
min = 0;
max = 255;
}
// call CLHAHE for in-place CLAHE
//int rcode =
CLAHE((kz_pixel_t*) (dst->imageData), (unsigned int) dst->width, (unsigned int)
dst->height, (kz_pixel_t) min, (kz_pixel_t) max, (unsigned int) xdivs, (unsigned int) ydivs,
(unsigned int) bins, (float) limit);
//printf("RCODE %i\n", rcode);
// If the dst image was enlarged to fit the alignment, then shrink it back now.
// Added by Shervin Emami, 17Nov2010.
if (enlarged) {
//std::cout << "w=" << dst->width << ", h=" << dst->height << ". orig w=" << origW << ", h=" << origH << std::endl;
cvResize(dst, tmpDst, CV_INTER_CUBIC); // Shrink the enlarged image back into the original dst image.
cvReleaseImage(&dst); // Free the enlarged image.
}
}
CV_IMPL void
cvAcc( const void* arr, void* sumarr, const void* maskarr )
{
static CvFuncTable acc_tab;
static CvBigFuncTable accmask_tab;
static int inittab = 0;
CV_FUNCNAME( "cvAcc" );
__BEGIN__;
int type, sumdepth;
int mat_step, sum_step, mask_step = 0;
CvSize size;
CvMat stub, *mat = (CvMat*)arr;
CvMat sumstub, *sum = (CvMat*)sumarr;
CvMat maskstub, *mask = (CvMat*)maskarr;
if( !inittab )
{
icvInitAddTable( &acc_tab, &accmask_tab );
inittab = 1;
}
if( !CV_IS_MAT( mat ) || !CV_IS_MAT( sum ))
{
int coi1 = 0, coi2 = 0;
CV_CALL( mat = cvGetMat( mat, &stub, &coi1 ));
CV_CALL( sum = cvGetMat( sum, &sumstub, &coi2 ));
if( coi1 + coi2 != 0 )
CV_ERROR( CV_BadCOI, "" );
}
if( CV_MAT_DEPTH( sum->type ) != CV_32F )
CV_ERROR( CV_BadDepth, "" );
if( !CV_ARE_CNS_EQ( mat, sum ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
sumdepth = CV_MAT_DEPTH( sum->type );
if( sumdepth != CV_32F && (maskarr != 0 || sumdepth != CV_64F))
CV_ERROR( CV_BadDepth, "Bad accumulator type" );
if( !CV_ARE_SIZES_EQ( mat, sum ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
size = cvGetMatSize( mat );
type = CV_MAT_TYPE( mat->type );
mat_step = mat->step;
sum_step = sum->step;
if( !mask )
{
CvFunc2D_2A func=(CvFunc2D_2A)acc_tab.fn_2d[CV_MAT_DEPTH(type)];
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "Unsupported type combination" );
size.width *= CV_MAT_CN(type);
if( CV_IS_MAT_CONT( mat->type & sum->type ))
{
size.width *= size.height;
mat_step = sum_step = CV_STUB_STEP;
size.height = 1;
}
IPPI_CALL( func( mat->data.ptr, mat_step, sum->data.ptr, sum_step, size ));
}
else
{
CvFunc2D_3A func = (CvFunc2D_3A)accmask_tab.fn_2d[type];
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "" );
CV_CALL( mask = cvGetMat( mask, &maskstub ));
if( !CV_IS_MASK_ARR( mask ))
CV_ERROR( CV_StsBadMask, "" );
if( !CV_ARE_SIZES_EQ( mat, mask ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
mask_step = mask->step;
if( CV_IS_MAT_CONT( mat->type & sum->type & mask->type ))
{
size.width *= size.height;
mat_step = sum_step = mask_step = CV_STUB_STEP;
size.height = 1;
}
IPPI_CALL( func( mat->data.ptr, mat_step, mask->data.ptr, mask_step,
sum->data.ptr, sum_step, size ));
}
__END__;
}
CV_IMPL void
cvAbsDiff( const void* srcarr1, const void* srcarr2, void* dstarr )
{
static CvFuncTable adiff_tab;
static int inittab = 0;
CV_FUNCNAME( "cvAbsDiff" );
__BEGIN__;
int coi1 = 0, coi2 = 0, coi3 = 0;
CvMat srcstub1, *src1 = (CvMat*)srcarr1;
CvMat srcstub2, *src2 = (CvMat*)srcarr2;
CvMat dststub, *dst = (CvMat*)dstarr;
int src1_step, src2_step, dst_step;
CvSize size;
int type;
if( !inittab )
{
icvInitAbsDiffTable( &adiff_tab );
inittab = 1;
}
CV_CALL( src1 = cvGetMat( src1, &srcstub1, &coi1 ));
CV_CALL( src2 = cvGetMat( src2, &srcstub2, &coi2 ));
CV_CALL( dst = cvGetMat( dst, &dststub, &coi3 ));
if( coi1 != 0 || coi2 != 0 || coi3 != 0 )
CV_ERROR( CV_BadCOI, "" );
if( !CV_ARE_SIZES_EQ( src1, src2 ) )
CV_ERROR_FROM_CODE( CV_StsUnmatchedSizes );
size = icvGetMatSize( src1 );
type = CV_ARR_TYPE(src1->type);
if( !CV_ARE_SIZES_EQ( src1, dst ))
CV_ERROR_FROM_CODE( CV_StsUnmatchedSizes );
if( !CV_ARE_TYPES_EQ( src1, src2 ))
CV_ERROR_FROM_CODE( CV_StsUnmatchedFormats );
if( !CV_ARE_TYPES_EQ( src1, dst ))
CV_ERROR_FROM_CODE( CV_StsUnmatchedFormats );
size.width *= CV_ARR_CN( type );
src1_step = src1->step;
src2_step = src2->step;
dst_step = dst->step;
if( CV_IS_ARR_CONT( src1->type & src2->type & dst->type ))
{
size.width *= size.height;
size.height = 1;
src1_step = src2_step = dst_step = CV_STUB_STEP;
}
{
CvFunc2D_3A func = (CvFunc2D_3A)
(adiff_tab.fn_2d[CV_ARR_DEPTH(type)]);
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "" );
IPPI_CALL( func( src1->data.ptr, src1_step, src2->data.ptr, src2_step,
dst->data.ptr, dst_step, size ));
}
__END__;
}
CV_IMPL double
cvPointPolygonTest( const CvArr* _contour, CvPoint2D32f pt, int measure_dist )
{
double result = 0;
CV_FUNCNAME( "cvCheckPointPolygon" );
__BEGIN__;
CvSeqBlock block;
CvContour header;
CvSeq* contour = (CvSeq*)_contour;
CvSeqReader reader;
int i, total, counter = 0;
int is_float;
double min_dist_num = FLT_MAX, min_dist_denom = 1;
CvPoint ip = {0,0};
if( !CV_IS_SEQ(contour) )
{
CV_CALL( contour = cvPointSeqFromMat( CV_SEQ_KIND_CURVE + CV_SEQ_FLAG_CLOSED,
_contour, &header, &block ));
}
else if( CV_IS_SEQ_POLYGON(contour) )
{
if( contour->header_size == sizeof(CvContour) && !measure_dist )
{
CvRect r = ((CvContour*)contour)->rect;
if( pt.x < r.x || pt.y < r.y ||
pt.x >= r.x + r.width || pt.y >= r.y + r.height )
return -100;
}
}
else if( CV_IS_SEQ_CHAIN(contour) )
{
CV_ERROR( CV_StsBadArg,
"Chains are not supported. Convert them to polygonal representation using cvApproxChains()" );
}
else
CV_ERROR( CV_StsBadArg, "Input contour is neither a valid sequence nor a matrix" );
total = contour->total;
is_float = CV_SEQ_ELTYPE(contour) == CV_32FC2;
cvStartReadSeq( contour, &reader, -1 );
if( !is_float && !measure_dist && (ip.x = cvRound(pt.x)) == pt.x && (ip.y = cvRound(pt.y)) == pt.y )
{
// the fastest "pure integer" branch
CvPoint v0, v;
CV_READ_SEQ_ELEM( v, reader );
for( i = 0; i < total; i++ )
{
int dist;
v0 = v;
CV_READ_SEQ_ELEM( v, reader );
if( (v0.y <= ip.y && v.y <= ip.y) ||
(v0.y > ip.y && v.y > ip.y) ||
(v0.x < ip.x && v.x < ip.x) )
{
if( ip.y == v.y && (ip.x == v.x || (ip.y == v0.y &&
((v0.x <= ip.x && ip.x <= v.x) || (v.x <= ip.x && ip.x <= v0.x)))) )
EXIT;
continue;
}
dist = (ip.y - v0.y)*(v.x - v0.x) - (ip.x - v0.x)*(v.y - v0.y);
if( dist == 0 )
EXIT;
if( v.y < v0.y )
dist = -dist;
counter += dist > 0;
}
result = counter % 2 == 0 ? -100 : 100;
}
else
{
CvPoint2D32f v0, v;
CvPoint iv;
if( is_float )
{
CV_READ_SEQ_ELEM( v, reader );
}
else
{
CV_READ_SEQ_ELEM( iv, reader );
v = cvPointTo32f( iv );
}
if( !measure_dist )
{
for( i = 0; i < total; i++ )
{
double dist;
v0 = v;
if( is_float )
{
CV_READ_SEQ_ELEM( v, reader );
}
else
{
CV_READ_SEQ_ELEM( iv, reader );
v = cvPointTo32f( iv );
}
if( (v0.y <= pt.y && v.y <= pt.y) ||
(v0.y > pt.y && v.y > pt.y) ||
(v0.x < pt.x && v.x < pt.x) )
{
if( pt.y == v.y && (pt.x == v.x || (pt.y == v0.y &&
((v0.x <= pt.x && pt.x <= v.x) || (v.x <= pt.x && pt.x <= v0.x)))) )
EXIT;
continue;
}
dist = (double)(pt.y - v0.y)*(v.x - v0.x) - (double)(pt.x - v0.x)*(v.y - v0.y);
if( dist == 0 )
EXIT;
if( v.y < v0.y )
dist = -dist;
counter += dist > 0;
}
result = counter % 2 == 0 ? -100 : 100;
}
else
{
for( i = 0; i < total; i++ )
{
double dx, dy, dx1, dy1, dx2, dy2, dist_num, dist_denom = 1;
v0 = v;
if( is_float )
{
CV_READ_SEQ_ELEM( v, reader );
}
else
{
CV_READ_SEQ_ELEM( iv, reader );
v = cvPointTo32f( iv );
}
dx = v.x - v0.x; dy = v.y - v0.y;
dx1 = pt.x - v0.x; dy1 = pt.y - v0.y;
dx2 = pt.x - v.x; dy2 = pt.y - v.y;
if( dx1*dx + dy1*dy <= 0 )
dist_num = dx1*dx1 + dy1*dy1;
else if( dx2*dx + dy2*dy >= 0 )
dist_num = dx2*dx2 + dy2*dy2;
else
{
dist_num = (dy1*dx - dx1*dy);
dist_num *= dist_num;
dist_denom = dx*dx + dy*dy;
}
if( dist_num*min_dist_denom < min_dist_num*dist_denom )
{
min_dist_num = dist_num;
min_dist_denom = dist_denom;
if( min_dist_num == 0 )
break;
}
if( (v0.y <= pt.y && v.y <= pt.y) ||
(v0.y > pt.y && v.y > pt.y) ||
(v0.x < pt.x && v.x < pt.x) )
continue;
dist_num = dy1*dx - dx1*dy;
if( dy < 0 )
dist_num = -dist_num;
counter += dist_num > 0;
}
result = sqrt(min_dist_num/min_dist_denom);
if( counter % 2 == 0 )
result = -result;
}
}
__END__;
return result;
}
CvIntHaarClassifier* icvLoadTreeCascadeClassifier( const char* filename, int step,
int* splits )
{
CvTreeCascadeClassifier* ptr = NULL;
CvTreeCascadeNode** nodes = NULL;
CV_FUNCNAME( "icvLoadTreeCascadeClassifier" );
__BEGIN__;
size_t data_size;
CvStageHaarClassifier* stage;
char stage_name[PATH_MAX];
char* suffix;
int i, num;
FILE* f;
int result, parent=0, next=0;
int stub;
if( !splits ) splits = &stub;
*splits = 0;
data_size = sizeof( *ptr );
CV_CALL( ptr = (CvTreeCascadeClassifier*) cvAlloc( data_size ) );
memset( ptr, 0, data_size );
ptr->eval = icvEvalTreeCascadeClassifier;
ptr->release = icvReleaseTreeCascadeClassifier;
sprintf( stage_name, "%s/", filename );
suffix = stage_name + strlen( stage_name );
for( i = 0; ; i++ )
{
sprintf( suffix, "%d/%s", i, CV_STAGE_CART_FILE_NAME );
f = fopen( stage_name, "r" );
if( !f ) break;
fclose( f );
}
num = i;
if( num < 1 ) EXIT;
data_size = sizeof( *nodes ) * num;
CV_CALL( nodes = (CvTreeCascadeNode**) cvAlloc( data_size ) );
for( i = 0; i < num; i++ )
{
sprintf( suffix, "%d/%s", i, CV_STAGE_CART_FILE_NAME );
f = fopen( stage_name, "r" );
CV_CALL( stage = (CvStageHaarClassifier*)
icvLoadCARTStageHaarClassifierF( f, step ) );
result = ( f && stage ) ? fscanf( f, "%d%d", &parent, &next ) : 0;
if( f ) fclose( f );
if( result != 2 )
{
num = i;
break;
}
printf( "Stage %d loaded\n", i );
if( parent >= i || (next != -1 && next != i + 1) )
CV_ERROR( CV_StsError, "Invalid tree links" );
CV_CALL( nodes[i] = icvCreateTreeCascadeNode() );
nodes[i]->stage = stage;
nodes[i]->idx = i;
nodes[i]->parent = (parent != -1 ) ? nodes[parent] : NULL;
nodes[i]->next = ( next != -1 ) ? nodes[i] : NULL;
nodes[i]->child = NULL;
}
for( i = 0; i < num; i++ )
{
if( nodes[i]->next )
{
(*splits)++;
nodes[i]->next = nodes[i+1];
}
if( nodes[i]->parent && nodes[i]->parent->child == NULL )
{
nodes[i]->parent->child = nodes[i];
}
}
ptr->root = nodes[0];
ptr->next_idx = num;
__END__;
cvFree( &nodes );
return (CvIntHaarClassifier*) ptr;
}
// Function cvCreateFGDStatModel initializes foreground detection process
// parameters:
// first_frame - frame from video sequence
// parameters - (optional) if NULL default parameters of the algorithm will be used
// p_model - pointer to CvFGDStatModel structure
CV_IMPL CvBGStatModel*
cvCreateFGDStatModel( IplImage* first_frame, CvFGDStatModelParams* parameters )
{
CvFGDStatModel* p_model = 0;
CV_FUNCNAME( "cvCreateFGDStatModel" );
__BEGIN__;
int i, j, k, pixel_count, buf_size;
CvFGDStatModelParams params;
if( !CV_IS_IMAGE(first_frame) )
CV_ERROR( CV_StsBadArg, "Invalid or NULL first_frame parameter" );
if (first_frame->nChannels != 3)
CV_ERROR( CV_StsBadArg, "first_frame must have 3 color channels" );
// Initialize parameters:
if( parameters == NULL )
{
params.Lc = CV_BGFG_FGD_LC;
params.N1c = CV_BGFG_FGD_N1C;
params.N2c = CV_BGFG_FGD_N2C;
params.Lcc = CV_BGFG_FGD_LCC;
params.N1cc = CV_BGFG_FGD_N1CC;
params.N2cc = CV_BGFG_FGD_N2CC;
params.delta = CV_BGFG_FGD_DELTA;
params.alpha1 = CV_BGFG_FGD_ALPHA_1;
params.alpha2 = CV_BGFG_FGD_ALPHA_2;
params.alpha3 = CV_BGFG_FGD_ALPHA_3;
params.T = CV_BGFG_FGD_T;
params.minArea = CV_BGFG_FGD_MINAREA;
params.is_obj_without_holes = 1;
params.perform_morphing = 1;
}
else
{
params = *parameters;
}
CV_CALL( p_model = (CvFGDStatModel*)cvAlloc( sizeof(*p_model) ));
memset( p_model, 0, sizeof(*p_model) );
p_model->type = CV_BG_MODEL_FGD;
p_model->release = (CvReleaseBGStatModel)icvReleaseFGDStatModel;
p_model->update = (CvUpdateBGStatModel)icvUpdateFGDStatModel;;
p_model->params = params;
// Initialize storage pools:
pixel_count = first_frame->width * first_frame->height;
buf_size = pixel_count*sizeof(p_model->pixel_stat[0]);
CV_CALL( p_model->pixel_stat = (CvBGPixelStat*)cvAlloc(buf_size) );
memset( p_model->pixel_stat, 0, buf_size );
buf_size = pixel_count*params.N2c*sizeof(p_model->pixel_stat[0].ctable[0]);
CV_CALL( p_model->pixel_stat[0].ctable = (CvBGPixelCStatTable*)cvAlloc(buf_size) );
memset( p_model->pixel_stat[0].ctable, 0, buf_size );
buf_size = pixel_count*params.N2cc*sizeof(p_model->pixel_stat[0].cctable[0]);
CV_CALL( p_model->pixel_stat[0].cctable = (CvBGPixelCCStatTable*)cvAlloc(buf_size) );
memset( p_model->pixel_stat[0].cctable, 0, buf_size );
for( i = 0, k = 0; i < first_frame->height; i++ ) {
for( j = 0; j < first_frame->width; j++, k++ )
{
p_model->pixel_stat[k].ctable = p_model->pixel_stat[0].ctable + k*params.N2c;
p_model->pixel_stat[k].cctable = p_model->pixel_stat[0].cctable + k*params.N2cc;
}
}
// Init temporary images:
CV_CALL( p_model->Ftd = cvCreateImage(cvSize(first_frame->width, first_frame->height), IPL_DEPTH_8U, 1));
CV_CALL( p_model->Fbd = cvCreateImage(cvSize(first_frame->width, first_frame->height), IPL_DEPTH_8U, 1));
CV_CALL( p_model->foreground = cvCreateImage(cvSize(first_frame->width, first_frame->height), IPL_DEPTH_8U, 1));
CV_CALL( p_model->background = cvCloneImage(first_frame));
CV_CALL( p_model->prev_frame = cvCloneImage(first_frame));
CV_CALL( p_model->storage = cvCreateMemStorage());
__END__;
if( cvGetErrStatus() < 0 )
{
CvBGStatModel* base_ptr = (CvBGStatModel*)p_model;
if( p_model && p_model->release )
p_model->release( &base_ptr );
else
cvFree( &p_model );
p_model = 0;
}
return (CvBGStatModel*)p_model;
}
CV_IMPL CvSeq*
cvSegmentImage(const CvArr* srcarr, CvArr* dstarr,
double canny_threshold,
double ffill_threshold,
CvMemStorage* storage) {
CvSeq* root = 0;
CvMat* gray = 0;
CvMat* canny = 0;
//CvMat* temp = 0;
void* stack = 0;
CV_FUNCNAME("cvSegmentImage");
__BEGIN__;
CvMat srcstub, *src;
CvMat dststub, *dst;
CvMat* mask;
CvSize size;
CvPoint pt;
int ffill_lw_up = cvRound(fabs(ffill_threshold));
CvSeq* prev_seq = 0;
CV_CALL(src = cvGetMat(srcarr, &srcstub));
CV_CALL(dst = cvGetMat(dstarr, &dststub));
size = cvGetSize(src);
CV_CALL(gray = cvCreateMat(size.height, size.width, CV_8UC1));
CV_CALL(canny = cvCreateMat(size.height, size.width, CV_8UC1));
//CV_CALL( temp = cvCreateMat( size.height/2, size.width/2, CV_8UC3 ));
CV_CALL(stack = cvAlloc(size.width * size.height * sizeof(Seg)));
cvCvtColor(src, gray, CV_BGR2GRAY);
cvCanny(gray, canny, 0/*canny_threshold*0.4*/, canny_threshold, 3);
cvThreshold(canny, canny, 1, 1, CV_THRESH_BINARY);
//cvZero( canny );
//color_derv( src, canny, canny_threshold );
//cvPyrDown( src, temp );
//cvPyrUp( temp, dst );
//src = dst;
mask = canny; // a new name for new role
// make a non-zero border.
cvRectangle(mask, cvPoint(0, 0), cvPoint(size.width - 1, size.height - 1), cvScalarAll(1), 1);
for (pt.y = 0; pt.y < size.height; pt.y++) {
for (pt.x = 0; pt.x < size.width; pt.x++) {
if (mask->data.ptr[mask->step* pt.y + pt.x] == 0) {
CvConnectedComp region;
int avgVal[3] = { 0, 0, 0 };
icvSegmFloodFill_Stage1(src->data.ptr, src->step,
mask->data.ptr, mask->step,
size, pt, avgVal,
ffill_lw_up, ffill_lw_up,
®ion, stack);
/*avgVal[0] = (avgVal[0] + 15) & -32;
if( avgVal[0] > 255 )
avgVal[0] = 255;
avgVal[1] = (avgVal[1] + 15) & -32;
if( avgVal[1] > 255 )
avgVal[1] = 255;
avgVal[2] = (avgVal[2] + 15) & -32;
if( avgVal[2] > 255 )
avgVal[2] = 255;*/
if (storage) {
CvSeq* tmpseq = icvGetComponent(mask->data.ptr, mask->step,
region.rect, storage);
if (tmpseq != 0) {
((CvContour*)tmpseq)->color = avgVal[0] + (avgVal[1] << 8) + (avgVal[2] << 16);
tmpseq->h_prev = prev_seq;
if (prev_seq) {
prev_seq->h_next = tmpseq;
} else {
root = tmpseq;
}
prev_seq = tmpseq;
}
}
icvSegmFloodFill_Stage2(dst->data.ptr, dst->step,
mask->data.ptr, mask->step,
size, avgVal,
region.rect);
}
}
}
__END__;
//cvReleaseMat( &temp );
cvReleaseMat(&gray);
cvReleaseMat(&canny);
cvFree(&stack);
return root;
}
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*)uarr;
CvMat vstub, *v = (CvMat*)varr;
CvMat tmat;
uchar* tw = 0;
int type, nm, mn;
int buf_size, pix_size;
int t_svd = 0; // special case: a->rows < a->cols
if( !CV_IS_ARR( a ))
CV_CALL( a = cvGetMat( a, &astub ));
if( !CV_IS_ARR( w ))
CV_CALL( w = cvGetMat( w, &wstub ));
if( !CV_ARE_TYPES_EQ( a, w ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
nm = MIN( a->width, a->height );
mn = MAX( a->width, a->height );
if( (w->width == 1 || w->height == 1) &&
CV_IS_ARR_CONT( w->type ) && w->width*w->height == nm )
{
tw = w->data.ptr;
}
else if( !CV_ARE_SIZES_EQ( w, a ))
{
CV_ERROR( CV_StsBadSize, "W must be either continuous vector of "
"size MIN(A->width,A->height) or matrix of "
"the same size as A" );
}
if( u )
{
if( !CV_IS_ARR( u ))
CV_CALL( u = cvGetMat( u, &ustub ));
if( !CV_ARE_TYPES_EQ( a, u ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( u->width != u->height || u->height != a->height )
CV_ERROR( CV_StsUnmatchedSizes, "U matrix must be square and have the same "
"linear size as number of rows in A" );
if( u->data.ptr == a->data.ptr )
CV_ERROR( CV_StsBadArg, "U can not be equal A" );
}
else
{
u = &ustub;
u->data.ptr = 0;
u->step = 0;
}
if( v )
{
if( !CV_IS_ARR( v ))
CV_CALL( v = cvGetMat( v, &vstub ));
if( !CV_ARE_TYPES_EQ( a, v ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( v->width != v->height || v->width != a->width )
CV_ERROR( CV_StsUnmatchedSizes, "V matrix must be square and have the same "
"linear size as number of columns in A" );
if( v->data.ptr == a->data.ptr || v->data.ptr == u->data.ptr )
CV_ERROR( CV_StsBadArg, "V can not be equal U or A" );
}
else
{
v = &vstub;
v->data.ptr = 0;
v->step = 0;
}
type = CV_ARR_TYPE( a->type );
pix_size = icvPixSize[type];
buf_size = nm*2 + mn;
if( a->rows < a->cols )
{
CvMat* t;
CV_SWAP( u, v, t );
flags = (flags & CV_SVD_U_T ? CV_SVD_V_T : 0)|
(flags & CV_SVD_V_T ? CV_SVD_U_T : 0);
t_svd = 1;
}
if( !(flags & CV_SVD_MODIFY_A) )
buf_size += a->width*a->height;
buf_size *= pix_size;
if( buf_size <= CV_MAX_LOCAL_SIZE )
{
buffer = (uchar*)alloca( buf_size );
local_alloc = 1;
}
else
{
CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
}
if( !(flags & CV_SVD_MODIFY_A) )
{
if( !t_svd )
{
cvInitMatHeader( &tmat, a->height, a->width, type,
buffer + (nm*2 + mn)*pix_size );
cvCopy( a, &tmat );
}
else
{
cvInitMatHeader( &tmat, a->width, a->height, type,
buffer + (nm*2 + mn)*pix_size );
cvT( a, &tmat );
}
a = &tmat;
}
if( !tw )
tw = buffer + (nm + mn)*pix_size;
if( type == CV_32FC1 )
{
IPPI_CALL( icvSVD_32f( a->data.fl, a->step/sizeof(float), (float*)tw,
u->data.fl, u->step/sizeof(float),
v->data.fl, v->step/sizeof(float),
icvGetMatSize(a), (float*)buffer ));
}
else if( type == CV_64FC1 )
{
IPPI_CALL( icvSVD_64f( a->data.db, a->step/sizeof(double), (double*)tw,
u->data.db, u->step/sizeof(double),
v->data.db, v->step/sizeof(double),
icvGetMatSize(a), (double*)buffer ));
}
else
{
CV_ERROR( CV_StsUnsupportedFormat, "" );
}
if( tw != w->data.ptr )
{
cvSetZero( w );
if( type == CV_32FC1 )
for( int i = 0; i < nm; i++ )
((float*)(w->data.ptr + i*w->step))[i] = ((float*)tw)[i];
else
for( int i = 0; i < nm; i++ )
((double*)(w->data.ptr + i*w->step))[i] = ((double*)tw)[i];
}
if( u->data.ptr )
{
if( !(flags & CV_SVD_U_T))
cvT( u, u );
CV_CHECK_NANS( u );
}
if( v->data.ptr)
{
if( !(flags & CV_SVD_V_T))
cvT( v, v );
CV_CHECK_NANS( v );
}
CV_CHECK_NANS( w );
__END__;
if( buffer && !local_alloc )
cvFree( (void**)&buffer );
}
bool
cvFindExtrinsicCameraParams3( const CvMat* obj_points,
const CvMat* img_points, const CvMat* A,
const CvMat* dist_coeffs,
CvMat* r_vec, CvMat* t_vec )
{
bool fGood = true;
const int max_iter = 20;
CvMat *_M = 0, *_Mxy = 0, *_m = 0, *_mn = 0, *_L = 0, *_J = 0;
CV_FUNCNAME( "cvFindExtrinsicCameraParams3" );
__BEGIN__;
int i, j, count;
double a[9], k[4] = { 0, 0, 0, 0 }, R[9], ifx, ify, cx, cy;
double Mc[3] = {0, 0, 0}, MM[9], U[9], V[9], W[3];
double JtJ[6*6], JtErr[6], JtJW[6], JtJV[6*6], delta[6], param[6];
CvPoint3D64f* M = 0;
CvPoint2D64f *m = 0, *mn = 0;
CvMat _a = cvMat( 3, 3, CV_64F, a );
CvMat _R = cvMat( 3, 3, CV_64F, R );
CvMat _r = cvMat( 3, 1, CV_64F, param );
CvMat _t = cvMat( 3, 1, CV_64F, param + 3 );
CvMat _Mc = cvMat( 1, 3, CV_64F, Mc );
CvMat _MM = cvMat( 3, 3, CV_64F, MM );
CvMat _U = cvMat( 3, 3, CV_64F, U );
CvMat _V = cvMat( 3, 3, CV_64F, V );
CvMat _W = cvMat( 3, 1, CV_64F, W );
CvMat _JtJ = cvMat( 6, 6, CV_64F, JtJ );
CvMat _JtErr = cvMat( 6, 1, CV_64F, JtErr );
CvMat _JtJW = cvMat( 6, 1, CV_64F, JtJW );
CvMat _JtJV = cvMat( 6, 6, CV_64F, JtJV );
CvMat _delta = cvMat( 6, 1, CV_64F, delta );
CvMat _param = cvMat( 6, 1, CV_64F, param );
CvMat _dpdr, _dpdt;
if( !CV_IS_MAT(obj_points) || !CV_IS_MAT(img_points) ||
!CV_IS_MAT(A) || !CV_IS_MAT(r_vec) || !CV_IS_MAT(t_vec) )
CV_ERROR( CV_StsBadArg, "One of required arguments is not a valid matrix" );
count = MAX(obj_points->cols, obj_points->rows);
CV_CALL( _M = cvCreateMat( 1, count, CV_64FC3 ));
CV_CALL( _Mxy = cvCreateMat( 1, count, CV_64FC2 ));
CV_CALL( _m = cvCreateMat( 1, count, CV_64FC2 ));
CV_CALL( _mn = cvCreateMat( 1, count, CV_64FC2 ));
M = (CvPoint3D64f*)_M->data.db;
m = (CvPoint2D64f*)_m->data.db;
mn = (CvPoint2D64f*)_mn->data.db;
CV_CALL( cvConvertPointsHomogenious( obj_points, _M ));
CV_CALL( cvConvertPointsHomogenious( img_points, _m ));
CV_CALL( cvConvert( A, &_a ));
if( dist_coeffs )
{
CvMat _k;
if( !CV_IS_MAT(dist_coeffs) ||
CV_MAT_DEPTH(dist_coeffs->type) != CV_64F &&
CV_MAT_DEPTH(dist_coeffs->type) != CV_32F ||
dist_coeffs->rows != 1 && dist_coeffs->cols != 1 ||
dist_coeffs->rows*dist_coeffs->cols*CV_MAT_CN(dist_coeffs->type) != 4 )
CV_ERROR( CV_StsBadArg,
"Distortion coefficients must be 1x4 or 4x1 floating-point vector" );
_k = cvMat( dist_coeffs->rows, dist_coeffs->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(dist_coeffs->type)), k );
CV_CALL( cvConvert( dist_coeffs, &_k ));
}
if( CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F ||
r_vec->rows != 1 && r_vec->cols != 1 ||
r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3 )
CV_ERROR( CV_StsBadArg, "Rotation vector must be 1x3 or 3x1 floating-point vector" );
if( CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F ||
t_vec->rows != 1 && t_vec->cols != 1 ||
t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
CV_ERROR( CV_StsBadArg,
"Translation vector must be 1x3 or 3x1 floating-point vector" );
ifx = 1./a[0]; ify = 1./a[4];
cx = a[2]; cy = a[5];
// normalize image points
// (unapply the intrinsic matrix transformation and distortion)
for( i = 0; i < count; i++ )
{
double x = (m[i].x - cx)*ifx, y = (m[i].y - cy)*ify, x0 = x, y0 = y;
// compensate distortion iteratively
if( dist_coeffs )
for( j = 0; j < 5; j++ )
{
double r2 = x*x + y*y;
double icdist = 1./(1 + k[0]*r2 + k[1]*r2*r2);
double delta_x = 2*k[2]*x*y + k[3]*(r2 + 2*x*x);
double delta_y = k[2]*(r2 + 2*y*y) + 2*k[3]*x*y;
x = (x0 - delta_x)*icdist;
y = (y0 - delta_y)*icdist;
}
mn[i].x = x; mn[i].y = y;
// calc mean(M)
Mc[0] += M[i].x;
Mc[1] += M[i].y;
Mc[2] += M[i].z;
}
Mc[0] /= count;
Mc[1] /= count;
Mc[2] /= count;
cvReshape( _M, _M, 1, count );
cvMulTransposed( _M, &_MM, 1, &_Mc );
cvSVD( &_MM, &_W, 0, &_V, CV_SVD_MODIFY_A + CV_SVD_V_T );
// initialize extrinsic parameters
if( W[2]/W[1] < 1e-3 || count < 4 )
{
// a planar structure case (all M's lie in the same plane)
double tt[3], h[9], h1_norm, h2_norm;
CvMat* R_transform = &_V;
CvMat T_transform = cvMat( 3, 1, CV_64F, tt );
CvMat _H = cvMat( 3, 3, CV_64F, h );
CvMat _h1, _h2, _h3;
if( V[2]*V[2] + V[5]*V[5] < 1e-10 )
cvSetIdentity( R_transform );
if( cvDet(R_transform) < 0 )
cvScale( R_transform, R_transform, -1 );
cvGEMM( R_transform, &_Mc, -1, 0, 0, &T_transform, CV_GEMM_B_T );
for( i = 0; i < count; i++ )
{
const double* Rp = R_transform->data.db;
const double* Tp = T_transform.data.db;
const double* src = _M->data.db + i*3;
double* dst = _Mxy->data.db + i*2;
dst[0] = Rp[0]*src[0] + Rp[1]*src[1] + Rp[2]*src[2] + Tp[0];
dst[1] = Rp[3]*src[0] + Rp[4]*src[1] + Rp[5]*src[2] + Tp[1];
}
cvFindHomography( _Mxy, _mn, &_H );
cvGetCol( &_H, &_h1, 0 );
_h2 = _h1; _h2.data.db++;
_h3 = _h2; _h3.data.db++;
h1_norm = sqrt(h[0]*h[0] + h[3]*h[3] + h[6]*h[6]);
h2_norm = sqrt(h[1]*h[1] + h[4]*h[4] + h[7]*h[7]);
cvScale( &_h1, &_h1, 1./h1_norm );
cvScale( &_h2, &_h2, 1./h2_norm );
cvScale( &_h3, &_t, 2./(h1_norm + h2_norm));
cvCrossProduct( &_h1, &_h2, &_h3 );
cvRodrigues2( &_H, &_r );
cvRodrigues2( &_r, &_H );
cvMatMulAdd( &_H, &T_transform, &_t, &_t );
cvMatMul( &_H, R_transform, &_R );
cvRodrigues2( &_R, &_r );
}
else
{
// non-planar structure. Use DLT method
double* L;
double LL[12*12], LW[12], LV[12*12], sc;
CvMat _LL = cvMat( 12, 12, CV_64F, LL );
CvMat _LW = cvMat( 12, 1, CV_64F, LW );
CvMat _LV = cvMat( 12, 12, CV_64F, LV );
CvMat _RRt, _RR, _tt;
CV_CALL( _L = cvCreateMat( 2*count, 12, CV_64F ));
L = _L->data.db;
for( i = 0; i < count; i++, L += 24 )
{
double x = -mn[i].x, y = -mn[i].y;
L[0] = L[16] = M[i].x;
L[1] = L[17] = M[i].y;
L[2] = L[18] = M[i].z;
L[3] = L[19] = 1.;
L[4] = L[5] = L[6] = L[7] = 0.;
L[12] = L[13] = L[14] = L[15] = 0.;
L[8] = x*M[i].x;
L[9] = x*M[i].y;
L[10] = x*M[i].z;
L[11] = x;
L[20] = y*M[i].x;
L[21] = y*M[i].y;
L[22] = y*M[i].z;
L[23] = y;
}
cvMulTransposed( _L, &_LL, 1 );
cvSVD( &_LL, &_LW, 0, &_LV, CV_SVD_MODIFY_A + CV_SVD_V_T );
_RRt = cvMat( 3, 4, CV_64F, LV + 11*12 );
cvGetCols( &_RRt, &_RR, 0, 3 );
cvGetCol( &_RRt, &_tt, 3 );
if( cvDet(&_RR) < 0 )
cvScale( &_RRt, &_RRt, -1 );
sc = cvNorm(&_RR);
cvSVD( &_RR, &_W, &_U, &_V, CV_SVD_MODIFY_A + CV_SVD_U_T + CV_SVD_V_T );
cvGEMM( &_U, &_V, 1, 0, 0, &_R, CV_GEMM_A_T );
cvScale( &_tt, &_t, cvNorm(&_R)/sc );
cvRodrigues2( &_R, &_r );
cvReleaseMat( &_L );
}
//
// Check if new r and t are good
//
if ( cvGetReal1D( r_vec, 0 ) ||
cvGetReal1D( r_vec, 1 ) ||
cvGetReal1D( r_vec, 2 ) ||
cvGetReal1D( t_vec, 0 ) ||
cvGetReal1D( t_vec, 1 ) ||
cvGetReal1D( t_vec, 2 ) )
{
//
// perfom this only when the old r and t exist.
//
CvMat * R_inv = cvCreateMat( 3, 3, CV_64FC1 );
CvMat * r_old = cvCreateMat( 3, 1, CV_64FC1 );
CvMat * R_old = cvCreateMat( 3, 3, CV_64FC1 );
CvMat * t_old = cvCreateMat( 3, 1, CV_64FC1 );
// get new center
cvInvert( &_R, R_inv );
double new_center[3];
CvMat newCenter = cvMat( 3, 1, CV_64FC1, new_center );
cvMatMul( R_inv, &_t, &newCenter );
cvScale( &newCenter, &newCenter, -1 );
// get old center
cvConvert( r_vec, r_old );
cvConvert( t_vec, t_old );
cvRodrigues2( r_old, R_old );
cvInvert( R_old, R_inv );
double old_center[3];
CvMat oldCenter = cvMat( 3, 1, CV_64FC1, old_center );
cvMatMul( R_inv, t_old, &oldCenter );
cvScale( &oldCenter, &oldCenter, -1 );
// get difference
double diff_center = 0;
for ( int i = 0; i < 3 ; i ++ )
diff_center += pow( new_center[i] - old_center[i], 2 );
diff_center = sqrt( diff_center );
if ( diff_center > 300 )
{
printf("diff_center = %.2f --> set initial r and t as same as the previous\n", diff_center);
cvConvert(r_vec, &_r);
cvConvert(t_vec, &_t);
fGood = false;
}
// else printf("diff_center = %.2f\n", diff_center );
cvReleaseMat( &R_inv );
cvReleaseMat( &r_old );
cvReleaseMat( &R_old );
cvReleaseMat( &t_old );
}
if ( fGood )
{
CV_CALL( _J = cvCreateMat( 2*count, 6, CV_64FC1 ));
cvGetCols( _J, &_dpdr, 0, 3 );
cvGetCols( _J, &_dpdt, 3, 6 );
// refine extrinsic parameters using iterative algorithm
for( i = 0; i < max_iter; i++ )
{
double n1, n2;
cvReshape( _mn, _mn, 2, 1 );
cvProjectPoints2( _M, &_r, &_t, &_a, dist_coeffs,
_mn, &_dpdr, &_dpdt, 0, 0, 0 );
cvSub( _m, _mn, _mn );
cvReshape( _mn, _mn, 1, 2*count );
cvMulTransposed( _J, &_JtJ, 1 );
cvGEMM( _J, _mn, 1, 0, 0, &_JtErr, CV_GEMM_A_T );
cvSVD( &_JtJ, &_JtJW, 0, &_JtJV, CV_SVD_MODIFY_A + CV_SVD_V_T );
if( JtJW[5]/JtJW[0] < 1e-12 )
break;
cvSVBkSb( &_JtJW, &_JtJV, &_JtJV, &_JtErr,
&_delta, CV_SVD_U_T + CV_SVD_V_T );
cvAdd( &_delta, &_param, &_param );
n1 = cvNorm( &_delta );
n2 = cvNorm( &_param );
if( n1/n2 < 1e-10 )
break;
}
_r = cvMat( r_vec->rows, r_vec->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), param );
_t = cvMat( t_vec->rows, t_vec->cols,
CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), param + 3 );
cvConvert( &_r, r_vec );
cvConvert( &_t, t_vec );
}
__END__;
cvReleaseMat( &_M );
cvReleaseMat( &_Mxy );
cvReleaseMat( &_m );
cvReleaseMat( &_mn );
cvReleaseMat( &_L );
cvReleaseMat( &_J );
return fGood;
}
void OptFlowEMD::calculate_flow(IplImage* imageT, IplImage* imageTMinus1, IplImage* velx, IplImage* vely, IplImage* abs){
#ifdef __CV_BEGIN__
__CV_BEGIN__
#else
__BEGIN__
#endif
CV_FUNCNAME( "OptFlowGenGrad::calculate_flow" );
CvMat stubA, *srcA = (CvMat*)imageT; // stubA takes the new header data for the matrix according to ROI
CvMat stubB, *srcB = (CvMat*)imageTMinus1;
CvMat stubx, *vel_x = (CvMat*)velx;
CvMat stuby, *vel_y = (CvMat*)vely;
CvMat stubAbs, *abs_ = NULL;
if (abs != NULL)
abs_ = (CvMat*)abs;
// see GetMat function doc: This returns a matrix header with the current image ROI!
// this gives basically a view on the ROI, stubA takes the header data of the matrix
// srcA is pointed to this new 'augmented' data-header
CV_CALL( srcA = cvGetMat( srcA, &stubA ));
CV_CALL( srcB = cvGetMat( srcB, &stubB ));
CV_CALL( vel_x = cvGetMat( vel_x, &stubx ));
CV_CALL( vel_y = cvGetMat( vel_y, &stuby ));
if (abs_ != NULL)
CV_CALL( abs_ = cvGetMat ( abs_, &stubAbs ));
if( !CV_ARE_TYPES_EQ( srcA, srcB ))
CV_ERROR( CV_StsUnmatchedFormats, "Source images have different formats" );
if( !CV_ARE_TYPES_EQ( vel_x, vel_y ))
CV_ERROR( CV_StsUnmatchedFormats, "Destination images have different formats" );
if (abs_ != NULL)
if (!CV_ARE_TYPES_EQ( vel_x, abs_))
CV_ERROR( CV_StsUnmatchedFormats, "Destination images have different formats" );
if( !CV_ARE_SIZES_EQ( srcA, srcB ) ||
!CV_ARE_SIZES_EQ( vel_x, vel_y ) ||
!CV_ARE_SIZES_EQ( srcA, vel_x ))
CV_ERROR( CV_StsUnmatchedSizes, "Some images have different sizes" );
if(abs_ != NULL)
if (!CV_ARE_SIZES_EQ( srcA, abs_))
CV_ERROR( CV_StsUnmatchedSizes, "Some images have different sizes" );
if( CV_MAT_TYPE( srcA->type ) != CV_8UC1)
CV_ERROR( CV_StsUnsupportedFormat, "Source images must have 8uC1 type");
if( CV_MAT_TYPE( vel_x->type ) != CV_32FC1 )
CV_ERROR( CV_StsUnsupportedFormat, "Destination images must have 32fC1 type" );
if( srcA->step != srcB->step ||
vel_x->step != vel_y->step)
CV_ERROR( CV_BadStep, "source and destination images have different step" );
if (abs_ != NULL)
if (vel_x->step != abs_->step)
CV_ERROR( CV_BadStep, "source and destination images have different step" );
if (abs_ != NULL){
IPPI_CALL( calcOptFlowEMD( (uchar*)srcA->data.ptr, (uchar*)srcB->data.ptr, srcA->step, cvGetMatSize( srcA ),
vel_x->data.fl, vel_y->data.fl, vel_x->step,
abs_->data.fl));
}
else{
IPPI_CALL( calcOptFlowEMD( (uchar*)srcA->data.ptr, (uchar*)srcB->data.ptr, srcA->step, cvGetMatSize( srcA ),
vel_x->data.fl, vel_y->data.fl, vel_x->step,
NULL));
}
#ifdef __CV_END__
__CV_END__
#else
__END__
#endif
}
CvPoint*
cvDRLSE(const CvArr * image,
const CvArr * mask,
int *length,
double lambda,
double alfa,
double epsilon,
int timestep,
int ITER_ext,
int ITER_int,
int flag)
{
IplImage sstub1, sstub2, *msk, *img, *marker, *levelset;
CvMat *ones, *Ix, *Iy, *phi, *f, *g;
CvSize size;
int comp_count =0, iStep;
float* fPtr;
CvMemStorage* storage = cvCreateMemStorage(0);
CvSeq* contours = 0;
CvPoint pt= cvPoint(0,0), *point=NULL;
double mu = 0.2f/double(timestep);
char c;
CV_FUNCNAME( "cvDRLSE" );
__BEGIN__;
CV_CALL( msk = cvGetImage(mask, &sstub1 ));
CV_CALL( img = cvGetImage(image, &sstub2 ));
cvSmooth(img, img, CV_GAUSSIAN, 5, 5, 1.5f);
size = cvGetSize(img);
levelset = cvCreateImage(size, IPL_DEPTH_8U, 1);
ones = cvCreateMat(size.height, size.width, CV_32FC1);
Ix = cvCreateMat(size.height, size.width, CV_32FC1);
Iy = cvCreateMat(size.height, size.width, CV_32FC1);
phi = cvCreateMat(size.height, size.width, CV_32FC1);
f = cvCreateMat(size.height, size.width, CV_32FC1);
g = cvCreateMat(size.height, size.width, CV_32FC1);
marker = cvCreateImage(size, IPL_DEPTH_32S, 1);
cvSet(ones, cvScalar(1.0f));
cvSobel(img, Ix, 1, 0, 1);
cvSobel(img, Iy, 0, 1, 1);
cvMul(Ix, Ix, Ix, 0.25f*0.25f);
cvMul(Iy, Iy, Iy, 0.25f*0.25f);
cvAdd(Ix, Iy, f);
cvAdd(f, ones, f);
cvDiv(NULL, f, g, 1.0f);
cvFindContours( msk, storage, &contours, sizeof(CvContour),CV_RETR_EXTERNAL, CV_CHAIN_APPROX_SIMPLE );
cvZero(marker);
for( ; contours != 0; contours = contours->h_next, comp_count++ )
{
cvDrawContours( marker, contours, cvScalarAll(255),cvScalarAll(255), -1, -1, 8);
}
iStep = phi->step/sizeof(fPtr[0]);
fPtr = phi->data.fl;
for (int j=0; j<size.height; j++)
for (int i=0; i<size.width; i++) {
int idx = CV_IMAGE_ELEM( marker, int, j, i );
if (idx >0 )
if (flag == CV_LSE_SHR)
fPtr[i+iStep*j]=-2.0f;
else
fPtr[i+iStep*j]=2.0f;
else
if (flag == CV_LSE_SHR)
fPtr[i+iStep*j]=2.0f;
else
fPtr[i+iStep*j]=-2.0f;
}
for (int i=0; i<ITER_ext; i++) {
cvDrlse_edge(phi, g, phi, lambda, mu, alfa, epsilon, timestep, ITER_int);
loadBar(i+1, ITER_ext, 50);
}
cvDrlse_edge(phi, g, phi, lambda, mu, 0.0f, epsilon, timestep, ITER_int);
cvZero(msk);
if (flag == CV_LSE_SHR)
cvThreshold(phi, msk, 0.0f, 255, CV_THRESH_BINARY_INV);
else
cvThreshold(phi, msk, 0.0f, 255, CV_THRESH_BINARY);
cvFindContours(msk, storage, &contours, sizeof(CvContour), CV_RETR_CCOMP, CV_CHAIN_APPROX_SIMPLE);
if(!contours) return 0;
*length = contours->total;
//if(*length<10) return 0;
point = new CvPoint[*length];
CvSeqReader reader;
cvStartReadSeq(contours, &reader);
for (int i = 0; i < *length; i++){
CV_READ_SEQ_ELEM(pt, reader);
point[i]=pt;
}
//clean up
cvReleaseMemStorage(&storage);
cvReleaseImage(&marker);
cvReleaseMat(&Ix);
cvReleaseMat(&Iy);
cvReleaseMat(&f);
cvReleaseMat(&g);
cvReleaseMat(&phi);
cvReleaseMat(&ones);
return point;
__END__;
}
CV_IMPL void cvDrlse_edge(CvArr * srcphi,
CvArr * srcgrad,
CvArr * dstarr,
double lambda,
double mu,
double alfa,
double epsilon,
int timestep,
int iter)
{
CV_FUNCNAME( "cvDrlse_edge" );
__BEGIN__;
CvMat sstub1, sstub2, *phi, *grad;
CvMat dstub, *dst;
CvMat *gradx=0, *grady=0, *phi_0=0, *phix=0, *phiy=0;
CvMat *s=0, *Nx=0, *Ny=0, *curvature=0, *distRegTerm=0;
CvMat *diracPhi=0, *areaTerm=0, *edgeTerm=0;
CvMat *temp1=0, *temp2=0, *temp3=0, *ones=0;
CvSize size;
int i;
CV_CALL( phi = cvGetMat(srcphi, &sstub1 ));
CV_CALL( grad = cvGetMat(srcgrad, &sstub2 ));
CV_CALL( dst = cvGetMat(dstarr, &dstub));
if( CV_MAT_TYPE(phi->type) != CV_32FC1)
CV_ERROR( CV_StsUnsupportedFormat, "Only-32bit, 1-channel input images are supported" );
if( CV_MAT_TYPE(grad->type) != CV_32FC1)
CV_ERROR( CV_StsUnsupportedFormat, "Only-32bit, 1-channel input images are supported" );
if( !CV_ARE_SIZES_EQ( phi, grad ))
CV_ERROR( CV_StsUnmatchedSizes, "The input images must have the same size" );
size = cvGetMatSize( phi );
//Initialization
gradx = cvCreateMat(size.height, size.width, CV_32FC1 );
grady = cvCreateMat(size.height, size.width, CV_32FC1 );
phi_0 = cvCreateMat(size.height, size.width, CV_32FC1 );
phix = cvCreateMat(size.height, size.width, CV_32FC1 );
phiy = cvCreateMat(size.height, size.width, CV_32FC1 );
Nx = cvCreateMat(size.height, size.width, CV_32FC1 );
Ny = cvCreateMat(size.height, size.width, CV_32FC1 );
s = cvCreateMat(size.height, size.width, CV_32FC1 );
curvature= cvCreateMat(size.height, size.width, CV_32FC1 );
distRegTerm= cvCreateMat(size.height, size.width, CV_32FC1 );
diracPhi = cvCreateMat(size.height, size.width, CV_32FC1 );
areaTerm = cvCreateMat(size.height, size.width, CV_32FC1 );
edgeTerm = cvCreateMat(size.height, size.width, CV_32FC1 );
temp1 = cvCreateMat(size.height, size.width, CV_32FC1 );
temp2 = cvCreateMat(size.height, size.width, CV_32FC1 );
temp3 = cvCreateMat(size.height, size.width, CV_32FC1 );
ones = cvCreateMat(size.height, size.width, CV_32FC1 );
cvSetZero(gradx);
cvSetZero(grady);
cvSetZero(phix);
cvSetZero(phiy);
cvSetZero(Nx);
cvSetZero(Ny);
cvSetZero(s);
cvSetZero(curvature);
cvSetZero(distRegTerm);
cvSetZero(diracPhi);
cvSetZero(areaTerm);
cvSetZero(edgeTerm);
cvSetZero(temp1);
cvSetZero(temp2);
cvSetZero(temp3);
cvSet(ones, cvScalar(1.0f));
//--------------BEGIN----------------------
cvSobel(grad, gradx, 1, 0, 1);
cvSobel(grad, grady, 0, 1, 1);
cvMul(gradx, ones, gradx, 0.25f);
cvMul(grady, ones, grady, 0.25f);
cvCopy(phi, dst);
for(i=0; i<iter; i++){
cvNeumannBoundCond(dst, dst);
cvSobel(dst, phix, 1, 0, 1);
cvSobel(dst, phiy, 0, 1, 1);
cvCalS(dst,s);
cvDiv(phix, s, Nx, 0.25f);
cvDiv(phiy, s, Ny, 0.25f);
cvCurvature(Nx, Ny, curvature);
cvDistReg(dst, distRegTerm);
cvDirac(dst, diracPhi, epsilon); //Compute driacPhi;
cvMul(diracPhi, grad, areaTerm); //Compute areaTerm
cvMul(gradx, Nx, gradx); //------------------//
cvMul(grady, Ny, grady); // Computing //
cvAdd(gradx, grady, temp1); // //
cvMul(diracPhi, temp1, temp2); // edgeTerm //
cvMul(areaTerm, curvature, temp3); // //
cvAdd(temp2, temp3, edgeTerm); //------------------//
cvMul(distRegTerm, ones, distRegTerm, mu); // distRegTerm = mu * distRegTerm
cvMul(edgeTerm, ones, edgeTerm, lambda); // edgeTerm = lambda * edgeTerm
cvMul(areaTerm, ones, areaTerm, alfa); // areaTerm = alfa * areaTerm
cvAdd(distRegTerm, edgeTerm, temp1);
cvAdd(temp1, areaTerm, temp2); // (distRegTerm + edgeTerm + areaTerm)
cvMul(temp2, ones, temp2, double(timestep)); // timestep * (distRegTerm + edgeTerm + areaTerm)
cvAdd(dst, temp2, dst); // phi = phi + timestep * (distRegTerm + edgeTerm + areaTerm)
}
//----------------END------------------------
// Clean up
cvReleaseMat(&ones);
cvReleaseMat(&phi_0);
cvReleaseMat(&gradx);
cvReleaseMat(&grady);
cvReleaseMat(&phix);
cvReleaseMat(&phiy);
cvReleaseMat(&Nx);
cvReleaseMat(&Ny);
cvReleaseMat(&s);
cvReleaseMat(&curvature);
cvReleaseMat(&distRegTerm);
cvReleaseMat(&diracPhi);
cvReleaseMat(&areaTerm);
cvReleaseMat(&edgeTerm);
cvReleaseMat(&temp1);
cvReleaseMat(&temp2);
cvReleaseMat(&temp3);
__END__;
}
CV_IMPL void cvDistReg(const CvArr* srcarr,
CvArr* dstarr)
{
CV_FUNCNAME("cvDistReg");
__BEGIN__;
CvMat sstub, *src;
CvMat dstub, *dst;
CvMat* src_dx=0, *src_dy=0, *s=0, *ps=0;
CvMat* dps_x=0, *dps_y=0, *del=0, *ones=0;
CvSize size;
int i, j, iStep_s, iStep_ps;
float* fPtr_s, *fPtr_ps;
float temp_s=0.0f, temp_ps=0.0f;
float flag_s1=0.0f, flag_s2=0.0f, flag_ps1=0.0f, flag_ps2=0.0f;
CV_CALL( src = cvGetMat(srcarr, &sstub ));
CV_CALL( dst = cvGetMat(dstarr, &dstub ));
if( CV_MAT_TYPE(src->type) != CV_32FC1)
CV_ERROR( CV_StsUnsupportedFormat, "Only-32bit, 1-channel input images are supported" );
if( CV_MAT_TYPE(dst->type) != CV_32FC1)
CV_ERROR( CV_StsUnsupportedFormat, "Only-32bit, 1-channel input images are supported" );
if( !CV_ARE_SIZES_EQ( src, dst ))
CV_ERROR( CV_StsUnmatchedSizes, "The input images must have the same size" );
size = cvGetMatSize( src );
src_dx = cvCreateMat(size.height, size.width, CV_32FC1 );
src_dy = cvCreateMat(size.height, size.width, CV_32FC1 );
s = cvCreateMat(size.height, size.width, CV_32FC1 );
ps = cvCreateMat(size.height, size.width, CV_32FC1 );
dps_x = cvCreateMat(size.height, size.width, CV_32FC1 );
dps_y = cvCreateMat(size.height, size.width, CV_32FC1 );
del = cvCreateMat(size.height, size.width, CV_32FC1 );
ones = cvCreateMat(size.height, size.width, CV_32FC1 );
cvSetZero(src_dx);
cvSetZero(src_dy);
cvSetZero(s);
cvSetZero(ps);
cvSetZero(dps_x);
cvSetZero(dps_y);
cvSetZero(del);
cvSet(ones, cvScalar(1.0f));
iStep_s = s->step / sizeof(fPtr_s[0]);
fPtr_s = s->data.fl;
iStep_ps= ps->step/ sizeof(fPtr_ps[0]);
fPtr_ps = ps->data.fl;
cvSobel(src, src_dx, 1, 0, 1);
cvSobel(src, src_dy, 0, 1, 1);
cvMul(src_dx, ones, src_dx, 0.25f);
cvMul(src_dy, ones, src_dy, 0.25f);
cvCalS(src,s);
for (j=0; j<size.height; j++){
for (i=0; i<size.width; i++){
temp_s = fPtr_s[i+iStep_s*j];
if (int(temp_s*10000)>=0 && int(temp_s*10000)<=10000) {
flag_s1 = 1.0f;
} else {
flag_s1 = 0.0f;
}
if (int(temp_s*10000) > 10000) {
flag_s2 = 1.0f;
} else {
flag_s2 = 0.0f;
}
temp_ps = flag_s1*sin(2*PI*temp_s)/2/PI+flag_s2*(temp_s-1.0f);
if (int(temp_ps*10000) == 0) {
flag_ps1 = 0.0f;
} else {
flag_ps1 = 1.0f;
}
if (int(temp_s*10000) == 0) {
flag_ps2 = 0.0f;
} else {
flag_ps2 = 1.0f;
}
fPtr_ps[i+iStep_ps*j] = (flag_ps1*temp_ps+1.0f-flag_ps1)/(flag_ps2*temp_s+1.0f-flag_ps2);
if ((flag_ps2*temp_s+1.0f-flag_ps2)==0){
printf("Something wrong in last: temp_s = %f, flag_ps2 = %f\n", temp_s, flag_ps2);
exit(0);
}
}
}
cvMul(ps, src_dx, dps_x);
cvMul(ps, src_dy, dps_y);
cvSub(dps_x, src_dx, dps_x);
cvSub(dps_y, src_dy, dps_y);
cvCurvature(dps_x, dps_y, dst);
cvLaplace(src,del,1);
cvMul(del, ones, del, 0.2f);
cvAdd(dst, del, dst);
cvReleaseMat(&src_dx);
cvReleaseMat(&src_dy);
cvReleaseMat(&s);
cvReleaseMat(&ps);
cvReleaseMat(&dps_x);
cvReleaseMat(&dps_y);
cvReleaseMat(&del);
cvReleaseMat(&ones);
__END__;
}
CV_IMPL void
cvRunningAvg( const void* arrY, void* arrU,
double alpha, const void* maskarr )
{
static CvFuncTable acc_tab;
static CvBigFuncTable accmask_tab;
static int inittab = 0;
CV_FUNCNAME( "cvRunningAvg" );
__BEGIN__;
int coi1, coi2;
int type;
int mat_step, sum_step, mask_step = 0;
CvSize size;
CvMat stub, *mat = (CvMat*)arrY;
CvMat sumstub, *sum = (CvMat*)arrU;
CvMat maskstub, *mask = (CvMat*)maskarr;
if( !inittab )
{
icvInitAddWeightedTable( &acc_tab, &accmask_tab );
inittab = 1;
}
CV_CALL( mat = cvGetMat( mat, &stub, &coi1 ));
CV_CALL( sum = cvGetMat( sum, &sumstub, &coi2 ));
if( coi1 != 0 || coi2 != 0 )
CV_ERROR( CV_BadCOI, "" );
if( !CV_ARE_CNS_EQ( mat, sum ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( CV_MAT_DEPTH( sum->type ) != CV_32F )
CV_ERROR( CV_BadDepth, "" );
if( !CV_ARE_SIZES_EQ( mat, sum ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
size = cvGetMatSize( mat );
type = CV_MAT_TYPE( mat->type );
mat_step = mat->step;
sum_step = sum->step;
if( !mask )
{
CvAddWeightedFunc func = (CvAddWeightedFunc)acc_tab.fn_2d[CV_MAT_DEPTH(type)];
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "" );
size.width *= CV_MAT_CN(type);
if( CV_IS_MAT_CONT( mat->type & sum->type ))
{
size.width *= size.height;
mat_step = sum_step = CV_STUB_STEP;
size.height = 1;
}
IPPI_CALL( func( mat->data.ptr, mat_step,
sum->data.ptr, sum_step, size, (float)alpha ));
}
else
{
CvAddWeightedMaskFunc func = (CvAddWeightedMaskFunc)accmask_tab.fn_2d[type];
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "" );
CV_CALL( mask = cvGetMat( mask, &maskstub ));
if( !CV_IS_MASK_ARR( mask ))
CV_ERROR( CV_StsBadMask, "" );
if( !CV_ARE_SIZES_EQ( mat, mask ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
mask_step = mask->step;
if( CV_IS_MAT_CONT( mat->type & sum->type & mask->type ))
{
size.width *= size.height;
mat_step = sum_step = mask_step = CV_STUB_STEP;
size.height = 1;
}
IPPI_CALL( func( mat->data.ptr, mat_step, mask->data.ptr, mask_step,
sum->data.ptr, sum_step, size, (float)alpha ));
}
__END__;
}
CV_IMPL void
cvMultiplyAcc( const void* arrA, const void* arrB,
void* acc, const void* maskarr )
{
static CvFuncTable acc_tab;
static CvBigFuncTable accmask_tab;
static int inittab = 0;
CV_FUNCNAME( "cvMultiplyAcc" );
__BEGIN__;
int coi1, coi2, coi3;
int type;
int mat1_step, mat2_step, sum_step, mask_step = 0;
CvSize size;
CvMat stub1, *mat1 = (CvMat*)arrA;
CvMat stub2, *mat2 = (CvMat*)arrB;
CvMat sumstub, *sum = (CvMat*)acc;
CvMat maskstub, *mask = (CvMat*)maskarr;
if( !inittab )
{
icvInitAddProductTable( &acc_tab, &accmask_tab );
inittab = 1;
}
CV_CALL( mat1 = cvGetMat( mat1, &stub1, &coi1 ));
CV_CALL( mat2 = cvGetMat( mat2, &stub2, &coi2 ));
CV_CALL( sum = cvGetMat( sum, &sumstub, &coi3 ));
if( coi1 != 0 || coi2 != 0 || coi3 != 0 )
CV_ERROR( CV_BadCOI, "" );
if( !CV_ARE_CNS_EQ( mat1, mat2 ) || !CV_ARE_CNS_EQ( mat1, sum ))
CV_ERROR( CV_StsUnmatchedFormats, "" );
if( CV_MAT_DEPTH( sum->type ) != CV_32F )
CV_ERROR( CV_BadDepth, "" );
if( !CV_ARE_SIZES_EQ( mat1, sum ) || !CV_ARE_SIZES_EQ( mat2, sum ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
size = cvGetMatSize( mat1 );
type = CV_MAT_TYPE( mat1->type );
mat1_step = mat1->step;
mat2_step = mat2->step;
sum_step = sum->step;
if( !mask )
{
CvFunc2D_3A func = (CvFunc2D_3A)acc_tab.fn_2d[CV_MAT_DEPTH(type)];
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "" );
size.width *= CV_MAT_CN(type);
if( CV_IS_MAT_CONT( mat1->type & mat2->type & sum->type ))
{
size.width *= size.height;
mat1_step = mat2_step = sum_step = CV_STUB_STEP;
size.height = 1;
}
IPPI_CALL( func( mat1->data.ptr, mat1_step, mat2->data.ptr, mat2_step,
sum->data.ptr, sum_step, size ));
}
else
{
CvFunc2D_4A func = (CvFunc2D_4A)accmask_tab.fn_2d[type];
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "" );
CV_CALL( mask = cvGetMat( mask, &maskstub ));
if( !CV_IS_MASK_ARR( mask ))
CV_ERROR( CV_StsBadMask, "" );
if( !CV_ARE_SIZES_EQ( mat1, mask ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
mask_step = mask->step;
if( CV_IS_MAT_CONT( mat1->type & mat2->type & sum->type & mask->type ))
{
size.width *= size.height;
mat1_step = mat2_step = sum_step = mask_step = CV_STUB_STEP;
size.height = 1;
}
IPPI_CALL( func( mat1->data.ptr, mat1_step, mat2->data.ptr, mat2_step,
mask->data.ptr, mask_step,
sum->data.ptr, sum_step, size ));
}
__END__;
}
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 );
}
// finds perspective transformation H between
// the object plane and image plane,
// so that (sxi,syi,s) ~ H*(Xi,Yi,1)
void icvFindHomography( const CvMat* object_points,
const CvMat* image_points, CvMat* __H )
{
CvMat *_m = 0, *_M = 0;
CvMat *_L2 = 0;
CV_FUNCNAME( "cvFindHomography" );
__BEGIN__;
int h_type;
int i, k, count, count2;
CvPoint2D64f *m, *M;
CvPoint2D64f cm = {0,0}, sm = {0,0};
double inv_Hnorm[9] = { 0, 0, 0, 0, 0, 0, 0, 0, 1 };
double H[9];
CvMat _inv_Hnorm = cvMat( 3, 3, CV_64FC1, inv_Hnorm );
CvMat _H = cvMat( 3, 3, CV_64FC1, H );
double LtL[9*9], LW[9], LV[9*9];
CvMat* _Lp;
double* L;
CvMat _LtL = cvMat( 9, 9, CV_64FC1, LtL );
CvMat _LW = cvMat( 9, 1, CV_64FC1, LW );
CvMat _LV = cvMat( 9, 9, CV_64FC1, LV );
CvMat _Hrem = cvMat( 3, 3, CV_64FC1, LV + 8*9 );
if( !CV_IS_MAT(image_points) || !CV_IS_MAT(object_points) ||
!CV_IS_MAT(__H) )
CV_ERROR( CV_StsBadArg, "one of arguments is not a valid matrix" );
h_type = CV_MAT_TYPE(__H->type);
if( h_type != CV_32FC1 && h_type != CV_64FC1 )
CV_ERROR( CV_StsUnsupportedFormat,
"Homography matrix must have 32fC1 or 64fC1 type" );
if( __H->rows != 3 || __H->cols != 3 )
CV_ERROR( CV_StsBadSize, "Homography matrix must be 3x3" );
count = MAX(image_points->cols, image_points->rows);
count2 = MAX(object_points->cols, object_points->rows);
if( count != count2 )
CV_ERROR( CV_StsUnmatchedSizes,
"Numbers of image and object points do not match" );
CV_CALL( _m = cvCreateMat( 1, count, CV_64FC2 ));
CV_CALL( icvConvertPointsHomogenious( image_points, _m ));
m = (CvPoint2D64f*)_m->data.ptr;
CV_CALL( _M = cvCreateMat( 1, count, CV_64FC2 ));
CV_CALL( icvConvertPointsHomogenious( object_points, _M ));
M = (CvPoint2D64f*)_M->data.ptr;
// calculate the normalization transformation Hnorm.
for( i = 0; i < count; i++ )
cm.x += m[i].x, cm.y += m[i].y;
cm.x /= count; cm.y /= count;
for( i = 0; i < count; i++ )
{
double x = m[i].x - cm.x;
double y = m[i].y - cm.y;
sm.x += fabs(x); sm.y += fabs(y);
}
sm.x /= count; sm.y /= count;
inv_Hnorm[0] = sm.x;
inv_Hnorm[4] = sm.y;
inv_Hnorm[2] = cm.x;
inv_Hnorm[5] = cm.y;
sm.x = 1./sm.x;
sm.y = 1./sm.y;
CV_CALL( _Lp = _L2 = cvCreateMat( 2*count, 9, CV_64FC1 ) );
L = _L2->data.db;
for( i = 0; i < count; i++, L += 18 )
{
double x = -(m[i].x - cm.x)*sm.x, y = -(m[i].y - cm.y)*sm.y;
L[0] = L[9 + 3] = M[i].x;
L[1] = L[9 + 4] = M[i].y;
L[2] = L[9 + 5] = 1;
L[9 + 0] = L[9 + 1] = L[9 + 2] = L[3] = L[4] = L[5] = 0;
L[6] = x*M[i].x;
L[7] = x*M[i].y;
L[8] = x;
L[9 + 6] = y*M[i].x;
L[9 + 7] = y*M[i].y;
L[9 + 8] = y;
}
if( count > 4 )
{
cvMulTransposed( _L2, &_LtL, 1 );
_Lp = &_LtL;
}
_LW.rows = MIN(count*2, 9);
cvSVD( _Lp, &_LW, 0, &_LV, CV_SVD_MODIFY_A + CV_SVD_V_T );
cvScale( &_Hrem, &_Hrem, 1./_Hrem.data.db[8] );
cvMatMul( &_inv_Hnorm, &_Hrem, &_H );
if( count > 4 )
{
// reuse the available storage for jacobian and other vars
CvMat _J = cvMat( 2*count, 8, CV_64FC1, _L2->data.db );
CvMat _err = cvMat( 2*count, 1, CV_64FC1, _L2->data.db + 2*count*8 );
CvMat _JtJ = cvMat( 8, 8, CV_64FC1, LtL );
CvMat _JtErr = cvMat( 8, 1, CV_64FC1, LtL + 8*8 );
CvMat _JtJW = cvMat( 8, 1, CV_64FC1, LW );
CvMat _JtJV = cvMat( 8, 8, CV_64FC1, LV );
CvMat _Hinnov = cvMat( 8, 1, CV_64FC1, LV + 8*8 );
for( k = 0; k < 10; k++ )
{
double* J = _J.data.db, *err = _err.data.db;
for( i = 0; i < count; i++, J += 16, err += 2 )
{
double di = 1./(H[6]*M[i].x + H[7]*M[i].y + 1.);
double _xi = (H[0]*M[i].x + H[1]*M[i].y + H[2])*di;
double _yi = (H[3]*M[i].x + H[4]*M[i].y + H[5])*di;
err[0] = m[i].x - _xi;
err[1] = m[i].y - _yi;
J[0] = M[i].x*di;
J[1] = M[i].y*di;
J[2] = di;
J[8+3] = M[i].x;
J[8+4] = M[i].y;
J[8+5] = di;
J[6] = -J[0]*_xi;
J[7] = -J[1]*_xi;
J[8+6] = -J[8+3]*_yi;
J[8+7] = -J[8+4]*_yi;
J[3] = J[4] = J[5] = J[8+0] = J[8+1] = J[8+2] = 0.;
}
icvGaussNewton( &_J, &_err, &_Hinnov, &_JtJ, &_JtErr, &_JtJW, &_JtJV );
for( i = 0; i < 8; i++ )
H[i] += _Hinnov.data.db[i];
}
}
cvConvert( &_H, __H );
__END__;
cvReleaseMat( &_m );
cvReleaseMat( &_M );
cvReleaseMat( &_L2 );
}
CV_IMPL void
cvMinEnclosingCircle( CvSeq * sequence, CvPoint2D32f * _center, float *_radius )
{
const int max_iters = 20;
CvSeqReader reader;
int i, k, count;
CvPoint *pt_left, *pt_right, *pt_top, *pt_bottom;
CvPoint pt;
CvPoint2D32f center = { 0, 0 };
CvPoint2D32f pts[8];
float radius = 0;
if( _center )
_center->x = _center->y = 0.f;
if( _radius )
*_radius = 0;
CV_FUNCNAME( "cvMinEnclosingCircle" );
__BEGIN__;
if( !sequence || !_center || !_radius )
CV_ERROR_FROM_STATUS( CV_NULLPTR_ERR );
if( sequence->total <= 0 )
CV_ERROR_FROM_STATUS( CV_BADSIZE_ERR );
if( !CV_IS_SEQ_POINT_SET( sequence ))
CV_ERROR_FROM_STATUS( CV_BADFLAG_ERR );
CV_CALL( cvStartReadSeq( sequence, &reader, 0 ));
pt_left = pt_right = pt_top = pt_bottom = (CvPoint *) (reader.ptr);
CV_READ_SEQ_ELEM( pt, reader );
count = sequence->total;
for( i = 1; i < count; i++ )
{
CvPoint *pt_ptr = (CvPoint *) (reader.ptr);
CvPoint pt;
CV_READ_SEQ_ELEM( pt, reader );
if( pt.x < pt_left->x )
pt_left = pt_ptr;
if( pt.x > pt_right->x )
pt_right = pt_ptr;
if( pt.y < pt_top->y )
pt_top = pt_ptr;
if( pt.y > pt_bottom->y )
pt_bottom = pt_ptr;
}
pts[0] = icvCvtPoint32s_32f( *pt_left );
pts[1] = icvCvtPoint32s_32f( *pt_right );
pts[2] = icvCvtPoint32s_32f( *pt_top );
pts[3] = icvCvtPoint32s_32f( *pt_bottom );
for( k = 0; k < max_iters; k++ )
{
icvFindEnslosingCicle4pts_32f( pts, ¢er, &radius );
cvStartReadSeq( sequence, &reader, 0 );
for( i = 0; i < count; i++ )
{
CvPoint pt;
CvPoint2D32f ptfl;
CV_READ_SEQ_ELEM( pt, reader );
ptfl = icvCvtPoint32s_32f( pt );
if( !icvIsPtInCircle( ptfl, center, radius ))
{
pts[3] = ptfl;
break;
}
}
if( i == count )
break;
}
__CLEANUP__;
__END__;
*_center = center;
*_radius = radius;
}
CV_IMPL double
cvPseudoInv( CvArr* srcarr, CvArr* dstarr, int flags )
{
uchar* buffer = 0;
int local_alloc = 0;
double condition_number = 0;
CV_FUNCNAME( "cvPseudoInv" );
__BEGIN__;
CvMat astub, *a = (CvMat*)srcarr;
CvMat bstub, *b = (CvMat*)dstarr;
CvMat ustub, *u = &ustub;
CvMat vstub, *v = &vstub;
CvMat tmat;
uchar* tw = 0;
int type, n, m, nm, mn;
int buf_size, pix_size;
if( !CV_IS_ARR( a ))
CV_CALL( a = cvGetMat( a, &astub ));
if( !CV_IS_ARR( b ))
CV_CALL( b = cvGetMat( b, &bstub ));
if( !CV_ARE_TYPES_EQ( a, b ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
n = a->width;
m = a->height;
nm = MIN( n, m );
mn = MAX( n, m );
if( n != b->height || m != b->width )
CV_ERROR( CV_StsUnmatchedSizes, "" );
type = CV_ARR_TYPE( a->type );
pix_size = icvPixSize[type];
buf_size = nm*2 + mn + m*mn + n*n;
if( !(flags & CV_SVD_MODIFY_A) )
buf_size += m*n;
buf_size *= pix_size;
if( buf_size <= CV_MAX_LOCAL_SIZE )
{
buffer = (uchar*)alloca( buf_size );
local_alloc = 1;
}
else
{
CV_CALL( buffer = (uchar*)cvAlloc( buf_size ));
}
if( !(flags & CV_SVD_MODIFY_A) )
{
cvInitMatHeader( &tmat, a->height, a->width, type,
buffer + buf_size - n*m*pix_size );
cvCopy( a, &tmat );
a = &tmat;
}
tw = buffer + (nm + mn)*pix_size;
cvInitMatHeader( u, m, m, type, tw + nm*pix_size );
cvInitMatHeader( v, n, n, type, u->data.ptr + m*mn*pix_size );
if( type == CV_32FC1 )
{
IPPI_CALL( icvSVD_32f( a->data.fl, a->step/sizeof(float), (float*)tw,
u->data.fl, u->step/sizeof(float),
v->data.fl, v->step/sizeof(float),
icvGetMatSize(a), (float*)buffer ));
}
else if( type == CV_64FC1 )
{
IPPI_CALL( icvSVD_64f( a->data.db, a->step/sizeof(double), (double*)tw,
u->data.db, u->step/sizeof(double),
v->data.db, v->step/sizeof(double),
icvGetMatSize(a), (double*)buffer ));
}
else
{
CV_ERROR( CV_StsUnsupportedFormat, "" );
}
cvT( v, v );
cvGetRow( u, &tmat, 0 );
if( type == CV_32FC1 )
{
for( int i = 0; i < nm; i++ )
{
double t = ((float*)tw)[i];
tmat.data.ptr = u->data.ptr + i*u->step;
t = t > FLT_EPSILON ? 1./t : 0;
if( i == mn - 1 )
condition_number = t != 0 ? ((float*)tw)[0]*t : DBL_MAX;
cvScale( &tmat, &tmat, t );
}
}
else
{
for( int i = 0; i < nm; i++ )
{
double t = ((double*)tw)[i];
tmat.data.ptr = u->data.ptr + i*u->step;
t = t > DBL_EPSILON ? 1./t : 0;
if( i == mn - 1 )
condition_number = t != 0 ? ((double*)tw)[0]*t : DBL_MAX;
cvScale( &tmat, &tmat, t );
}
}
u->height = n;
if( n > m )
{
cvGetSubArr( u, &tmat, cvRect( 0, m, m, n - m ));
cvSetZero( &tmat );
}
cvMatMulAdd( v, u, 0, b );
CV_CHECK_NANS( b );
__END__;
if( buffer && !local_alloc )
cvFree( (void**)&buffer );
return condition_number;
}
CV_IMPL CvScalar
cvAvg( const void* img, const void* maskarr )
{
CvScalar mean = {{0,0,0,0}};
static CvBigFuncTable mean_tab;
static CvFuncTable meancoi_tab;
static int inittab = 0;
CV_FUNCNAME("cvAvg");
__BEGIN__;
CvSize size;
double scale;
if( !maskarr )
{
CV_CALL( mean = cvSum(img));
size = cvGetSize( img );
size.width *= size.height;
scale = size.width ? 1./size.width : 0;
mean.val[0] *= scale;
mean.val[1] *= scale;
mean.val[2] *= scale;
mean.val[3] *= scale;
}
else
{
int type, coi = 0;
int mat_step, mask_step;
CvMat stub, maskstub, *mat = (CvMat*)img, *mask = (CvMat*)maskarr;
if( !inittab )
{
icvInitMeanMRTable( &mean_tab );
icvInitMeanCnCMRTable( &meancoi_tab );
inittab = 1;
}
if( !CV_IS_MAT(mat) )
CV_CALL( mat = cvGetMat( mat, &stub, &coi ));
if( !CV_IS_MAT(mask) )
CV_CALL( mask = cvGetMat( mask, &maskstub ));
if( !CV_IS_MASK_ARR(mask) )
CV_ERROR( CV_StsBadMask, "" );
if( !CV_ARE_SIZES_EQ( mat, mask ) )
CV_ERROR( CV_StsUnmatchedSizes, "" );
type = CV_MAT_TYPE( mat->type );
size = cvGetMatSize( mat );
mat_step = mat->step;
mask_step = mask->step;
if( CV_IS_MAT_CONT( mat->type & mask->type ))
{
size.width *= size.height;
size.height = 1;
mat_step = mask_step = CV_STUB_STEP;
}
if( CV_MAT_CN(type) == 1 || coi == 0 )
{
CvFunc2D_2A1P func;
if( CV_MAT_CN(type) > 4 )
CV_ERROR( CV_StsOutOfRange, "The input array must have at most 4 channels unless COI is set" );
func = (CvFunc2D_2A1P)(mean_tab.fn_2d[type]);
if( !func )
CV_ERROR( CV_StsBadArg, cvUnsupportedFormat );
IPPI_CALL( func( mat->data.ptr, mat_step, mask->data.ptr,
mask_step, size, mean.val ));
}
else
{
CvFunc2DnC_2A1P func = (CvFunc2DnC_2A1P)(
meancoi_tab.fn_2d[CV_MAT_DEPTH(type)]);
if( !func )
CV_ERROR( CV_StsBadArg, cvUnsupportedFormat );
IPPI_CALL( func( mat->data.ptr, mat_step, mask->data.ptr,
mask_step, size, CV_MAT_CN(type), coi, mean.val ));
}
}
__END__;
return mean;
}
CV_IMPL int cvNamedWindow( const char* name, int flags )
{
int result = 0;
CV_FUNCNAME( "cvNamedWindow" );
if (!wasInitialized)
cvInitSystem(0, NULL);
// to be able to display a window, we need to be a 'faceful' application
// http://lists.apple.com/archives/carbon-dev/2005/Jun/msg01414.html
static bool switched_to_faceful = false;
if (! switched_to_faceful)
{
ProcessSerialNumber psn = { 0, kCurrentProcess };
OSStatus ret = TransformProcessType (&psn, kProcessTransformToForegroundApplication );
if (ret == noErr)
{
SetFrontProcess( &psn );
switched_to_faceful = true;
}
else
{
fprintf(stderr, "Failed to tranform process type: %d\n", (int) ret);
fflush (stderr);
}
}
__BEGIN__;
WindowRef outWindow = NULL;
OSStatus err = noErr;
Rect contentBounds = {100,100,320,440};
CvWindow* window;
UInt wAttributes = 0;
int len;
const EventTypeSpec genericWindowEventHandler[] = {
{ kEventClassMouse, kEventMouseMoved},
{ kEventClassMouse, kEventMouseUp},
{ kEventClassMouse, kEventMouseDown},
{ kEventClassWindow, kEventWindowClose },
{ kEventClassWindow, kEventWindowBoundsChanged }//FD
};
if( !name )
CV_ERROR( CV_StsNullPtr, "NULL name string" );
if( icvFindWindowByName( name ) != 0 ){
result = 1;
EXIT;
}
len = strlen(name);
CV_CALL( window = (CvWindow*)cvAlloc(sizeof(CvWindow) + len + 1));
memset( window, 0, sizeof(*window));
window->name = (char*)(window + 1);
memcpy( window->name, name, len + 1 );
window->flags = flags;
window->signature = CV_WINDOW_MAGIC_VAL;
window->image = 0;
window->last_key = 0;
window->on_mouse = 0;
window->on_mouse_param = 0;
window->next = hg_windows;
window->prev = 0;
if( hg_windows )
hg_windows->prev = window;
hg_windows = window;
wAttributes = kWindowStandardDocumentAttributes | kWindowStandardHandlerAttribute | kWindowLiveResizeAttribute;
err = CreateNewWindow ( kDocumentWindowClass,wAttributes,&contentBounds,&outWindow);
if (err != noErr)
fprintf(stderr,"Erreur while creating the window\n");
SetWindowTitleWithCFString(outWindow,CFStringCreateWithCString(NULL,name,kCFStringEncodingASCII));
if (err != noErr)
fprintf(stdout,"Erreur SetWindowTitleWithCFString\n");
window->window = outWindow;
err = InstallWindowEventHandler(outWindow, NewEventHandlerUPP(windowEventHandler), GetEventTypeCount(genericWindowEventHandler), genericWindowEventHandler, outWindow, NULL);
ShowWindow( outWindow );
result = 1;
__END__;
return result;
}
CV_IMPL void
cvMinMaxLoc( const void* img, double* _minVal, double* _maxVal,
CvPoint* _minLoc, CvPoint* _maxLoc, const void* mask )
{
static CvFuncTable minmax_tab, minmaxcoi_tab;
static CvFuncTable minmaxmask_tab, minmaxmaskcoi_tab;
static int inittab = 0;
CV_FUNCNAME("cvMinMaxLoc");
__BEGIN__;
int type, depth, cn, coi = 0;
int mat_step, mask_step = 0;
CvSize size;
CvMat stub, maskstub, *mat = (CvMat*)img, *matmask = (CvMat*)mask;
CvPoint minLoc, maxLoc;
double minVal = 0, maxVal = 0;
if( !inittab )
{
icvInitMinMaxIndxC1RTable( &minmax_tab );
icvInitMinMaxIndxCnCRTable( &minmaxcoi_tab );
icvInitMinMaxIndxC1MRTable( &minmaxmask_tab );
icvInitMinMaxIndxCnCMRTable( &minmaxmaskcoi_tab );
inittab = 1;
}
CV_CALL( mat = cvGetMat( mat, &stub, &coi ));
type = CV_MAT_TYPE( mat->type );
depth = CV_MAT_DEPTH( type );
cn = CV_MAT_CN( type );
size = cvGetMatSize( mat );
if( cn > 1 && coi == 0 )
CV_ERROR( CV_StsBadArg, "" );
mat_step = mat->step;
if( !mask )
{
if( size.height == 1 )
mat_step = CV_STUB_STEP;
if( CV_MAT_CN(type) == 1 || coi == 0 )
{
CvFunc2D_1A4P func = (CvFunc2D_1A4P)(minmax_tab.fn_2d[depth]);
if( !func )
CV_ERROR( CV_StsBadArg, cvUnsupportedFormat );
IPPI_CALL( func( mat->data.ptr, mat_step, size,
&minVal, &maxVal, &minLoc, &maxLoc ));
}
else
{
CvFunc2DnC_1A4P func = (CvFunc2DnC_1A4P)(minmaxcoi_tab.fn_2d[depth]);
if( !func )
CV_ERROR( CV_StsBadArg, cvUnsupportedFormat );
IPPI_CALL( func( mat->data.ptr, mat_step, size, cn, coi,
&minVal, &maxVal, &minLoc, &maxLoc ));
}
}
else
{
CV_CALL( matmask = cvGetMat( matmask, &maskstub ));
if( !CV_IS_MASK_ARR( matmask ))
CV_ERROR( CV_StsBadMask, "" );
if( !CV_ARE_SIZES_EQ( mat, matmask ))
CV_ERROR( CV_StsUnmatchedSizes, "" );
mask_step = matmask->step;
if( size.height == 1 )
mat_step = mask_step = CV_STUB_STEP;
if( CV_MAT_CN(type) == 1 || coi == 0 )
{
CvFunc2D_2A4P func = (CvFunc2D_2A4P)(minmaxmask_tab.fn_2d[depth]);
if( !func )
CV_ERROR( CV_StsBadArg, cvUnsupportedFormat );
IPPI_CALL( func( mat->data.ptr, mat_step, matmask->data.ptr,
mask_step, size,
&minVal, &maxVal, &minLoc, &maxLoc ));
}
else
{
CvFunc2DnC_2A4P func = (CvFunc2DnC_2A4P)(minmaxmaskcoi_tab.fn_2d[depth]);
if( !func )
CV_ERROR( CV_StsBadArg, cvUnsupportedFormat );
IPPI_CALL( func( mat->data.ptr, mat_step,
matmask->data.ptr, mask_step, size, cn, coi,
&minVal, &maxVal, &minLoc, &maxLoc ));
}
}
if( depth < CV_32S || depth == CV_32F )
{
minVal = *(float*)&minVal;
maxVal = *(float*)&maxVal;
}
if( _minVal )
*_minVal = minVal;
if( _maxVal )
*_maxVal = maxVal;
if( _minLoc )
*_minLoc = minLoc;
if( _maxLoc )
*_maxLoc = maxLoc;
__END__;
}
CV_IMPL int cvNamedWindow( const char* name, int flags )
{
int result = 0;
CV_FUNCNAME( "cvNamedWindow" );
__BEGIN__;
HWND hWnd, mainhWnd;
CvWindow* window;
DWORD defStyle = WS_VISIBLE | WS_MINIMIZEBOX | WS_MAXIMIZEBOX | WS_SYSMENU;
int len;
CvRect rect;
cvInitSystem(0,0);
if( !name )
CV_ERROR( CV_StsNullPtr, "NULL name string" );
// Check the name in the storage
if( icvFindWindowByName( name ) != 0 )
{
result = 1;
EXIT;
}
if( (flags & CV_WINDOW_AUTOSIZE) == 0 )
defStyle |= WS_SIZEBOX;
icvLoadWindowPos( name, rect );
mainhWnd = CreateWindow( "Main HighGUI class", name, defStyle | WS_OVERLAPPED,
rect.x, rect.y, rect.width, rect.height, 0, 0, hg_hinstance, 0 );
if( !mainhWnd )
CV_ERROR( CV_StsError, "Frame window can not be created" );
ShowWindow(mainhWnd, SW_SHOW);
hWnd = CreateWindow("HighGUI class", "", defStyle | WS_CHILD | WS_SIZEBOX,
CW_USEDEFAULT, 0, rect.width, rect.height, mainhWnd, 0, hg_hinstance, 0);
if( !hWnd )
CV_ERROR( CV_StsError, "Frame window can not be created" );
ShowWindow(hWnd, SW_SHOW);
len = (int)strlen(name);
CV_CALL( window = (CvWindow*)cvAlloc(sizeof(CvWindow) + len + 1));
window->signature = CV_WINDOW_MAGIC_VAL;
window->hwnd = hWnd;
window->frame = mainhWnd;
window->name = (char*)(window + 1);
memcpy( window->name, name, len + 1 );
window->flags = flags;
window->image = 0;
window->dc = CreateCompatibleDC(0);
window->last_key = 0;
window->on_mouse = 0;
window->on_mouse_param = 0;
memset( &window->toolbar, 0, sizeof(window->toolbar));
window->next = hg_windows;
window->prev = 0;
if( hg_windows )
hg_windows->prev = window;
hg_windows = window;
icvSetWindowLongPtr( hWnd, CV_USERDATA, window );
icvSetWindowLongPtr( mainhWnd, CV_USERDATA, window );
// Recalculate window position
icvUpdateWindowPos( window );
result = 1;
__END__;
return result;
}
CV_IMPL void
cvShowImage( const char* name, const CvArr* arr )
{
CV_FUNCNAME( "cvShowImage" );
__BEGIN__;
CvWindow* window;
SIZE size = { 0, 0 };
int channels = 0;
void* dst_ptr = 0;
const int channels0 = 3;
int origin = 0;
CvMat stub, dst, *image;
bool changed_size = false; // philipg
if( !name )
CV_ERROR( CV_StsNullPtr, "NULL name" );
window = icvFindWindowByName(name);
if(!window)
{
cvNamedWindow(name, 1);
window = icvFindWindowByName(name);
}
if( !window || !arr )
EXIT; // keep silence here.
if( CV_IS_IMAGE_HDR( arr ))
origin = ((IplImage*)arr)->origin;
CV_CALL( image = cvGetMat( arr, &stub ));
if (window->image)
// if there is something wrong with these system calls, we cannot display image...
if (icvGetBitmapData( window, &size, &channels, &dst_ptr ))
return;
if( size.cx != image->width || size.cy != image->height || channels != channels0 )
{
changed_size = true;
uchar buffer[sizeof(BITMAPINFO) + 255*sizeof(RGBQUAD)];
BITMAPINFO* binfo = (BITMAPINFO*)buffer;
DeleteObject( SelectObject( window->dc, window->image ));
window->image = 0;
size.cx = image->width;
size.cy = image->height;
channels = channels0;
FillBitmapInfo( binfo, size.cx, size.cy, channels*8, 1 );
window->image = SelectObject( window->dc, CreateDIBSection(window->dc, binfo,
DIB_RGB_COLORS, &dst_ptr, 0, 0));
}
cvInitMatHeader( &dst, size.cy, size.cx, CV_8UC3,
dst_ptr, (size.cx * channels + 3) & -4 );
cvConvertImage( image, &dst, origin == 0 ? CV_CVTIMG_FLIP : 0 );
// ony resize window if needed
if (changed_size)
icvUpdateWindowPos(window);
InvalidateRect(window->hwnd, 0, 0);
// philipg: this is not needed and just slows things down
// UpdateWindow(window->hwnd);
__END__;
}
CV_IMPL int cvNamedWindow( const char* name, int flags )
{
int result = 0;
CV_FUNCNAME( "cvNamedWindow" );
__BEGIN__;
CvWindow* window;
int len;
cvInitSystem(1,(char**)&name);
if( !name )
CV_ERROR( CV_StsNullPtr, "NULL name string" );
// Check the name in the storage
if( icvFindWindowByName( name ) != 0 )
{
result = 1;
EXIT;
}
len = strlen(name);
CV_CALL( window = (CvWindow*)cvAlloc(sizeof(CvWindow) + len + 1));
memset( window, 0, sizeof(*window));
window->name = (char*)(window + 1);
memcpy( window->name, name, len + 1 );
window->flags = flags;
window->signature = CV_WINDOW_MAGIC_VAL;
window->last_key = 0;
window->on_mouse = 0;
window->on_mouse_param = 0;
memset( &window->toolbar, 0, sizeof(window->toolbar));
window->next = hg_windows;
window->prev = 0;
window->status = CV_WINDOW_NORMAL;//YV
CV_LOCK_MUTEX();
window->frame = gtk_window_new( GTK_WINDOW_TOPLEVEL );
window->paned = gtk_vbox_new( FALSE, 0 );
window->widget = cvImageWidgetNew( flags );
gtk_box_pack_end( GTK_BOX(window->paned), window->widget, TRUE, TRUE, 0 );
gtk_widget_show( window->widget );
gtk_container_add( GTK_CONTAINER(window->frame), window->paned );
gtk_widget_show( window->paned );
#ifndef HAVE_OPENGL
if (flags & CV_WINDOW_OPENGL)
CV_ERROR( CV_OpenGlNotSupported, "Library was built without OpenGL support" );
#else
if (flags & CV_WINDOW_OPENGL)
createGlContext(window);
window->glDrawCallback = 0;
window->glDrawData = 0;
#endif
//
// configure event handlers
// TODO -- move this to CvImageWidget ?
gtk_signal_connect( GTK_OBJECT(window->frame), "key-press-event",
GTK_SIGNAL_FUNC(icvOnKeyPress), window );
gtk_signal_connect( GTK_OBJECT(window->widget), "button-press-event",
GTK_SIGNAL_FUNC(icvOnMouse), window );
gtk_signal_connect( GTK_OBJECT(window->widget), "button-release-event",
GTK_SIGNAL_FUNC(icvOnMouse), window );
gtk_signal_connect( GTK_OBJECT(window->widget), "motion-notify-event",
GTK_SIGNAL_FUNC(icvOnMouse), window );
gtk_signal_connect( GTK_OBJECT(window->frame), "delete-event",
GTK_SIGNAL_FUNC(icvOnClose), window );
gtk_signal_connect( GTK_OBJECT(window->widget), "expose-event",
GTK_SIGNAL_FUNC(cvImageWidget_expose), window );
gtk_widget_add_events (window->widget, GDK_BUTTON_RELEASE_MASK | GDK_BUTTON_PRESS_MASK | GDK_POINTER_MOTION_MASK) ;
gtk_widget_show( window->frame );
gtk_window_set_title( GTK_WINDOW(window->frame), name );
if( hg_windows )
hg_windows->prev = window;
hg_windows = window;
gtk_window_set_resizable( GTK_WINDOW(window->frame), (flags & CV_WINDOW_AUTOSIZE) == 0 );
// allow window to be resized
if( (flags & CV_WINDOW_AUTOSIZE)==0 ){
GdkGeometry geometry;
geometry.min_width = 50;
geometry.min_height = 50;
gtk_window_set_geometry_hints( GTK_WINDOW( window->frame ), GTK_WIDGET( window->widget ),
&geometry, (GdkWindowHints) (GDK_HINT_MIN_SIZE));
}
CV_UNLOCK_MUTEX();
#ifdef HAVE_OPENGL
if (window->useGl)
cvSetOpenGlContext(name);
#endif
result = 1;
__END__;
return result;
}
int CvArrTest::prepare_test_case( int test_case_idx )
{
int code = 1;
CvSize** sizes = (CvSize**)malloc( max_arr*sizeof(sizes[0]) );
CvSize** whole_sizes = (CvSize**)malloc( max_arr*sizeof(whole_sizes[0]) );
int** types = (int**)malloc( max_arr*sizeof(types[0]) );
int i, j, total = 0;
CvRNG* rng = ts->get_rng();
bool is_image = false;
bool is_timing_test = false;
CV_FUNCNAME( "CvArrTest::prepare_test_case" );
__BEGIN__;
is_timing_test = ts->get_testing_mode() == CvTS::TIMING_MODE;
if( is_timing_test )
{
if( !get_next_timing_param_tuple() )
{
code = -1;
EXIT;
}
}
for( i = 0; i < max_arr; i++ )
{
int count = test_array[i].size();
count = MAX(count, 1);
sizes[i] = (CvSize*)malloc( count*sizeof(sizes[i][0]) );
types[i] = (int*)malloc( count*sizeof(types[i][0]) );
whole_sizes[i] = (CvSize*)malloc( count*sizeof(whole_sizes[i][0]) );
}
if( !is_timing_test )
get_test_array_types_and_sizes( test_case_idx, sizes, types );
else
{
get_timing_test_array_types_and_sizes( test_case_idx, sizes, types,
whole_sizes, &is_image );
}
for( i = 0; i < max_arr; i++ )
{
int count = test_array[i].size();
total += count;
for( j = 0; j < count; j++ )
{
unsigned t = cvRandInt(rng);
bool create_mask = true, use_roi = false;
CvSize size = sizes[i][j], whole_size = size;
CvRect roi = {0,0,0,0};
if( !is_timing_test )
{
is_image = !cvmat_allowed ? true : iplimage_allowed ? (t & 1) != 0 : false;
create_mask = (t & 6) == 0; // ~ each of 3 tests will use mask
use_roi = (t & 8) != 0;
if( use_roi )
{
whole_size.width += cvRandInt(rng) % 10;
whole_size.height += cvRandInt(rng) % 10;
}
}
else
{
whole_size = whole_sizes[i][j];
use_roi = whole_size.width != size.width || whole_size.height != size.height;
create_mask = cvReadInt(find_timing_param( "use_mask" ),0) != 0;
}
cvRelease( &test_array[i][j] );
if( size.width > 0 && size.height > 0 &&
types[i][j] >= 0 && (i != MASK || create_mask) )
{
if( use_roi )
{
roi.width = size.width;
roi.height = size.height;
if( whole_size.width > size.width )
{
if( !is_timing_test )
roi.x = cvRandInt(rng) % (whole_size.width - size.width);
else
roi.x = 1;
}
if( whole_size.height > size.height )
{
if( !is_timing_test )
roi.y = cvRandInt(rng) % (whole_size.height - size.height);
else
roi.y = 1;
}
}
if( is_image )
{
CV_CALL( test_array[i][j] = cvCreateImage( whole_size,
icvTsTypeToDepth[CV_MAT_DEPTH(types[i][j])],
CV_MAT_CN(types[i][j]) ));
if( use_roi )
cvSetImageROI( (IplImage*)test_array[i][j], roi );
}
else
{
CV_CALL( test_array[i][j] = cvCreateMat( whole_size.height,
whole_size.width, types[i][j] ));
if( use_roi )
{
CvMat submat, *mat = (CvMat*)test_array[i][j];
cvGetSubRect( test_array[i][j], &submat, roi );
submat.refcount = mat->refcount;
*mat = submat;
}
}
}
}
}
if( total > max_hdr )
{
delete hdr;
max_hdr = total;
hdr = new CvMat[max_hdr];
}
total = 0;
for( i = 0; i < max_arr; i++ )
{
int count = test_array[i].size();
test_mat[i] = count > 0 ? hdr + total : 0;
for( j = 0; j < count; j++ )
{
CvArr* arr = test_array[i][j];
CvMat* mat = &test_mat[i][j];
if( !arr )
memset( mat, 0, sizeof(*mat) );
else if( CV_IS_MAT( arr ))
{
*mat = *(CvMat*)arr;
mat->refcount = 0;
}
else
cvGetMat( arr, mat, 0, 0 );
if( mat->data.ptr )
fill_array( test_case_idx, i, j, mat );
}
total += count;
}
__END__;
for( i = 0; i < max_arr; i++ )
{
if( sizes )
free( sizes[i] );
if( whole_sizes )
free( whole_sizes[i] );
if( types )
free( types[i] );
}
free( sizes );
free( whole_sizes );
free( types );
return code;
}
CV_IMPL void
cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
CvMat *rotMatr, CvMat *posVect,
CvMat *rotMatrX, CvMat *rotMatrY,
CvMat *rotMatrZ, CvPoint3D64f *eulerAngles)
{
CvMat *tmpProjMatr = 0;
CvMat *tmpMatrixD = 0;
CvMat *tmpMatrixV = 0;
CvMat *tmpMatrixM = 0;
CV_FUNCNAME("cvDecomposeProjectionMatrix");
__BEGIN__;
/* Validate parameters. */
if(projMatr == 0 || calibMatr == 0 || rotMatr == 0 || posVect == 0)
CV_ERROR(CV_StsNullPtr, "Some of parameters is a NULL pointer!");
if(!CV_IS_MAT(projMatr) || !CV_IS_MAT(calibMatr) || !CV_IS_MAT(rotMatr) || !CV_IS_MAT(posVect))
CV_ERROR(CV_StsUnsupportedFormat, "Input parameters must be a matrices!");
if(projMatr->cols != 4 || projMatr->rows != 3)
CV_ERROR(CV_StsUnmatchedSizes, "Size of projection matrix must be 3x4!");
if(calibMatr->cols != 3 || calibMatr->rows != 3 || rotMatr->cols != 3 || rotMatr->rows != 3)
CV_ERROR(CV_StsUnmatchedSizes, "Size of calibration and rotation matrices must be 3x3!");
if(posVect->cols != 1 || posVect->rows != 4)
CV_ERROR(CV_StsUnmatchedSizes, "Size of position vector must be 4x1!");
CV_CALL(tmpProjMatr = cvCreateMat(4, 4, CV_64F));
CV_CALL(tmpMatrixD = cvCreateMat(4, 4, CV_64F));
CV_CALL(tmpMatrixV = cvCreateMat(4, 4, CV_64F));
CV_CALL(tmpMatrixM = cvCreateMat(3, 3, CV_64F));
/* Compute position vector. */
cvSetZero(tmpProjMatr); // Add zero row to make matrix square.
int i, k;
for(i = 0; i < 3; i++)
for(k = 0; k < 4; k++)
cvmSet(tmpProjMatr, i, k, cvmGet(projMatr, i, k));
CV_CALL(cvSVD(tmpProjMatr, tmpMatrixD, NULL, tmpMatrixV, CV_SVD_MODIFY_A + CV_SVD_V_T));
/* Save position vector. */
for(i = 0; i < 4; i++)
cvmSet(posVect, i, 0, cvmGet(tmpMatrixV, 3, i)); // Solution is last row of V.
/* Compute calibration and rotation matrices via RQ decomposition. */
cvGetCols(projMatr, tmpMatrixM, 0, 3); // M is first square matrix of P.
assert(cvDet(tmpMatrixM) != 0.0); // So far only finite cameras could be decomposed, so M has to be nonsingular [det(M) != 0].
CV_CALL(cvRQDecomp3x3(tmpMatrixM, calibMatr, rotMatr, rotMatrX, rotMatrY, rotMatrZ, eulerAngles));
__END__;
cvReleaseMat(&tmpProjMatr);
cvReleaseMat(&tmpMatrixD);
cvReleaseMat(&tmpMatrixV);
cvReleaseMat(&tmpMatrixM);
}
void icvGaussNewton( const CvMat* J, const CvMat* err, CvMat* delta,
CvMat* JtJ, CvMat* JtErr, CvMat* JtJW, CvMat* JtJV )
{
CvMat* _temp_JtJ = 0;
CvMat* _temp_JtErr = 0;
CvMat* _temp_JtJW = 0;
CvMat* _temp_JtJV = 0;
CV_FUNCNAME( "icvGaussNewton" );
__BEGIN__;
if( !CV_IS_MAT(J) || !CV_IS_MAT(err) || !CV_IS_MAT(delta) )
CV_ERROR( CV_StsBadArg,
"Some of required arguments is not a valid matrix" );
if( !JtJ )
{
CV_CALL( _temp_JtJ = cvCreateMat( J->cols, J->cols, J->type ));
JtJ = _temp_JtJ;
}
else if( !CV_IS_MAT(JtJ) )
CV_ERROR( CV_StsBadArg, "JtJ is not a valid matrix" );
if( !JtErr )
{
CV_CALL( _temp_JtErr = cvCreateMat( J->cols, 1, J->type ));
JtErr = _temp_JtErr;
}
else if( !CV_IS_MAT(JtErr) )
CV_ERROR( CV_StsBadArg, "JtErr is not a valid matrix" );
if( !JtJW )
{
CV_CALL( _temp_JtJW = cvCreateMat( J->cols, 1, J->type ));
JtJW = _temp_JtJW;
}
else if( !CV_IS_MAT(JtJW) )
CV_ERROR( CV_StsBadArg, "JtJW is not a valid matrix" );
if( !JtJV )
{
CV_CALL( _temp_JtJV = cvCreateMat( J->cols, J->cols, J->type ));
JtJV = _temp_JtJV;
}
else if( !CV_IS_MAT(JtJV) )
CV_ERROR( CV_StsBadArg, "JtJV is not a valid matrix" );
cvMulTransposed( J, JtJ, 1 );
cvGEMM( J, err, 1, 0, 0, JtErr, CV_GEMM_A_T );
cvSVD( JtJ, JtJW, 0, JtJV, CV_SVD_MODIFY_A + CV_SVD_V_T );
cvSVBkSb( JtJW, JtJV, JtJV, JtErr, delta, CV_SVD_U_T + CV_SVD_V_T );
__END__;
if( _temp_JtJ || _temp_JtErr || _temp_JtJW || _temp_JtJV )
{
cvReleaseMat( &_temp_JtJ );
cvReleaseMat( &_temp_JtErr );
cvReleaseMat( &_temp_JtJW );
cvReleaseMat( &_temp_JtJV );
}
}
CV_IMPL void
cvAbsDiffS( const void* srcarr, void* dstarr, CvScalar scalar )
{
static CvFuncTable adiffs_tab;
static int inittab = 0;
CV_FUNCNAME( "cvAbsDiffS" );
__BEGIN__;
int coi1 = 0, coi2 = 0;
int type, sctype;
CvMat srcstub, *src = (CvMat*)srcarr;
CvMat dststub, *dst = (CvMat*)dstarr;
int src_step = src->step;
int dst_step = dst->step;
double buf[12];
CvSize size;
if( !inittab )
{
icvInitAbsDiffCTable( &adiffs_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, "" );
if( !CV_ARE_TYPES_EQ(src, dst) )
CV_ERROR_FROM_CODE( CV_StsUnmatchedFormats );
if( !CV_ARE_SIZES_EQ(src, dst) )
CV_ERROR_FROM_CODE( CV_StsUnmatchedSizes );
sctype = type = CV_ARR_TYPE( src->type );
if( CV_ARR_DEPTH(type) < CV_32S )
sctype = (type & CV_ARR_CN_MASK) | CV_32SC1;
size = icvGetMatSize( src );
size.width *= CV_ARR_CN( type );
src_step = src->step;
dst_step = dst->step;
if( CV_IS_ARR_CONT( src->type & dst->type ))
{
size.width *= size.height;
size.height = 1;
src_step = dst_step = CV_STUB_STEP;
}
CV_CALL( cvScalarToRawData( &scalar, sctype, buf, 1 ));
{
CvFunc2D_2A1P func = (CvFunc2D_2A1P)
(adiffs_tab.fn_2d[CV_ARR_DEPTH(type)]);
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "" );
IPPI_CALL( func( src->data.ptr, src_step, dst->data.ptr,
dst_step, size, buf ));
}
__END__;
}
CV_IMPL int
cvCountNonZero( const CvArr* arr )
{
static CvFuncTable nz_tab;
static CvFuncTable nzcoi_tab;
static int inittab = 0;
int count = 0;
CV_FUNCNAME("cvCountNonZero");
__BEGIN__;
int type, coi = 0;
int mat_step;
CvSize size;
CvMat stub, *mat = (CvMat*)arr;
if( !inittab )
{
icvInitCountNonZeroC1RTable( &nz_tab );
icvInitCountNonZeroCnCRTable( &nzcoi_tab );
inittab = 1;
}
if( !CV_IS_MAT(mat) )
{
if( CV_IS_MATND(mat) )
{
void* matnd = (void*)arr;
CvMatND nstub;
CvNArrayIterator iterator;
CvFunc2D_1A1P func;
CV_CALL( cvInitNArrayIterator( 1, &matnd, 0, &nstub, &iterator ));
type = CV_MAT_TYPE(iterator.hdr[0]->type);
if( CV_MAT_CN(type) != 1 )
CV_ERROR( CV_BadNumChannels,
"Only single-channel array are supported here" );
func = (CvFunc2D_1A1P)(nz_tab.fn_2d[CV_MAT_DEPTH(type)]);
if( !func )
CV_ERROR( CV_StsUnsupportedFormat, "" );
do
{
int temp;
IPPI_CALL( func( iterator.ptr[0], CV_STUB_STEP,
iterator.size, &temp ));
count += temp;
}
while( cvNextNArraySlice( &iterator ));
EXIT;
}
else
CV_CALL( mat = cvGetMat( mat, &stub, &coi ));
}
type = CV_MAT_TYPE(mat->type);
size = cvGetMatSize( mat );
mat_step = mat->step;
if( CV_IS_MAT_CONT( mat->type ))
{
size.width *= size.height;
size.height = 1;
mat_step = CV_STUB_STEP;
}
if( CV_MAT_CN(type) == 1 || coi == 0 )
{
CvFunc2D_1A1P func = (CvFunc2D_1A1P)(nz_tab.fn_2d[CV_MAT_DEPTH(type)]);
if( CV_MAT_CN(type) != 1 )
CV_ERROR( CV_BadNumChannels,
"The function can handle only a single channel at a time (use COI)");
if( !func )
CV_ERROR( CV_StsBadArg, cvUnsupportedFormat );
IPPI_CALL( func( mat->data.ptr, mat_step, size, &count ));
}
else
{
CvFunc2DnC_1A1P func = (CvFunc2DnC_1A1P)(nzcoi_tab.fn_2d[CV_MAT_DEPTH(type)]);
if( !func )
CV_ERROR( CV_StsBadArg, cvUnsupportedFormat );
IPPI_CALL( func( mat->data.ptr, mat_step, size, CV_MAT_CN(type), coi, &count ));
}
__END__;
return count;
}
